CN114569214B - Flexible trocar puncturing device with needle tip pose adjusting mechanism - Google Patents
Flexible trocar puncturing device with needle tip pose adjusting mechanism Download PDFInfo
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- CN114569214B CN114569214B CN202210328552.XA CN202210328552A CN114569214B CN 114569214 B CN114569214 B CN 114569214B CN 202210328552 A CN202210328552 A CN 202210328552A CN 114569214 B CN114569214 B CN 114569214B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 65
- 238000003780 insertion Methods 0.000 claims description 10
- 230000037431 insertion Effects 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000036544 posture Effects 0.000 claims description 4
- 230000002195 synergetic effect Effects 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 239000003814 drug Substances 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001574 biopsy Methods 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000968 medical method and process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 238000009827 uniform distribution Methods 0.000 description 1
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
- A61B17/3478—Endoscopic needles, e.g. for infusion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
-
- 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
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B17/3421—Cannulas
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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
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B2017/3454—Details of tips
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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Engineering & Computer Science (AREA)
- Pathology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a cannula flexible needle puncture device with a needle point pose adjusting mechanism, which relates to the field of medical machinery, and has the characteristics of simple and compact structure, low manufacturing cost and the like. The utility model provides a flexible needle piercing depth of sleeve pipe with needle point position appearance guiding mechanism, the mechanism body need not remove by a wide margin or swing, and needle angle flexibility is higher, does not need external mechanism, and place requirement is put to the mechanism main part is put the gesture various, and needle control is not influenced by the main part and is put the gesture, and the operation is simpler, more accurate, has guaranteed stability, security, the accuracy of puncture more.
Description
Technical Field
The invention relates to a medical apparatus, in particular to a trocar flexible needle puncture device with a needle point pose adjusting mechanism.
Background
Minimally invasive interventional medicine is a brand-new medical technology which is rapidly developed in recent years, and is a medical method between surgery and internal medicine. The oblique-tip flexible needle can overcome the defects that the traditional rigid needle can only puncture a straight path and is difficult to correct puncture deviation, and the flexible bending of the needle can bypass obstacles such as bones and blood vessels to accurately puncture a target point. In clinical practical application, the determination of the needle insertion angle often affects the final puncture effect and the accuracy of puncture path planning, so that a doctor is required to consume a great deal of time in the operation process to adjust and calibrate the needle insertion angle of the puncture mechanism, which consumes a great deal of time and cannot guarantee the puncture accuracy.
Based on the above problems, the invention aims to design a cannula flexible needle puncture device with a needle point pose adjusting mechanism, the cannula flexible needle puncture device with the needle point pose adjusting mechanism can automatically adjust the puncture needle angle, the device body does not need to integrally move or rotate, and only the front needle angle of the front end of the inclined-tip flexible needle is adjusted by utilizing the front-mounted pose adjusting mechanism, so that the accuracy and the operation precision are improved.
Disclosure of Invention
Aiming at the problems, the technical problem to be solved by the invention is to provide the cannula flexible needle puncture device with the needle point pose adjusting mechanism, which is convenient to install, improves the efficiency of the puncture biopsy operation, reduces the operation time, is convenient to control, has a compact structure, and promotes the technical proposal of the minimally invasive device to be as follows:
The technical scheme of the invention is as follows:
A cannula flexible needle puncture device with a needle point pose adjusting mechanism comprises a mechanism main body, a flexible needle puncture feeding mechanism, a take-up and pay-off mechanism and a needle entering pose adjusting mechanism, and is characterized in that: the left front of the mechanism main body is provided with a vertical plate, a boss I is arranged on the vertical plate, a strip-shaped through hole I and a strip-shaped through hole II are arranged on the boss I, the strip-shaped through hole I and the strip-shaped through hole II are arranged in parallel, a threaded hole is arranged on the boss I, four groups are formed, and each group is symmetrically arranged in pairs by taking the central lines of the strip-shaped through hole I and the strip-shaped through hole II as symmetrical shafts; the right front of the mechanism main body is provided with a vertical plate, a boss II is arranged on the vertical plate, a strip-shaped through hole III and a strip-shaped through hole IV are arranged on the boss II, the two holes are arranged in parallel, eight threaded holes are arranged on the boss II, the four threaded holes are in a group, and each group is symmetrically arranged by taking the center lines of the strip-shaped through hole III and the strip-shaped through hole IV as axes; the front end of the main body is provided with a porous plate, the center of the main body is provided with a pin hole, and the pin hole is used as the center to form a first wire hole, a second wire hole, a third wire hole and a fourth wire hole which are symmetrically distributed in a cross shape; the rear end of the main body is provided with a rear plate, and the middle part of the rear plate is provided with two motor holes which are symmetrically arranged left and right; the flexible needle puncture feeding mechanism comprises a first motor, a second motor, a needle rotating motor frame, a needle rotating motor, a first sliding block, a flexible needle, a needle clamping device, a sleeve fixer, a second sliding block, a sleeve, a supporting telescopic sleeve, a third sliding block, a first polished rod, a second polished rod, a first lead screw and a second lead screw, wherein one ends of the first polished rod and the second polished rod are arranged on the rear plate through screws, and the other ends of the first polished rod and the second polished rod are arranged on the front porous plate through screws; the first motor is arranged on a motor hole on the left side of the rear plate through a screw and is connected with the first screw rod through a coupler; the motor II is arranged in a motor hole on the right side of the rear plate through a screw and is connected with the screw rod II through a coupler; the needle rotating motor is arranged on the needle rotating frame through a screw, the needle rotating frame is arranged on the first sliding block through a screw, the needle clamping mechanism is fixedly connected to the needle rotating motor, and the flexible needle is clamped on the needle clamping device; the lower part of the first sliding block is provided with a threaded hole, the left lower part of the first sliding block is provided with a through hole, the first screw rod penetrates through the first threaded hole, and the first polish rod penetrates through the through hole on the first sliding block; the upper part of the second slider is provided with a needle penetrating hole, the needle penetrating hole and the needle outlet hole are coaxial, the lower side of the second slider is provided with a second threaded hole, the right lower side of the second slider is provided with a second through hole, the second slider is connected with a second screw rod through the second threaded hole and the second threaded rod through the second through hole, the sleeve is fixed on a sleeve fixer, and the sleeve fixer is connected to the upper part of the second slider through threads; the lower side of the sliding block III is provided with a threaded hole III, the left lower side is provided with a through hole III, the upper through hole of the telescopic support frame feeding sliding block III penetrates through the pin outlet hole and is provided with a supporting telescopic sleeve, the telescopic support frame feeding frame is connected with a screw rod II through the threaded hole III and is connected with a polish rod II through the through hole III, the supporting telescopic sleeve is a telescopic sleeve, one end of the supporting telescopic sleeve is connected with the pin outlet hole, and the other end of the supporting telescopic sleeve is connected with the hole at the upper part of the sliding block III; the motor I drives the screw rod I to rotate through the coupling, and then drives the slider I to move back and forth on the polished rod I, the needle rotating motor II drives the needle clamping device to rotate, the needle clamping device drives the flexible needle to rotate, the motor II drives the screw rod II to rotate through the coupling, the screw rod II drives the slider II to move back and forth on the polished rod II, and the screw rod II drives the slider III to move back and forth on the polished rod II, and then drives the flexible needle to rotate to enter the needle.
Preferably, the flexible cannula needle puncturing device with the needle tip pose adjusting mechanism is characterized in that the winding and unwinding mechanism comprises a first rotating shaft motor, a first rotating shaft frame, a second rotating shaft motor, a second rotating shaft frame, a third rotating shaft motor, a third rotating shaft frame, a fourth rotating shaft motor, a fourth rotating shaft frame, a fourth pulley, a first pulley, a second pulley, a third pulley, a fourth pulley, a first line, a second line, a third line and a fourth line, wherein the first rotating shaft frame is U-shaped, a first rectangular channel is arranged at the lower part of the first rotating shaft frame, the first rotating shaft frame is fixed on the first boss through a screw, and the first rectangular channel is aligned with the first long through hole; the rotating shaft motor is connected to the outer side of the rotating shaft frame I through a screw, the rotating shaft I is arranged in the U-shaped of the rotating shaft frame I, one end of the rotating shaft I is connected to the rotating shaft motor I, the other end of the rotating shaft is arranged on the U-shaped wall of the rotating shaft frame I through a bearing, and the wire I is wound on the rotating shaft I; the second rotating shaft frame is U-shaped, a rectangular channel II is arranged at the lower part of the second rotating shaft frame, the second rotating shaft frame is fixed on the first boss through a screw, and the rectangular channel II is aligned with the outline of the strip-shaped through hole II; the second rotating shaft motor is connected to the second rotating shaft frame through a screw, the second rotating shaft is installed in the U-shaped of the second rotating shaft frame, one end of the second rotating shaft is connected to the second rotating shaft motor, the other end of the second rotating shaft is installed on the U-shaped wall of the second rotating shaft frame through a bearing, and the second wire is wound on the second rotating shaft; the lower part of the rotating shaft frame III is provided with a rectangular channel, the rotating shaft frame III is fixed on the outer side of the boss II through a screw, and the rectangular channel is aligned with the contour of the strip-shaped through hole III; the rotating shaft motor III is U-shaped, the rotating shaft motor III is connected to the outer side of the rotating shaft frame III through a screw, the rotating shaft III is arranged in the U-shape of the rotating shaft frame III, one end of the rotating shaft III is connected to the rotating shaft motor III, the other end of the rotating shaft III is arranged on a U-shaped wall which is arranged on the rotating shaft frame III through a bearing, and the line III is wound on the rotating shaft III and is provided with the line III; the four rotating shaft frames are U-shaped, a rectangular channel IV is arranged at the lower part of each rotating shaft frame IV and fixed on the outer side of the boss II through screws, the rectangular channel IV is aligned with the outline of the strip-shaped through hole IV, the rotating shaft motor IV is connected to the outer side of the rotating shaft frame IV through screws, one end of each rotating shaft IV is connected to the motor IV, and the other end of each rotating shaft IV is arranged on the U-shaped wall of the rotating shaft frame IV through a bearing; the pulley I is arranged beside the wire hole through a screw, the wire I passes through the rectangular channel and the strip through hole I, and the wire I bypasses the pulley I and directly enters the wire hole I; the second pulley is arranged at the end of the wire Kong Erzuo through a screw, the second wire passes through the second rectangular channel and the second long strip through hole, and the second wire is wound on the pulley and directly enters the second wire hole; the pulley III is arranged at the right end of the wire hole III through a screw, the wire III passes through the rectangular channel and the strip through hole III, and the wire III is wound on the pulley III and directly enters the wire hole III; the pulley IV is arranged at the right end of the wire hole IV through a screw, the wire IV is wound on the rotating shaft, the wire IV passes through the rectangular channel IV and the strip through hole IV, and the wire IV is wound on the pulley and directly enters the wire hole IV; the first rotating shaft motor rotates to drive the first rotating shaft to rotate so as to realize the retraction of the first thread, the second rotating shaft motor rotates to drive the second thread to retract, the third rotating shaft motor rotates to drive the rotating shaft to drive the third thread to retract, the fourth rotating shaft motor rotates to drive the rotating shaft to drive the fourth thread to retract, and the control of the needle inserting pose adjusting mechanism is realized under the synergistic effect of the first thread, the second thread, the third thread and the fourth thread.
Preferably, the cannula flexible needle puncturing device with the needle point pose adjusting mechanism is characterized in that: the needle insertion pose adjusting mechanism comprises a top plastic circular plate, a flexible tube, a spring, a middle plastic circular plate and a bottom plastic circular plate, wherein a central through hole is formed in the middle of the top plastic circular plate, four line holes are uniformly distributed by taking an axle center as a center in a cross shape, the flexible tube penetrates through the central through hole of the top plastic circular plate, the front part of the flexible tube slightly protrudes out of the top plastic circular plate, the spring is fixedly connected with the top plastic circular plate, and a first line, a second line, a third line and a fourth line penetrate through the four line holes of the top plastic circular plate and are fixedly connected with the top plastic circular plate; the middle of the middle plastic circular plate is provided with a through hole, four wire holes are uniformly distributed in a cross shape by taking the axle center as the center, the springs are connected with the top plastic circular plate, and the first wire, the second wire, the third wire and the fourth wire penetrate through the four wire holes of the middle plastic circular plate; the center of the bottom plastic circular plate is provided with a through hole, four wire holes are uniformly distributed in a cross shape by taking the axle center as the center, the bottom plastic circular plate is arranged on the front perforated plate through screws, the flexible pipe is fixedly connected with the front perforated plate and penetrates through the center through hole of the bottom plastic circular plate, the spring is fixedly connected with the bottom plastic circular plate, and the wire I, the wire II, the wire III and the wire IV respectively penetrate through the four wire holes of the bottom plastic circular plate; the spring is controlled to swing in different directions by the first line, the second line, the third line and the fourth line, so that the top plastic circular plate drives the flexible needle point in the flexible tube to swing to realize different postures.
The beneficial effects of the invention are as follows:
The cannula flexible needle puncture device with the needle point pose adjusting mechanism has the advantages that the function of automatically adjusting the puncture needle angle of the inclined-tip flexible needle is realized by utilizing the combined motion of the connecting rod mechanism and the belt transmission, the flexibility of the mechanism is improved, and the device precision is ensured.
When the cannula flexible needle puncture device with the needle point pose adjusting mechanism is provided, the preposed pose adjusting mechanism in the device is simple and convenient to operate, the whole movement or rotation of the device is not needed, the needle point pose can be adjusted more accurately, the pose adjusting range is larger, and the mechanism is simple to operate.
FIG. 1 is a schematic diagram of the overall assembly of the present invention;
FIG. 2 is a schematic diagram of the mechanism of the present invention;
FIG. 3 is an exploded schematic view of a flexible needle feeding device of the present invention;
FIG. 4 is a schematic diagram of a pay-off and take-up device according to the present invention;
FIG. 5 is a schematic view of a looper device according to the present invention;
In the figure: the mechanism comprises a mechanism main body, 1, a vertical plate, 1-2, a boss I, 1-2-1, a strip-shaped through hole I, 1-2-1-1, a strip-shaped through hole II, 1-2-1-2, a vertical plate, 1-3, a boss II, 1-3-1, a strip-shaped through hole III, 1-3-1, a rear plate, 1-1, a porous plate, 1-4, a needle outlet hole, 1-4-1, a wire hole I, 1-4-2, a wire hole II, 1-4-3, a wire hole III, 1-4-4, a wire hole IV, 1-4-5, a flexible puncture feeding mechanism, 2, a motor I, 2-1, a motor II, 2-2, a needle rotating frame, 2-3, a needle rotating motor, 2-4, a slider I2-5, a through hole, 2-5-1, a threaded hole, 2-5-2 parts of flexible needle, 2-6 parts of needle clamping device, 2-7 parts of sleeve fixer, 2-8 parts of slider, 2-9 parts of screw hole, 2-9-1 parts of through hole, 2-9-2 parts of sleeve, 2-10 parts of supporting telescopic sleeve, 2-11 parts of slider, 2-12 parts of screw hole, 2-12-1 parts of through hole, 2-12-2 parts of polish rod, 2-13 parts of polish rod, 2-14 parts of screw rod, 2-15 parts of screw rod, 2-16 parts of screw rod, 2-13 parts of polish rod, 2-14 parts of polish rod, wire collecting and releasing mechanism, 3 parts of motor, 3-1 parts of rotating shaft, 3-2 parts of rotating shaft frame, 3-3, rectangular channel I, 3-3-1, spindle motor II, 3-4, spindle II, 3-5, spindle rack II, 3-6, rectangular channel II, 3-6-1, spindle motor III, 3-7, spindle III, 3-8, spindle rack III, 3-9, rectangular channel III, 3-9-1, spindle motor IV, 3-10, spindle IV, 3-11, spindle rack IV, 3-12, pulley I, 3-13, pulley II, 3-14, pulley III, 3-15, pulley IV, 3-16, line I, 3-17, line II, 3-18, line III, 3-19, line IV, 3-20, needle insertion posture adjustment mechanism 4, rubber tube, 4-1, spring, 4-2, top plastic disk, 4-3, middle plastic disk, 4-4, bottom plastic disk, 4-5
Detailed Description
Specific constructions and embodiments of the present invention are further described below with reference to the drawings.
Preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those having ordinary skill in the art to which the invention pertains will readily implement the embodiments. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In addition, for the purpose of more clearly describing the present invention, parts not connected to the present invention will be omitted from the drawings.
In the description of the present invention, it should be noted that the positional or positional relationship indicated by the terms such as "upper", "lower", "left", "right", "front", "rear", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention.
Referring to fig. 1,2 and 3, a trocar flexible needle puncture device with a needle tip pose adjusting mechanism comprises a mechanism main body 1, a flexible needle puncture feeding mechanism 2, a pay-off and take-up mechanism 3 and a needle insertion pose adjusting mechanism 4, and is characterized in that: the left front of the mechanism main body 1 is provided with a vertical plate 1-2, a boss 1-2-1 is arranged on the vertical plate, a strip-shaped through hole 1-2-1-1 and a strip-shaped through hole second 1-2-1-2 are arranged on the boss 1-2-1, the strip-shaped through hole 1-2-1-1 and the strip-shaped through hole second 1-2-1-2 are placed in parallel, 8 threaded holes are arranged on the boss 1-1-2, four threaded holes are formed in a group, and each group is placed in a symmetrical mode by taking the central lines of the strip-shaped through hole 1-2-1 and the strip-shaped through hole second 1-2-2 as symmetrical axes; the right front of the mechanism main body 1 is provided with a vertical plate 1-3, a boss II 1-3-1 is arranged on the vertical plate, a strip-shaped through hole III 1-3-1-1 and a strip-shaped through hole IV 1-3-1-2 are arranged on the boss II 1-3, two holes are arranged in parallel, eight threaded holes are arranged on the boss II 1-1-3, four holes are in a group, and each group is symmetrically arranged by taking the center line of the strip-shaped through hole III 1-3-1-1 and the center line of the strip-shaped through hole IV 1-3-1-2 as an axis; the front end of the main body 1 is provided with a porous plate 1-4, the center of the main body is provided with a pin outlet hole 1-4-1, and the pin outlet hole 1-4-1 is used as the center to form a cross-shaped symmetrical uniform distribution line hole I1-4-2, a line hole II 1-4-3, a line hole III 1-4-4 and a line hole IV 1-4-5; the rear end of the main body 1 is provided with a rear plate 1-1, and two motor holes are symmetrically arranged in the middle of the rear plate 1-1; the flexible needle puncture feeding mechanism 2 comprises a motor I2-1, a motor II 2-2, a rotating needle motor frame 2-3, a rotating needle motor 2-4, a sliding block I2-5, a flexible needle 2-6, a needle clamping device 2-7, a sleeve fixer 2-8, a sliding block II 2-9, a sleeve 2-10, a supporting telescopic sleeve 2-11, a sliding block III 2-12, a polish rod I2-13, a polish rod II 2-14, a screw rod I2-15 and a screw rod II 2-16, wherein one end of the polish rod I2-13 and one end of the polish rod II 2-14 are arranged on the rear plate 1-1 through screws, and the other end of the polish rod II is arranged on the front porous plate 1-4 through screws; the motor I2-1 is arranged on a motor hole on the left side of the rear plate 1-3 through a screw and is connected with the screw rod I2-15 through a coupler; the motor II 2-2 is arranged in a motor hole on the right side of the rear plate 1-3 through a screw and is connected with the screw II 2-16 through a coupler; the needle rotating motor 2-4 is arranged on the needle rotating frame 2-3 through a screw, the needle rotating frame 2-3 is arranged on the sliding block I2-5 through a screw, the needle clamping mechanism 2-7 is fixedly connected to the needle rotating motor 2-4, and the flexible needle 2-6 is clamped on the needle clamping device 2-7; the lower part of the first slide block 2-5 is provided with a threaded hole 2-5-2, the left lower part is provided with a through hole 2-5-1, the first lead screw 2-15 passes through the threaded hole 2-5-2, and the first polish rod 2-13 passes through the through hole 2-5-1 on the first slide block 2-5; the upper part of the second slider 2-9 is provided with a needle penetrating hole, the needle penetrating hole is coaxial with the needle outlet hole 1-4-1, the lower side of the second slider 2-9 is provided with a threaded hole 2-9-1, the right lower side of the second slider is provided with a through hole 2-9-2, the second slider 2-9 is connected with a screw rod 2-15 through the threaded hole 2-9-1 and a polished rod 2-14 through the through hole 2-9-2, the sleeve 2-10 is fixed on the sleeve fixer 2-8, and the sleeve fixer 2-8 is connected with the upper part of the second slider 2-9 through threads; the lower side of the sliding block III 2-12 is provided with a threaded hole III 2-12-1, the left lower side is provided with a through hole III 2-12-2, a through hole at the upper part of the telescopic support frame feeding sliding block III 2-12 passes through the pin outlet hole 1-4-1 and is provided with a supporting telescopic sleeve 2-11, the telescopic support frame feeding frame 2-12 is connected with a screw rod II 2-16 through the threaded hole III 2-12-1 and is connected with a polished rod II 2-14 through the through hole III 2-12-2, the supporting telescopic sleeve 2-11 is a telescopic sleeve, one end of the supporting telescopic sleeve 2-11 is connected with the pin outlet hole 1-4-1, and the other end of the supporting telescopic sleeve 2-11 is connected in a hole at the upper part of the sliding block III 2-12; the motor I2-1 drives the screw II 2-15 to rotate through the coupler, so that the slider I2-5 is driven to move back and forth on the polish rod I2-13, the needle clamping device 2-7 is driven to rotate by the needle rotating motor II 2-4, the flexible needle 2-6 is driven to rotate by the needle clamping device 2-7, the screw II 2-16 is driven to rotate by the motor II 2-2 through the coupler, the slider II 2-9 is driven to move back and forth on the polish rod II 2-14 by the screw II 2-16, the slider III 2-12 is driven to move back and forth on the polish rod II 2-14 by the screw II 2-16, and the flexible needle is driven to rotate to enter the needle.
As shown in fig. 2 and 4, the take-up and pay-off mechanism 3 in this embodiment includes a first rotating shaft motor 3-1, a first rotating shaft 3-2, a first rotating shaft frame 3-3, a second rotating shaft motor 3-4, a second rotating shaft 3-5, a second rotating shaft frame 3-6, a third rotating shaft motor 3-7, a third rotating shaft 3-8, a third rotating shaft frame 3-9, a fourth rotating shaft motor 3-10, a fourth rotating shaft 3-11, a fourth rotating shaft frame 3-12, a first pulley 3-13, a second pulley 3-14, a third pulley 3-15, a fourth pulley 3-16, a first line 3-17, a second line 3-18, a third line 3-19, and a fourth line 3-20, wherein the first rotating shaft frame 3-1 is U-shaped, a rectangular channel first 3-3-1 is provided at the lower portion of the first rotating shaft frame 3-1 is fixed on the boss first-2-1 by screws, and the rectangular channel first 3-3-1 is aligned with the rectangular through-hole first 1-2-1; the rotating shaft motor 3-1-1 is connected to the outer side of the rotating shaft frame I3-1-2 through a screw, the rotating shaft I3-2 is installed in the rotating shaft frame I3-3U-shaped, one end of the rotating shaft I3-2 is connected to the rotating shaft motor I3-1, the other end of the rotating shaft is installed on the U-shaped wall of the rotating shaft frame I3-3 through a bearing, and the line I3-17 is wound on the rotating shaft I3-2; the second rotating shaft frame 3-6 is U-shaped, a rectangular channel II 3-6-1 is arranged at the lower part of the second rotating shaft frame 3-6, the second rotating shaft frame 3-6 is fixed on the first boss 1-2-1 through a screw, and the rectangular channel II 3-6-1 is aligned with the contour of the strip-shaped through hole II 1-2-1-2; the second rotating shaft motor 3-4 is connected to the second rotating shaft frame 3-6 through a screw, the second rotating shaft 3-5 is arranged in the second rotating shaft frame 3-6U-shaped, one end of the second rotating shaft 3-5 is connected to the second rotating shaft motor 3-4, the other end of the second rotating shaft is arranged on the U-shaped wall of the second rotating shaft frame 3-6 through a bearing, and the second wire 3-15 is wound on the second rotating shaft 3-5; the lower part of the third rotating shaft bracket 3-9 is provided with a rectangular channel 3-9-1, the third rotating shaft bracket 3-9 is fixed on the outer side of the second boss 1-3-1 through a screw, and the rectangular channel 3-9-1 is aligned with the contour of the strip-shaped through hole three 1-3-1-1; the rotating shaft motor III 3-7 is U-shaped, the rotating shaft motor III 3-7 is connected to the outer side of the rotating shaft frame III 3-9 through screws, the rotating shaft III 3-8 is installed in the U-shape of the rotating shaft frame III 3-9, one end of the rotating shaft III 3-8 is connected to the rotating shaft motor III 3-7, the other end of the rotating shaft III is installed on the U-shaped wall of the rotating shaft frame III 3-9 through a bearing, the line III 3-19 is wound on the rotating shaft III 3-8, and the rotating shaft III 3-8 carries the line III 3-11; the rotating shaft frame IV 3-12 is U-shaped, a rectangular channel IV 3-12-1 is arranged at the lower part of the rotating shaft frame IV 3-12, the rotating shaft frame IV 3-12 is fixed on the outer side of the boss II 1-3-1 through screws, the rectangular channel IV 3-9-1 is aligned with the outline of the strip-shaped through hole IV 1-3-1-2, the rotating shaft motor IV 3-10 is connected on the outer side of the rotating shaft frame IV 3-12 through screws, one end of the rotating shaft IV 3-11 is connected on the motor IV 3-12, and the other end of the rotating shaft IV is arranged on the U-shaped wall of the rotating shaft frame IV 3-12 through a bearing; the pulley I3-13 is arranged beside the wire hole I1-4-2 through a screw, the wire I3-17 passes through the rectangular channel 3-3-1 and the strip through hole I1-2-1, and the wire I3-17 bypasses the pulley I3-13 and directly enters the wire hole I1-4-2; the pulley II 3-14 is arranged at the left end of the wire hole II 1-4-3 through a screw, the wire II 3-18 passes through the rectangular channel II 3-6-1 and the strip through hole II 1-2-1-2, and the wire II 3-10 is wound on the pulley 3-14 and directly enters the wire hole II 1-4-3; the pulley III 3-14 is arranged at the right end of the wire hole III 1-4-4 through a screw, the wire III 3-19 passes through the rectangular channel 3-9-1 and the strip through hole III 1-3-1-1, and the wire III 3-19 is wound on the pulley III 3-15 and directly enters the wire hole III 1-4-4; the pulley IV 3-16 is arranged at the right end of the wire hole IV 1-4-5 through a screw, the wire IV 3-20 is wound on the rotating shaft 3-4-2, the wire IV 3-20 passes through the rectangular channel IV 3-11 and the strip through hole IV 1-3-1-2, and the wire IV 3-20 is wound on the pulley IV 3-16 and directly enters the wire hole IV 1-4-5; the first rotating shaft motor 3-1 rotates to drive the first rotating shaft 3-2 to rotate to realize retraction of the first wire 3-17, the second rotating shaft motor 3-4 drives the rotating shaft to rotate 3-5, so that the second wire 3-18 is retracted, the third rotating shaft motor 3-7 rotates to drive the rotating shaft 3-8, so that the third wire 3-19 is retracted, the fourth rotating shaft motor 3-10 rotates to drive the rotating shaft 3-11, so that the fourth wire 3-20 is retracted, and the control of the needle insertion pose adjusting mechanism 4 is realized under the synergistic effect of the first wire 3-17, the second wire 3-18, the third wire 3-19 and the fourth wire 3-20.
As shown in fig. 5, the needle insertion pose adjusting mechanism 4 in this embodiment includes a top plastic circular plate 4-1, a flexible tube 4-2, a spring 4-3, a middle plastic circular plate 4-4, and a bottom plastic circular plate 4-5, wherein a central through hole is arranged in the middle of the top plastic circular plate 4-1, four line holes are uniformly distributed in a cross shape with the center of the axle center as a center, the flexible tube 4-2 passes through the central through hole of the top plastic circular plate 4-1, the front part of the flexible tube 4-2 protrudes slightly beyond the top plastic circular plate 4-1, the spring 4-3 is fixedly connected with the top plastic circular plate 4-1, and the line one 3-17, the line two 3-18, the line three 3-19, the line four 3-20, and the four line holes passing through the top plastic circular plate 4-1 are fixedly connected with the top plastic circular plate 4-1; the middle of the middle plastic circular plate 4-4 is provided with a through hole, four wire holes are uniformly distributed in a cross shape by taking the axle center as the center, the springs 4-3 are connected with the top plastic circular plate 4-1, and the wire one 3-17, the wire two 3-18, the wire three 3-19 and the wire four 3-20 penetrate through the four wire holes of the middle plastic circular plate 4-4; the center of the bottom plastic circular plate 4-5 is provided with a through hole, four line holes are uniformly distributed in a cross shape by taking the axle center as the center, the bottom plastic circular plate 4-5 is arranged on the front perforated plate 1-4 through screws, the flexible pipe 4-2 is fixedly connected with the front perforated plate 1-4 and penetrates through the through hole in the center of the bottom plastic circular plate 4-5, the spring 4-3 is fixedly connected with the bottom plastic circular plate 4-5, the line one 3-9, the line two 3-18, the line three 3-19 and the line four 3-20 respectively penetrate through the four line holes of the bottom plastic circular plate 4-5; the top plastic circular plate 4-1 is controlled to swing the spring 4-8 in different directions through the first line 3-9, the second line 3-10, the third line 3-11 and the fourth line 3-12, so that the top plastic circular plate 4-1 drives the flexible needle point in the flexible tube 4-2 to swing to realize different postures.
The working principle of the specific embodiment of the invention is as follows:
When the device is used, the device is reset, the device is fixed at the corresponding position on an operating table, the first rotating shaft motor 3-1, the second rotating shaft motor 3-4, the third rotating shaft motor 3-7 and the fourth rotating shaft motor 3-10 are adjusted to enable the through hole of the flexible tube 4-2 to be coaxial with the pin hole 1-4-1, the flexible needle 2-6 is arranged on the needle clamping device 2-7, the sleeve 2-10 is arranged on the sleeve fixer 2-8, and the flexible needle 2-6 and the sleeve 2-10 penetrate out of the supporting telescopic sleeve 2-11.
Needle insertion pose adjustment mechanism 4 needle insertion angle example: the through hole of the flexible tube 4-2 is coaxial with the needle outlet hole 1-4-1, the rotating shaft motor I3-1 rotates to drive the rotating shaft I3-2 to rotate to achieve retraction of the line I3-17, the rotating shaft motor III 3-7 rotates to drive the rotating shaft 3-8, thereby driving the line III 3-19 to retract, the control top plastic circular plate 4-1 drives the flexible needle 2-6 in the flexible tube 4-2 to swing left and right, the rotating shaft motor II 3-4 drives the rotating shaft to rotate 3-5 so as to retract at the driving line II 3-18, the rotating shaft motor IV 3-10 rotates to drive the rotating shaft 3-11, thereby driving the line IV 3-20 to retract, the control top plastic circular plate 4-1 drives the flexible needle 2-6 in the flexible tube 4-2 to swing in a pitching manner, and the rotating shaft motor I3-1, the rotating shaft motor II 3-4, the rotating shaft motor III-7 and the rotating shaft motor IV 3-10 can jointly control the needle inlet angle of the flexible needle 2-6.
Control flexible needle 2-6 feeding, retracting and spinning examples: the sliding block III 2-12 slides on the polish rod II 2-14 so as to drive the support telescopic tube 2-11 to extend or shorten, and finally, the support of the flexible needle 2-6 is realized; the motor I2-1 drives the screw rod I2-15 to rotate through the coupler so as to drive the slide block I2-5 to move back and forth on the polish rod I2-13, the motor II 2-2 drives the screw rod II 2-16 to rotate through the coupler, the screw rod II 2-16 drives the slide block II 2-9 to move back and forth on the polish rod II 2-14, the screw rod II 2-16 drives the slide block III 2-12 to move back and forth on the polish rod II 2-14, feeding and retracting of the flexible needle 2-6 are finally realized, the needle rotating motor II 2-4 drives the needle clamping device 2-7 to rotate, the needle clamping device 2-7 drives the flexible needle 2-6 to rotate, and the combined movement of the motor I2-1, the motor II 2-4 and the needle rotating motor II 2-4 can control the oblique-tip flexible needle to obtain different puncture paths.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. A cannula flexible needle puncture device with a needle point pose adjusting mechanism comprises a mechanism main body, a flexible needle puncture feeding mechanism, a take-up and pay-off mechanism and a needle entering pose adjusting mechanism, and is characterized in that: the left front of the mechanism main body is provided with a first vertical plate, a first boss is arranged on the first boss, a first strip-shaped through hole and a second strip-shaped through hole are arranged on the first boss, the first strip-shaped through hole and the second strip-shaped through hole are arranged in parallel, 8 threaded holes are arranged on the first boss, four threaded holes are formed in a group, and each group is symmetrically arranged in pairs by taking the central lines of the first strip-shaped through hole and the second strip-shaped through hole as symmetry axes; the right front face of the mechanism main body is provided with a second vertical plate, a boss II is arranged on the second vertical plate, a strip-shaped through hole III and a strip-shaped through hole IV are arranged on the boss II, the two holes are arranged in parallel, eight threaded holes are arranged on the boss II, the four threaded holes are in a group, and each group is symmetrically arranged by taking the center lines of the strip-shaped through hole III and the strip-shaped through hole IV as axes; the front end of the main body is provided with a porous plate, the center of the main body is provided with a pin hole, and the pin hole is used as the center to form a first wire hole, a second wire hole, a third wire hole and a fourth wire hole which are symmetrically distributed in a cross shape; the rear end of the main body is provided with a rear plate, and the middle part of the rear plate is provided with two motor holes which are symmetrically arranged left and right; the flexible needle puncture feeding mechanism comprises a first motor, a second motor, a needle rotating motor frame, a needle rotating motor, a first sliding block, a flexible needle, a needle clamping device, a sleeve fixer, a second sliding block, a sleeve, a supporting telescopic sleeve, a third sliding block, a first polished rod, a second polished rod, a first screw rod and a second screw rod, wherein one ends of the first polished rod and the second polished rod are arranged on a rear plate through screws, and the other ends of the first polished rod and the second polished rod are arranged on a porous plate through screws; the first motor is arranged on a motor hole on the left side of the rear plate through a screw and is connected with the first screw rod through a coupler; the motor II is arranged in a motor hole on the right side of the rear plate through a screw and is connected with the screw rod II through a coupler; the needle rotating motor is arranged on the needle rotating motor frame through a screw, the needle rotating motor frame is arranged on the first sliding block through a screw, the needle clamping device is fixedly connected to the needle rotating motor, and the flexible needle is clamped on the needle clamping device; the lower part of the first sliding block is provided with a first threaded hole, the left lower part of the first sliding block is provided with a through hole, the first screw rod penetrates through the first threaded hole, and the first polish rod penetrates through the through hole on the first sliding block; the upper part of the second slider is provided with a needle penetrating hole, the needle penetrating hole and the needle outlet hole are coaxial, the lower side of the second slider is provided with a second threaded hole, the right lower side of the second slider is provided with a second through hole, the second slider is connected with a second screw rod through the second threaded hole and the second threaded rod through the second through hole, the sleeve is fixed on a sleeve fixer, and the sleeve fixer is connected to the upper part of the second slider through threads; the lower side of the sliding block III is provided with a threaded hole III, the left lower side of the sliding block III is provided with a through hole III, the flexible needle penetrates through the through hole on the upper part of the sliding block III and the needle outlet hole, the sliding block three is connected with a screw rod II through the threaded hole III and is connected with a polish rod II through the through hole III, the supporting telescopic sleeve is a telescopic sleeve, one end of the supporting telescopic sleeve is connected with the needle outlet hole, and the other end of the supporting telescopic sleeve is connected in the hole on the upper part of the sliding block III; the motor I drives the screw rod I to rotate through the coupling, and then drives the slider I to move back and forth on the polished rod I, the needle rotating motor drives the needle clamping device to rotate, the needle clamping device drives the flexible needle to rotate, the motor II drives the screw rod II to rotate through the coupling, the screw rod II drives the slider II to move back and forth on the polished rod II, and the screw rod II drives the slider III to move back and forth on the polished rod II, and then drives the flexible needle to rotate to enter the needle.
2. The flexible cannula needle puncturing device with the needle tip pose adjusting mechanism according to claim 1, wherein the retracting and releasing mechanism comprises a first rotating shaft motor, a first rotating shaft frame, a second rotating shaft motor, a second rotating shaft frame, a third rotating shaft motor, a third rotating shaft frame, a fourth rotating shaft motor, a fourth rotating shaft frame, a fourth pulley, a first pulley, a second pulley, a third pulley, a fourth pulley, a first line, a second line, a third line and a fourth line, the first rotating shaft frame is U-shaped, a first rectangular channel is arranged at the lower part of the first rotating shaft frame, the first rotating shaft frame is fixed on the first boss through a screw, and the first rectangular channel is aligned with the first strip-shaped through hole; the first rotating shaft motor is connected to the outer side of the first rotating shaft frame through a screw, the first rotating shaft is installed in the U-shaped of the first rotating shaft frame, one end of the first rotating shaft is connected to the first rotating shaft motor, the other end of the first rotating shaft is installed on the U-shaped wall of the first rotating shaft frame through a bearing, and the first wire is wound on the first rotating shaft; the second rotating shaft frame is U-shaped, a rectangular channel II is arranged at the lower part of the second rotating shaft frame, the second rotating shaft frame is fixed on the first boss through a screw, and the rectangular channel II is aligned with the outline of the strip-shaped through hole II; the second rotating shaft motor is connected to the second rotating shaft frame through a screw, the second rotating shaft is installed in the U-shaped of the second rotating shaft frame, one end of the second rotating shaft is connected to the second rotating shaft motor, the other end of the second rotating shaft is installed on the U-shaped wall of the second rotating shaft frame through a bearing, and the second wire is wound on the second rotating shaft; the lower part of the rotating shaft frame III is provided with a rectangular channel, the rotating shaft frame III is fixed on the outer side of the boss II through a screw, and the rectangular channel is aligned with the contour of the strip-shaped through hole III; the rotating shaft frame three is U-shaped, the rotating shaft motor three is connected to the outer side of the rotating shaft frame three through a screw, the rotating shaft three is arranged in the U-shaped of the rotating shaft frame three, one end of the rotating shaft three is connected to the rotating shaft motor three, the other end of the rotating shaft three is arranged on the U-shaped wall of the rotating shaft frame three through a bearing, the wire three is wound on the rotating shaft three, and the rotating shaft three is provided with the wire three; the four rotating shaft frames are U-shaped, a rectangular channel IV is arranged at the lower part of each rotating shaft frame IV and fixed on the outer side of the boss II through screws, the rectangular channel IV is aligned with the outline of the strip-shaped through hole IV, the rotating shaft motor IV is connected to the outer side of the rotating shaft frame IV through screws, one end of each rotating shaft IV is connected to the motor IV, and the other end of each rotating shaft IV is arranged on the U-shaped wall of the rotating shaft frame IV through a bearing; the pulley I is arranged beside the wire hole through a screw, the wire I passes through the rectangular channel I and the strip-shaped through hole I, and the wire I bypasses the pulley I and directly enters the wire hole I; the second pulley is arranged at the end of the wire Kong Erzuo through a screw, the wire II passes through the second rectangular channel and the second strip-shaped through hole, and the wire II is wound on the second pulley and directly enters the wire hole II; the pulley III is arranged at the right end of the wire hole III through a screw, the wire III passes through the rectangular channel and the strip-shaped through hole III, and the wire III is wound on the pulley III and directly enters the wire hole III; the pulley IV is arranged at the right end of the wire hole IV through a screw, the wire IV is wound on the rotating shaft, the wire IV passes through the rectangular channel IV and the strip-shaped through hole IV, and the wire IV is wound on the pulley IV and directly enters the wire hole IV; the first rotating shaft motor rotates to drive the first rotating shaft to rotate so as to realize first winding and unwinding of the wire; the second rotating shaft motor drives the second rotating shaft to rotate so as to drive the second moving wire to retract and release, the third rotating shaft motor drives the third moving wire to retract and release, the fourth rotating shaft motor drives the fourth rotating shaft to retract and release, and the needle inserting pose adjusting mechanism is controlled under the synergistic effect of the first moving wire, the second moving wire, the third moving wire and the fourth moving wire.
3. A trocar flexible needle penetrating device with a needle tip pose adjustment mechanism according to claim 2, characterized by: the needle insertion pose adjusting mechanism comprises a top plastic circular plate, a flexible tube, a spring, a middle plastic circular plate and a bottom plastic circular plate, wherein a central through hole is formed in the middle of the top plastic circular plate, four line holes are uniformly distributed by taking an axle center as a center in a cross shape, the flexible tube penetrates through the central through hole of the top plastic circular plate, the front part of the flexible tube slightly protrudes out of the top plastic circular plate, the spring is fixedly connected with the top plastic circular plate, and a first line, a second line, a third line and a fourth line penetrate through the four line holes of the top plastic circular plate and are fixedly connected with the top plastic circular plate; the middle of the middle plastic circular plate is provided with a through hole, four wire holes are uniformly distributed in a cross shape by taking the axle center as the center, the springs are connected with the top plastic circular plate, and the first wire, the second wire, the third wire and the fourth wire penetrate through the four wire holes of the middle plastic circular plate; the center of the bottom plastic circular plate is provided with a through hole, four wire holes are uniformly distributed in a cross shape by taking the axle center as the center, the bottom plastic circular plate is arranged on the porous plate through screws, the flexible pipe is fixedly connected with the porous plate and penetrates through the center through hole of the bottom plastic circular plate, the spring is fixedly connected with the bottom plastic circular plate, and the wire I, the wire II, the wire III and the wire IV respectively penetrate through the four wire holes of the bottom plastic circular plate; the spring is controlled to swing in different directions by the first line, the second line, the third line and the fourth line, so that the top plastic circular plate drives the flexible needle point in the flexible tube to swing to realize different postures.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210328552.XA CN114569214B (en) | 2022-03-31 | 2022-03-31 | Flexible trocar puncturing device with needle tip pose adjusting mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210328552.XA CN114569214B (en) | 2022-03-31 | 2022-03-31 | Flexible trocar puncturing device with needle tip pose adjusting mechanism |
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| CN114569214B true CN114569214B (en) | 2024-05-14 |
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| CN102018575A (en) * | 2010-12-08 | 2011-04-20 | 清华大学 | Robot-assisted system and method for controlling flexible needle to puncture soft tissues in real time |
| WO2014049886A1 (en) * | 2012-09-28 | 2014-04-03 | テルモ株式会社 | Puncture device and medical fluid application device |
| CN113425391A (en) * | 2021-06-30 | 2021-09-24 | 佛山市柏康机器人技术有限公司 | Based on spring compression supports flexible needle puncture mechanism |
| CN113679458A (en) * | 2021-09-17 | 2021-11-23 | 哈尔滨理工大学 | Front-mounted flexible needle puncture device capable of adjusting needle inserting angle |
| CN113679456A (en) * | 2021-09-17 | 2021-11-23 | 哈尔滨理工大学 | Flexible needle puncture device capable of adjusting needle inserting angle |
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2022
- 2022-03-31 CN CN202210328552.XA patent/CN114569214B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102018575A (en) * | 2010-12-08 | 2011-04-20 | 清华大学 | Robot-assisted system and method for controlling flexible needle to puncture soft tissues in real time |
| WO2014049886A1 (en) * | 2012-09-28 | 2014-04-03 | テルモ株式会社 | Puncture device and medical fluid application device |
| CN113425391A (en) * | 2021-06-30 | 2021-09-24 | 佛山市柏康机器人技术有限公司 | Based on spring compression supports flexible needle puncture mechanism |
| CN113679458A (en) * | 2021-09-17 | 2021-11-23 | 哈尔滨理工大学 | Front-mounted flexible needle puncture device capable of adjusting needle inserting angle |
| CN113679456A (en) * | 2021-09-17 | 2021-11-23 | 哈尔滨理工大学 | Flexible needle puncture device capable of adjusting needle inserting angle |
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