CN115245381A - Puncture injection device - Google Patents
Puncture injection device Download PDFInfo
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- CN115245381A CN115245381A CN202211170188.5A CN202211170188A CN115245381A CN 115245381 A CN115245381 A CN 115245381A CN 202211170188 A CN202211170188 A CN 202211170188A CN 115245381 A CN115245381 A CN 115245381A
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- injection
- puncture
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- thread
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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
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/8802—Equipment for handling bone cement or other fluid fillers
- A61B17/8805—Equipment for handling bone cement or other fluid fillers for introducing fluid filler into bone or extracting it
-
- 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
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/8802—Equipment for handling bone cement or other fluid fillers
- A61B17/8805—Equipment for handling bone cement or other fluid fillers for introducing fluid filler into bone or extracting it
- A61B17/8811—Equipment for handling bone cement or other fluid fillers for introducing fluid filler into bone or extracting it characterised by the introducer tip, i.e. the part inserted into or onto the bone
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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
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/8802—Equipment for handling bone cement or other fluid fillers
- A61B17/8805—Equipment for handling bone cement or other fluid fillers for introducing fluid filler into bone or extracting it
- A61B17/8819—Equipment for handling bone cement or other fluid fillers for introducing fluid filler into bone or extracting it characterised by the introducer proximal part, e.g. cannula handle, or by parts which are inserted inside each other, e.g. stylet and cannula
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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
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/8802—Equipment for handling bone cement or other fluid fillers
- A61B17/8805—Equipment for handling bone cement or other fluid fillers for introducing fluid filler into bone or extracting it
- A61B17/8822—Equipment for handling bone cement or other fluid fillers for introducing fluid filler into bone or extracting it characterised by means facilitating expulsion of fluid from the introducer, e.g. a screw pump plunger, hydraulic force transmissions, application of vibrations or a vacuum
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (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)
- Robotics (AREA)
- Pathology (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The invention relates to the technical field of fracture treatment, and discloses a puncture injection device, which comprises: the device comprises an injection assembly, a puncture assembly and a positioning assembly; the invention adopts an injection assembly, a puncture assembly and a positioning assembly to form a puncture injection device, wherein the injection assembly comprises an injection part and an output part, the puncture assembly comprises a clamping part and a telescopic stylet, the clamping part is fixedly connected with the injection assembly, the clamping part is used for operating a mechanical arm, the positioning assembly is used for identifying and positioning the injection assembly by a computer, the computer controls the mechanical arm to operate the injection assembly to align to an operation area and puncture, and the problems of direction deviation and needle breakage in the manual operation vertebroplasty in the prior art are solved.
Description
Technical Field
The invention relates to the technical field of fracture treatment, in particular to a puncture injection device.
Background
Osteoporosis is characterized by loss of bone mass and reduction of bone density, which is represented by sparse trabecular bone, increased trabecular bone gap and even formation of cavity in imaging, and is easy to cause compression fracture, and the traditional method usually uses vertebroplasty to treat spinal compression fracture, however, for osteoporosis patients who do not have compression fracture, bone cement and the like cannot be directly injected into the vertebral body, so that the hidden danger of compression fracture is difficult to remove; at present, bioactive materials such as hydrogel and the like become ideal tissue engineering materials in the medical field, such as tissue repair, drug loading, infection resistance and the like, due to injectability, good hydrophilicity and in vivo biocompatibility, and are widely applied in the clinical field for many years. The hydrogel is a liquid or water-soluble high polymer material before curing molding (commonly called gelling), has certain strength and toughness after chemical crosslinking or physical crosslinking, finally forms semisolid hydrogel to play a role in vivo, and is an ideal bone filling material.
In the prior art, a vertebroplasty operation is needed for transferring medical materials such as hydrogel and the like to an operation area, while the traditional vertebroplasty operation uses a puncture needle for manual puncture to form a channel with the diameter of 4-6 mm, and the risk of leakage of an injection along the channel exists. An inexperienced operator may have a deviation in the puncture direction or a broken puncture needle due to a slight swing of his own arm or insufficient hardness of the puncture needle.
Disclosure of Invention
The invention aims to provide a puncture injection device, and aims to solve the problems of direction deviation and needle breakage in a manual operation vertebroplasty in the prior art.
The present invention is achieved as described above, and provides a puncture injection device, which is operated by a robotic arm controlled by a computer to treat an operation region, including:
the injection assembly comprises an injection part and an output part, the injection part and the output part are communicated with each other, the injection part is used for injecting medical materials, and the output part is used for injecting the medical materials to the operation area;
the puncture assembly comprises a clamping part and a telescopic needle core, the clamping part is fixedly connected with the injection assembly and is used for the mechanical arm to operate the injection assembly, the telescopic needle core is arranged in the clamping part and the injection assembly and is used for reciprocating motion in the clamping part and the injection assembly, when the telescopic needle core is at a first position, the telescopic needle core is used for sealing the output part, and when the telescopic needle core is at a second position, the output part is communicated with the operation area;
the positioning assembly surrounds the injection assembly and is used for the computer to recognize and position so as to control the mechanical arm to align the hollow needle point to the operation area for puncture and injection.
In one embodiment, the injection portion comprises an injection connection and a side tube;
the injection connecting part is internally provided with a first cavity, a connecting groove and a second cavity which are sequentially communicated from top to bottom;
the side pipe is obliquely arranged on the injection connecting part upwards, a third cavity is formed in the side pipe, one end of the third cavity is communicated with the outside, and the other end of the third cavity is communicated with the second cavity.
The outer side of the top end of the injection connecting part is provided with a first thread which is used for being fixedly connected with the clamping part.
And a plurality of connecting screw holes are formed in the outer side of the injection connecting part and used for fixedly mounting the positioning assembly.
In one embodiment, the output portion comprises a hollow needle tube and a hollow needle tip;
one end of the hollow needle tube is connected with the injection connecting part, and the other end of the hollow needle tube is connected with the hollow needle tip;
the hollow needle tube and the hollow needle point are provided with fourth cavities communicated with each other, the fourth cavities are communicated with the second cavities, the bottom end of the hollow needle point is provided with a needle point inclined plane, a needle point empty hole is formed in the needle point inclined plane, and the fourth cavities are communicated with the outside through the needle point empty hole.
In one embodiment, the outer side of the hollow needle tip is provided with a puncture thread for improving the puncture performance of the hollow needle tip.
In one embodiment, the clamping portion comprises a first clamping shell, a first connecting portion and a second clamping shell;
a second thread is arranged on the inner side of the bottom end of the first clamping shell, a third thread is arranged on the outer side of the first connecting part, the first connecting part and the second clamping shell are connected, and the first clamping shell and the second clamping shell are fixedly connected through mutual embedding of the second thread and the third thread;
clamping threads are arranged on the outer sides of the first clamping shell and the second clamping shell and used for the mechanical arm to operate the clamping part;
and a fourth thread is arranged on the inner side of the bottom end of the second clamping shell, and the second clamping shell is fixedly connected with the injection connecting part through the mutual embedding of the fourth thread and the first thread.
In one embodiment, a plurality of sliding grooves are uniformly and vertically arranged on the inner side of the second clamping shell and used for enabling the telescopic stylet to reciprocate in the clamping part.
In one embodiment, the retractable stylet comprises a sliding structure, a spring, a snap ring, and a stylet;
the sliding structure is mutually embedded with the sliding grooves, and the sliding structure reciprocates in the first cavity through the sliding grooves;
the rear end of the stylet is embedded into the sliding structure, and the sliding structure is used for driving the stylet to reciprocate;
the clamping ring is arranged at the rear end of the stylet, the spring is arranged below the clamping ring, one end of the spring is abutted against the clamping ring, and the other end of the spring is abutted against the connecting groove;
when the first clamping shell is fixedly connected with the second clamping shell, the first clamping shell drives the sliding structure to move downwards, the sliding structure drives the needle core to move downwards to the first position, the needle core seals the needle point hollow hole and forms a complete inclined plane with the needle point inclined plane in a combined mode, and at the moment, the spring is in a compressed state;
when the first clamping shell is disconnected from the second clamping shell, the spring in a compressed state drives the needle core to move upwards to the second position through the clamping ring, and at the moment, the needle point empty hole is communicated with the outside.
In one embodiment, the sliding structure includes a first sliding portion and a second sliding portion;
the second sliding part is including connecting second sliding part head and the second sliding part afterbody that sets up, the embedding of second sliding part afterbody first sliding part, the outside of first sliding part is provided with a plurality of sliders, the bottom of first sliding part is provided with the sawtooth edge, the outside of second sliding part head is provided with a plurality of slide rails, the sawtooth edge with a plurality of slide rail butts, a plurality of sliders with a plurality of slide rail with the gomphosis of slip recess, in order to realize sliding construction's reciprocating motion.
In one embodiment, the bottom end of the second sliding part is provided with a mounting hole for the stylet to be inserted into.
In one embodiment, the positioning assembly comprises a plurality of positioning balls, a plurality of connecting rods, a plurality of washers and a fixing ring;
the positioning ball is provided with a ball screw hole;
the outer sides of two ends of the connecting rod are respectively provided with a first connecting thread and a second connecting thread, the middle section of the connecting rod is provided with a fixing hole penetrating through the connecting rod, two ends of the fixing hole are provided with sunken planes, and the sunken planes are attached to the fixing ring;
the first connecting thread is embedded with the sphere screw hole so as to realize the fixed connection of the connecting rod and the positioning ball;
the second connecting screw thread is embedded with the connecting screw hole to realize the fixed connection of the connecting rod and the connecting part;
the gasket is fixedly arranged at the connecting position of the connecting rod and the connecting part;
the fixed ring is including fixed fitting with a contraceptive ring and fixed lower ring, fixed fitting with a contraceptive ring with fixed lower ring is provided with a plurality of fixed archs respectively, fixed protruding embedding fixed hole, in order to realize fixed ring with the fixed connection of a plurality of connecting rods.
The invention provides a puncture injection device, which has the following beneficial effects:
1. the invention adopts an injection assembly, a puncture assembly and a positioning assembly to form a puncture injection device, wherein the injection assembly comprises an injection part and an output part, the puncture assembly comprises a clamping part and a telescopic stylet, the clamping part is fixedly connected with the injection assembly, the clamping part is used for operating a mechanical arm, the positioning assembly is used for identifying and positioning the injection assembly by a computer, the computer controls the mechanical arm to operate the injection assembly to align to an operation area and puncture, and the problems of direction deviation and needle breakage in the manual operation vertebroplasty in the prior art are solved.
2. The telescopic needle core moves back and forth in the clamping part and the injection assembly, when the telescopic needle core is located at the first position, the telescopic needle core seals the output part to prevent foreign matters from entering the output part when puncturing an operation area, when the telescopic needle core is located at the second position, the output part is communicated with the outside to output medical materials to the operation area, the output part is protected, and the output part can be in a state of outputting the medical materials without drawing out the telescopic needle core.
Drawings
Fig. 1 is a schematic view of the overall structure of a puncture injection device according to an embodiment of the present invention;
fig. 2 is a schematic disassembled structure view of a positioning assembly of a puncture injection device provided by an embodiment of the present invention;
FIG. 3 is a detailed structural schematic diagram of a positioning assembly of a puncture injection device provided by an embodiment of the invention;
FIG. 4 is a schematic view of a disassembled structure of an injection assembly and a puncture assembly of a puncture injection device provided in an embodiment of the present invention;
fig. 5 is a schematic structural view of a clamping member of a puncture injection device according to an embodiment of the present invention;
fig. 6 is a schematic view of a sliding structure of a puncture injection device according to an embodiment of the present invention;
FIG. 7 is a schematic view of a hub of a puncture injection device provided in accordance with an embodiment of the present invention;
FIG. 8 is a schematic cross-sectional view of an injection assembly of a puncture injection device provided in accordance with an embodiment of the present invention;
fig. 9 is a schematic cross-sectional view of a spike assembly of a spike injection device in accordance with an embodiment of the present invention.
Reference numerals are as follows: 1-injection assembly, 2-puncture assembly, 3-positioning assembly, 11-injection portion, 12-output portion, 21-clamping portion, 22-telescopic needle core, 111-injection connection portion, 112-side tube, 1111-first cavity, 1112-connection groove, 1113-second cavity, 1121-third cavity, 113-first thread, 114-connection screw hole, 121-hollow needle tube, 122-hollow needle tip, 123-fourth cavity, 1221-needle tip slope, 1222-needle tip hole, 1223-puncture thread, 211-first clamping housing, 212-first connection portion, 213-second clamping housing, 214-clamping thread, 2111-second thread, 2121-third thread, 2131-fourth thread, 2132-sliding groove, 221-sliding structure, 222-spring, 223-needle core, 224-first sliding portion, hole, 2-second sliding portion, 22121-second sliding portion head portion, 22122-second sliding portion, tail portion, 11-sliding portion, 11-fixing ball-fixing ring, 22123-fixing ring 22123-lower ball, 22132-fixing ring 2213-fixing ring, and fixing ring 2213-lower ball fixing ring 22132.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.
The following describes the implementation of the present invention in detail with reference to specific embodiments.
Referring to fig. 1, 4 and 8, a preferred embodiment of the present invention is provided.
The invention provides a puncture injection device, which is operated by a mechanical arm controlled by a computer so as to realize the treatment of an operation area, and comprises the following components:
an injection assembly 1, a puncture assembly 2 and a positioning assembly 3.
Specifically, the injection assembly 1 comprises an injection part 11 and an output part 12, the injection part 11 and the output part 12 are communicated internally, the injection part 11 is used for injecting medical materials, and the output part 12 is used for injecting the medical materials to the operation area.
Specifically, the puncture assembly 2 comprises a clamping part 21 and a telescopic stylet 22, the clamping part 21 is fixedly connected with the injection assembly 1 and is used for operating the injection assembly 1 by a mechanical arm, namely the mechanical arm clamps the puncture injection device through the clamping part 21 and controls the puncture injection device to move so as to puncture the puncture injection device into an operation area; the telescopic stylet 22 is arranged inside the clamping part 21 and the injection assembly 1 and used for reciprocating movement inside the clamping part 21 and the injection assembly 1, when the telescopic stylet 22 is at a first position, the telescopic stylet 22 is used for sealing the output part 12, and when the telescopic stylet 22 is at a second position, the output part 12 is communicated with an operation area; it can be understood that, before puncturing the operation area, make flexible nook closing member 22 move to the first position, use flexible nook closing member 22 to seal output portion 12, thereby seal protection to output portion 12, thereby it causes the jam to have the foreign matter to get into output portion 12 inside during the avoiding puncture, and can promote the puncture performance effectively, when the puncture is accomplished, make flexible nook closing member 22 move to the second position, remove the closure of flexible nook closing member 22 to output portion 12, make output portion 12 and external intercommunication, can pass through injection portion 11 and output portion 12 this moment and inject medical material to the operation area.
Specifically, the positioning assembly 3 is arranged around the injection assembly 1, and the positioning assembly 3 is used for being identified and positioned by a computer so as to control the mechanical arm to align the hollow needle tip 122 with the operation area for puncture; it can be understood that the output portion 12 of the injection assembly 1 is located at the middle of the positioning assembly 3, and by identifying each edge node of the positioning assembly 3, a precise position of the output portion 12 can be calculated, and the computer can drive the mechanical arm to precisely align the output portion 12 with the operation area according to the obtained position information, and perform puncturing and injection.
The invention provides a puncture injection device, which has the following beneficial effects:
1. the invention adopts an injection assembly 1, a puncture assembly 2 and a positioning assembly 3 to form a puncture injection device, the injection assembly 1 comprises an injection part 11 and an output part 12, the puncture assembly 2 comprises a clamping part 21 and a telescopic stylet 22, the clamping part 21 is fixedly connected with the injection assembly 1, the clamping part 21 is used for being operated by a mechanical arm, the positioning assembly 3 is used for being identified and positioned by a computer to the injection assembly 1, the computer controls the mechanical arm to operate the injection assembly 1 to align an operation area and puncture, and the problems of direction deviation and needle breakage in the manual operation vertebroplasty in the prior art are solved.
2. The telescopic needle core 22 moves back and forth in the clamping part 21 and the injection assembly 1, when the telescopic needle core 22 is located at the first position, the telescopic needle core 22 seals the output part 12 to prevent foreign matters from entering the output part 12 when puncturing an operation area, when the telescopic needle core 22 is located at the second position, the output part 12 is communicated with the outside to output medical materials to the operation area, the protection of the output part 12 is realized, and the output part 12 can be in a state of outputting the medical materials without drawing out the telescopic needle core 22.
Referring to fig. 8:
in some embodiments, the injection section 11 includes an injection connection section 111 and a side tube 112.
Specifically, the injection connecting part 111 has a first cavity 1111, a connecting groove 1112 and a second cavity 1113 which are sequentially communicated from top to bottom, the first cavity 1111, the connecting groove 1112 and the second cavity 1113 are all cylindrical, and the diameter of the bottom surface of the first cavity 1111 is larger than that of the bottom surface of the connecting groove 1112 and is larger than that of the bottom surface of the second cavity 1113; it will be appreciated that first cavity 1111, connecting groove 1112 and second cavity 1113 are used to position the spike assembly 2 and provide for reciprocation of the spike assembly 2.
More specifically, the side tube 112 is disposed obliquely upward on the injection connecting portion 111, the side tube 112 has a third cavity 1121 therein, one end of the third cavity 1121 communicates with the outside, and the other end of the third cavity 1121 communicates with the second cavity 1113; it is understood that the end of the third cavity 1121 that communicates with the outside is used for injecting medical materials, and the medical materials enter the second cavity 1113 through the third cavity 1121.
More specifically, the injection connecting portion 111 is provided at the top end outside thereof with a first screw 113 for fixedly connecting with the grip portion 21.
More specifically, the injection connecting portion 111 is provided at an outer side thereof with a plurality of connecting screw holes 114 for fixedly mounting the positioning member 3.
Referring to fig. 8:
in some embodiments, output 12 includes a hollow needle cannula 121 and a hollow needle tip 122.
Specifically, one end of the hollow needle tube 121 is connected to the injection connecting part 111, the other end of the hollow needle tube 121 is connected to the hollow needle tip 122, the hollow needle tube 121 and the hollow needle tip 122 have a fourth cavity 123 communicating with each other, it is understood that the fourth cavity 123 communicates with the second cavity 1113, and the medical material in the second cavity 1113 is transferred into the fourth cavity 123 by gravity.
More specifically, the bottom end of the hollow needle tip 122 is provided with a needle tip slope 1221, the needle tip slope 1221 is provided with a needle tip void 1222, the fourth cavity 123 is communicated with the outside through the needle tip void 1222, and the medical material is transferred to the outside through the needle tip void 1222.
More specifically, the outer side of the hollow needle tip 122 is provided with a piercing thread 1223, and the hollow needle tip 122 is rotated to pierce into the operation region under the operation of the robot arm, and the needle tip bevel 1221 and the piercing thread 1223 can enhance the piercing performance of the hollow needle tip 122.
Referring to fig. 5, 6, and 9:
in some embodiments, the clamping portion 21 includes a first clamping housing 211, a first connecting portion 212, and a second clamping housing 213.
Specifically, the inner side of the bottom end of the first clamping housing 211 is provided with a second thread 2111, the outer side of the first connecting portion 212 is provided with a third thread 2121, the first connecting portion 212 and the second clamping housing 213 are connected, and the second thread 2111 and the third thread 2121 are engaged with each other to fixedly connect the first clamping housing 211 and the second clamping housing 213.
More specifically, the second grip housing 213 is provided with a fourth thread 2131 at the inner side of the bottom end thereof, and the second grip housing 213 and the injection connecting part 111 are fixedly connected by the mutual engagement of the fourth thread 2131 and the first thread 113.
More specifically, the first holding housing 211, the second holding housing 213 and the injection connecting part 111 are used for arranging the puncture assembly 2, and the inner side of the second holding housing 213 is provided with a plurality of sliding grooves 2132 for the retractable needle core 22 to reciprocate in the holding part 21; it can be understood that when the first holding housing 211 and the second holding housing 213 are fixedly connected, the top end of the retractable needle core 22 abuts against the bottom surface of the first holding housing 211, the retractable needle core 22 moves to the first position under the pressure of the first holding housing 211, and the tip of the retractable needle core 22 closes the needle point aperture 1222, and when the first holding housing 211 and the second holding housing 213 are released, the first holding housing 211 no longer applies downward pressure to the retractable needle core 22, and the retractable needle core 22 rebounds to the second position, and the retractable needle core 22 does not close the needle point aperture 1222.
More specifically, the outer sides of the first clamp housing 211 and the second clamp housing 213 are provided with clamp threads 214, the clamp threads 214 are used for the robot to operate the clamp portion 21, and the operation of the robot to the clamp portion 21 includes: the output part 12 is aligned with the operation area by controlling the clamping part 21, the hollow needle point 122 is penetrated into the operation area by rotating the clamping part 21, and the fixed connection between the first clamping shell 211 and the second clamping shell 213 is released to move the telescopic needle core 22 to the second position.
Referring to fig. 7, 8, and 9:
in some embodiments, the retractable stylet 22 includes a sliding structure 221, a spring 222, a snap ring 223, and a stylet 224.
Specifically, the sliding structure 221 and the sliding groove 2132 are embedded with each other, the sliding structure 221 reciprocates in the first cavity 1111 through the plurality of sliding grooves 2132, more specifically, the rear end of the stylet 224 is embedded in the sliding structure 221, and the movement of the sliding structure 221 in the first cavity 1111 drives the stylet 224 to move in the fourth cavity 123.
More specifically, a snap ring 223 is provided on the rear end of the stylet 224, the spring 222 is provided below the snap ring 223, and one end of the spring 222 abuts the snap ring 223 and the other end abuts the coupling groove 1112.
It can be understood that when the first holding housing 211 and the second holding housing 213 are fixedly connected, the top end of the first holding housing 211 abuts against the top end of the sliding structure 221, the first holding housing 211 drives the sliding structure 221 to move downwards, the sliding structure 221 drives the needle core 224 to move downwards to the first position, the spring 222 is in a compressed state, the needle core 224 closes the needle point aperture 1222, and forms a complete slope in combination with the needle point slope 1221, and the surgical area is punctured, so that the substance in the surgical area can be prevented from entering the needle point aperture 1222 to cause blockage, and the puncturing performance can also be enhanced.
It can be understood that when the output portion 12 completes puncturing the operation area, the fixed connection between the first holding housing 211 and the second holding housing 213 is released, the top end of the first holding housing 211 no longer applies downward pressure to the sliding structure 221, the spring 222 in the compressed state will drive the needle core 224 to move upward to the second position through the snap ring 223, the needle point cavity 1222 is communicated with the outside, and the output portion 12 can input medical materials into the operation area.
Referring to fig. 6 and 9:
in some embodiments, the sliding structure 221 includes a first sliding portion 2211 and a second sliding portion 2212.
Specifically, the second sliding portion 2212 includes a second sliding portion head portion 22121 and a second sliding portion tail portion 22122, the second sliding portion tail portion 22122 is embedded in the first sliding portion 2211, a plurality of sliding blocks 22111 are disposed outside the first sliding portion 2211, a serrated edge 22112 is disposed at the bottom end of the first sliding portion 2211, a plurality of sliding rails 22123 are disposed outside the second sliding portion head portion 22121, the top ends of the sliding rails 22123 abut against the serrated edge 22112, and the sliding blocks 22111 and the sliding rails 22123 are both embedded in the sliding grooves 2132, so as to achieve the reciprocating motion of the sliding structure 221.
More specifically, the bottom end of the second sliding portion 2212 is provided with a mounting hole 22124 for the stylet 224 to be inserted.
Referring to fig. 2 and 3:
in some embodiments, the positioning assembly 3 includes a number of positioning balls 31, a number of links 32, a number of washers 33, and a retaining ring 34.
Specifically, the positioning ball 31 is provided with a ball screw hole 311, the outer sides of the two ends of the connecting rod 32 are respectively provided with a first connecting thread 321 and a second connecting thread 322, the middle section of the connecting rod 32 is provided with a fixing connecting hole 323 penetrating through the connecting rod 32, and the two ends of the fixing connecting hole 323 are respectively provided with a rectangular recessed plane 324 for the fixing ring 34 to be arranged.
More specifically, the first coupling screw 321 and the ball screw hole 311 are engaged with each other to achieve the fixed connection of the link 32 and the positioning ball 31; the second coupling screw 322 is engaged with the coupling screw hole 114 to fixedly couple the connecting rod 32 and the injection coupling part 111; the positioning ball 31 is fixed to the injection connection 111 by a link 32.
More specifically, a washer 33 is fixedly installed at a connection position of the link 32 and the connection portion to stabilize the connection of the two.
More specifically, the fixing ring 34 includes an upper fixing ring 341 and a lower fixing ring 342, the upper fixing ring 341 and the lower fixing ring 342 are respectively provided with a plurality of fixing protrusions 343, the upper fixing ring 341 and the lower fixing ring 342 are respectively attached to the recessed plane 324, and the fixing protrusions 343 are respectively inserted into the fixing holes 323 from above and below, so as to realize the fixed connection between the fixing ring 34 and the plurality of connecting rods 32, and to make the positions of the connecting rods 32 and the positioning balls 31 more stable.
More specifically, in the present embodiment, the number of the positioning balls 31 is three, the three positioning balls 31 are connected to form an equilateral triangle, and the output part 12 is located at the center of the equilateral triangle, so that the computer can obtain the precise position of the output part 12 by calculating through the position recognition of the three positioning balls 31, so as to control the mechanical arm to position the puncture injection device to the operation area and puncture the operation area.
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (10)
1. A puncture injection device operated by a computer-controlled robotic arm to effect treatment of an operative field, comprising:
the injection assembly comprises an injection part and an output part, the injection part and the output part are communicated with each other, the injection part is used for injecting medical materials, and the output part is used for injecting the medical materials to the operation area;
the puncture assembly comprises a clamping part and a telescopic needle core, the clamping part is fixedly connected with the injection assembly and is used for the mechanical arm to operate the injection assembly, the telescopic needle core is arranged in the clamping part and the injection assembly and is used for reciprocating motion in the clamping part and the injection assembly, when the telescopic needle core is at a first position, the telescopic needle core is used for sealing the output part, and when the telescopic needle core is at a second position, the output part is communicated with the operation area;
the positioning assembly is arranged around the injection assembly and used for the computer to recognize and position so as to control the mechanical arm to align the output part to the operation area for puncture and injection.
2. A puncture injection device according to claim 1, wherein said injection part comprises an injection connecting part and a side tube;
the injection connecting part is internally provided with a first cavity, a connecting groove and a second cavity which are sequentially communicated from top to bottom;
the side pipe is obliquely arranged on the injection connecting part upwards, a third cavity is formed in the side pipe, one end of the third cavity is communicated with the outside, and the other end of the third cavity is communicated with the second cavity;
the outer side of the top end of the injection connecting part is provided with a first thread which is used for being fixedly connected with the clamping part;
and a plurality of connecting screw holes are formed in the outer side of the injection connecting part and used for fixedly mounting the positioning assembly.
3. A puncture injection device according to claim 2, wherein the output section comprises a hollow needle tube and a hollow needle tip;
one end of the hollow needle tube is connected with the injection connecting part, and the other end of the hollow needle tube is connected with the hollow needle tip;
the hollow needle tube and the hollow needle point are provided with fourth cavities communicated with each other inside, the fourth cavities are communicated with the second cavities, the bottom end of the hollow needle point is provided with a needle point inclined plane, a needle point empty hole is formed in the needle point inclined plane, and the fourth cavities are communicated with the outside through the needle point empty hole.
4. A puncture injection device according to claim 3, wherein the outside of said hollow needle tip is provided with a puncture thread for improving the puncture performance of said hollow needle tip.
5. A puncture injection device according to claim 4, wherein said holding portion comprises a first holding case, a first connecting portion, and a second holding case;
the inner side of the bottom end of the first clamping shell is provided with a second thread, the outer side of the first connecting part is provided with a third thread, the first connecting part and the second clamping shell are connected, and the first clamping shell and the second clamping shell are fixedly connected through mutual embedding of the second thread and the third thread;
clamping threads are arranged on the outer sides of the first clamping shell and the second clamping shell and used for the mechanical arm to operate the clamping part;
and a fourth thread is arranged on the inner side of the bottom end of the second clamping shell, and the second clamping shell and the injection connecting part are fixedly connected through mutual embedding of the fourth thread and the first thread.
6. A puncture injection device according to claim 5, wherein said second holding case has a plurality of sliding grooves vertically formed on the inner side thereof for reciprocating said retractable needle core inside said holding portion.
7. A puncture injection device according to claim 6, wherein the retractable needle core comprises a sliding structure, a spring, a snap ring and a needle core;
the sliding structure is mutually embedded with the sliding grooves, and the sliding structure reciprocates in the first cavity through the sliding grooves;
the rear end of the stylet is embedded into the sliding structure, and the sliding structure is used for driving the stylet to reciprocate;
the clamping ring is arranged at the rear end of the needle core, the spring is arranged below the clamping ring, one end of the spring is abutted against the clamping ring, and the other end of the spring is abutted against the connecting groove;
when the first clamping shell is fixedly connected with the second clamping shell, the first clamping shell drives the sliding structure to move downwards, the sliding structure drives the needle core to move downwards to the first position, the needle core seals the needle point hollow hole and forms a complete inclined plane with the needle point inclined plane in a combined mode, and at the moment, the spring is in a compressed state;
when the first clamping shell is disconnected from the second clamping shell, the spring in a compressed state drives the needle core to move upwards to the second position through the clamping ring, and at the moment, the needle point empty hole is communicated with the outside.
8. A puncture injection device according to claim 7, wherein said slide structure comprises a first slide portion and a second slide portion;
the second sliding part is including connecting second sliding part head and the second sliding part afterbody that sets up, the embedding of second sliding part afterbody first sliding part, the outside of first sliding part is provided with a plurality of sliders, the bottom of first sliding part is provided with the sawtooth edge, the outside of second sliding part head is provided with a plurality of slide rails, the sawtooth edge with a plurality of slide rail butts, a plurality of sliders with a plurality of slide rail with the gomphosis of slip recess, in order to realize sliding construction's reciprocating motion.
9. A puncture injection device according to claim 8, wherein a bottom end of said second slider is provided with a mounting hole for said hub to be inserted.
10. A puncture injection device according to claim 2, wherein said positioning assembly comprises a plurality of positioning balls, a plurality of connecting rods, a plurality of washers, and a fixing ring;
the positioning ball is provided with a ball screw hole;
the outer sides of two ends of the connecting rod are respectively provided with a first connecting thread and a second connecting thread, the middle section of the connecting rod is provided with a fixing hole penetrating through the connecting rod, two ends of the fixing hole are provided with sunken planes, and the sunken planes are attached to the fixing ring;
the first connecting thread is embedded with the sphere screw hole so as to realize the fixed connection of the connecting rod and the positioning ball;
the second connecting screw thread is mutually embedded with the connecting screw hole so as to realize the fixed connection of the connecting rod and the connecting part;
the gasket is fixedly arranged at the connecting position of the connecting rod and the connecting part;
the fixed ring is including fixed fitting with a contraceptive ring and fixed lower ring, fixed fitting with a contraceptive ring with fixed lower ring is provided with a plurality of fixed archs respectively, fixed protruding embedding fixed hole, in order to realize fixed ring with the fixed connection of a plurality of connecting rods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211170188.5A CN115245381B (en) | 2022-09-26 | 2022-09-26 | Puncture injection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211170188.5A CN115245381B (en) | 2022-09-26 | 2022-09-26 | Puncture injection device |
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| Publication Number | Publication Date |
|---|---|
| CN115245381A true CN115245381A (en) | 2022-10-28 |
| CN115245381B CN115245381B (en) | 2023-01-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211170188.5A Active CN115245381B (en) | 2022-09-26 | 2022-09-26 | Puncture injection device |
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| Country | Link |
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| CN (1) | CN115245381B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020099335A1 (en) * | 2001-01-25 | 2002-07-25 | Zohmann Walter A. | Spinal needle |
| CN204169875U (en) * | 2014-09-22 | 2015-02-25 | 高辉 | Bone marrow aspiration biopsy needle |
| CN215018617U (en) * | 2021-02-26 | 2021-12-07 | 郑陈鹏 | Quick shutoff type pjncture needle |
| CN215273193U (en) * | 2021-04-20 | 2021-12-24 | 河南省儿童医院郑州儿童医院 | Lumbar puncture needle |
| CN113952009A (en) * | 2021-12-23 | 2022-01-21 | 真健康（北京）医疗科技有限公司 | Targeted drug delivery needle clamping navigation device and targeted drug delivery treatment system |
-
2022
- 2022-09-26 CN CN202211170188.5A patent/CN115245381B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020099335A1 (en) * | 2001-01-25 | 2002-07-25 | Zohmann Walter A. | Spinal needle |
| CN204169875U (en) * | 2014-09-22 | 2015-02-25 | 高辉 | Bone marrow aspiration biopsy needle |
| CN215018617U (en) * | 2021-02-26 | 2021-12-07 | 郑陈鹏 | Quick shutoff type pjncture needle |
| CN215273193U (en) * | 2021-04-20 | 2021-12-24 | 河南省儿童医院郑州儿童医院 | Lumbar puncture needle |
| CN113952009A (en) * | 2021-12-23 | 2022-01-21 | 真健康（北京）医疗科技有限公司 | Targeted drug delivery needle clamping navigation device and targeted drug delivery treatment system |
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| Publication number | Publication date |
|---|---|
| CN115245381B (en) | 2023-01-13 |
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