CN116158816A - Rope-driven active flexible needle puncture mechanism - Google Patents

Abstract

The invention relates to a rope-driven active flexible needle puncturing mechanism, which comprises the following functions: feeding and retracting of the flexible needle and deflection of the needle tip; the structure for driving the deflection of the needle point of the flexible needle is an integral body, the traction wire is tightened or released by means of rotation of the rope pulley, and the traction wire pulls the needle point to realize deflection; the motor for driving the rope pulley to rotate is arranged on the deflection motor seat, and the deflection motor seat performs linear motion by means of the ball screw and the linear guide rail, so that feeding and retreating of the flexible needle are realized; the output shaft of the deflection motor and the rope wheel are transmitted by the slot-in type coupling mechanism, the structure can realize the integral plug-and-play of the flexible needle driving mechanism, different types of flexible needles can be conveniently replaced, meanwhile, the accurate control of the deflection of the needle point can also be realized, the puncture mechanism and the deflection driving mechanism are compact in structure, can adapt to a narrow space and can be matched with the pose adjusting mechanism for use.

Description

Rope-driven active flexible needle puncture mechanism

Technical Field

The invention belongs to the technical field of medical appliances, and relates to a rope-driven active flexible needle puncturing mechanism.

Background

Minimally invasive interventional medicine is a brand-new medical technology which is rapidly developed in recent years, is an emerging medical method between surgery and internal medicine, and the targeted puncture technology is one of the medical means with the widest application prospect; under the guidance of medical imaging equipment, the flexible puncture needle is targeted to puncture for local treatment, and has the advantages of small wound, quick recovery, good treatment effect and the like; because the rigidity of the traditional rigid needle is large, the needle point position cannot be effectively controlled in the puncturing process, and the puncturing limitation is large, the flexible needle is rapidly developed and gradually applied to the puncturing operation.

CN201911372847.1 discloses a method, which designs a flexible lock driven active flexible needle, adopts flexible lock rope driving to make the needle point swing around the ball joint, and uses driving wheel to control the flexible lock at the tail end, the solution is effective in technology, but has some technical defects; firstly, because the driving wheel and the flexible lock transmit torque by virtue of friction, the flexible lock and the driving wheel cannot accurately transmit motion due to the fact that insufficient tension force of the flexible lock and the driving wheel can cause skidding, and if the position of the needle point cannot be accurately controlled, the capability of avoiding dangerous tissues is insufficient, so that the limitation exists; secondly, the axes of the two driving wheels are vertical, the position of the driving motor is required, the volume of the driving system is increased, and the capacity is insufficient for the case of smaller external space.

Based on the defects existing in the prior art, the technical problem to be solved by the invention is to solve the slipping problem of the driving wheel and the flexible lock, and realize the precise control of the needle point; the volume requirement of the driving system is reduced, and the capability of coping with a narrow space is enhanced.

Disclosure of Invention

Aiming at the problems, the technical problem to be solved by the invention is to provide the rope-driven active flexible needle puncture mechanism, which can control the clockwise and anticlockwise rotation of two rope pulleys by the clockwise and anticlockwise rotation of 2 motors which are compactly arranged on the deflection motor base so as to control the deflection of a needle point, realize flexible bending track and avoid nerves and other important tissues.

A rope-driven active flexible needle puncture mechanism mainly comprises a flexible needle tip component with high freedom, a transverse traction wire, a longitudinal traction wire, a guide pulley block, a rope pulley component and a shell. One end of a traction wire for controlling the transverse deflection of a needle point is wound on a cylindrical rope pulley with a spiral wire groove, the tail end of the traction wire is fixedly connected, the other side of the traction wire is guided to the needle point assembly through a guide pulley block, the traction wire bypasses from the inside of the needle point assembly and enters a needle shaft, the needle point is compressed by the needle point, the needle point is wound out at the opposite side of the needle shaft and then is guided to a position tangential to the cylindrical rope pulley of the spiral wire groove through the guide pulley block, the traction wire is wound on the spiral wire groove, the tail end of the traction wire is fixedly connected with the cylindrical rope pulley, and the winding mode of the longitudinal traction wire is the same; the motor for driving the rope wheel to rotate and the rope wheel assembly are transmitted to rotate by virtue of the slot-type coupling mechanism, so that the rotation control of the rope wheel is realized; the transverse traction wire drives the flexible needle tip to transversely deflect, the longitudinal traction wire drives the needle tip to longitudinally deflect, the deflection amplitude of the needle tip is controlled by means of the rotating angle of the motor, and the combination of the transverse deflection and the longitudinal deflection realizes the omnidirectional deflection of the needle tip.

The whole flexible needle driving mechanism is an integer and is arranged on a nut of a special ball screw, the deflection driving mechanism is also arranged on the ball screw and is guided by a linear guide rail, a feeding motor drives a screw rod of the ball screw by means of gear transmission to drive the deflection driving mechanism and the flexible needle driving mechanism to conduct linear motion, feeding and backing of the flexible needle are achieved, a supporting structure of the flexible needle is arranged at the front end of a shell of the feeding mechanism, and the flexible needle is prevented from warping in the feeding process.

The beneficial effects of the invention are as follows:

1. the traction wires are converted into an arrangement mode through the guide pulleys, interference friction of the traction wires is avoided, meanwhile, the axis of the driving rope wheel is converted into an arrangement mode parallel to each other and parallel to the flexible needle core from original vertical arrangement, so that the arrangement of the driving motor is more compact, the space of the driving structure can be effectively reduced, the size of the whole mechanism is reduced, and the capability of coping with a narrow environment is improved.

2. The flexible locking rope for driving the needle point is wound on the rope pulley with the spiral groove, and the tail end of the flexible locking rope is fixedly connected with the rope pulley, so that the problem of slipping of the driving wheel and the flexible locking is solved, and the deflection of the needle point of the flexible needle can be accurately controlled by controlling the rotation angle of the deflection driving motor.

Drawings

FIG. 1 is a schematic diagram of a cord driven active flexible needle lancing mechanism

FIG. 2 is a schematic diagram of a lancing feed mechanism and its components

FIG. 3 is a schematic diagram of a yaw drive mechanism

FIG. 4 is a schematic diagram of a yaw motor base

FIG. 5 is a schematic diagram of a flexible needle drive mechanism and its components

FIG. 6 is an exploded view of the flexible needle tip assembly

FIG. 7 is a schematic view of a flexible needle drive mechanism front housing

FIG. 8 is a schematic view of a rear housing of the flexible needle drive mechanism

FIG. 9 is a schematic diagram of a guide pulley arrangement

Fig. 10 is an exploded view of the pulley assembly

FIG. 11 is a schematic diagram of a pull wire winding method

Fig. 12 schematic view of a transverse traction wire and a longitudinal traction wire

In the figure: 1 puncture feeding mechanism, 2 deflection driving mechanism, 3 flexible needle driving mechanism, 1-1 feeding mechanism shell, 1-2 lead screw nut mechanism, 1-3 gear one, 1-4 gear two, 1-5 feeding motor, 1-6 linear guide rail, 1-7 guide rail slide block, 1-2-1 nut, 2-1 deflection motor seat, 2-2 deflection motor one, 2-3 deflection motor two, 2-4 transmission piece one, 2-5 transmission piece two, 2-1-1 circular through hole, 2-1-2 motor mounting hole one, 2-1-3 motor mounting hole two, 3-1 flexible needle point component, 3-2 front shell, 3-3 rear shell, 3-4 guide pulley block the first rope pulley component of 3-5, the second rope pulley component of 3-6, the transverse traction wire of 3-7, the longitudinal traction wire of 3-8, the needle point of 3-1-1, the thread sleeve of 3-1-2, the ball joint of 3-1-3 needle point, the inner core of 3-1-4 needle shaft, the outer sleeve of 3-1-5 needle shaft, the spherical surface of the ball joint of 3-1-6 needle point 3-1-7 needle shaft inner core sphere, 3-2-1 pin hole left first, 3-2-2 pin hole left second, 3-2-3 pin hole right first, 3-2-4 pin hole right second, 3-2-5 cylindrical groove first, 3-2-6 cylindrical groove second, 3-2-7 bearing hole first, 3-2-8 bearing hole second, 3-2-9 front shell mounting hole second, the rear shell through hole of the pulley comprises a rear shell through hole of the pulley, a rear shell mounting plate of the pulley, a pulley left I of the pulley 3-4-1, a pulley left II of the pulley 3-4-2, a pulley left III of the pulley 3-4-3, a pulley left IV of the pulley 3-4-4, a pulley right I of the pulley 3-4-5, a pulley right II of the pulley 3-4-6, a pulley right III of the pulley 3-4-7, a pulley right IV of the pulley 3-4-8, a pulley axle I of the pulley 3-5-1, a pulley I of the pulley 3-5-2, a pulley axle II of the pulley 3-6-1 and a pulley axle II of the pulley 3-6-2.

Description of the embodiments

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention is described below by means of specific embodiments shown in the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 and 12, the following technical solutions are adopted in the embodiments of the present invention: a cord driven active flexible needle penetration mechanism comprising: 1 a puncture feeding mechanism, 2 a deflection driving mechanism and 3 a flexible needle driving mechanism; 1 puncture feed mechanism its constitution includes: 1-1 feeding mechanism shell, 1-2 screw nut mechanism, 1-3 gear I, 1-4 gear II, 1-5 feeding motor, 1-6 linear guide rail and 1-7 guide rail slide block; the 1-6 linear guide rail and the 1-2 screw nut mechanism are arranged in a 1-1 feeding mechanism shell, the input end of the 1-2 screw nut mechanism is connected with a 1-3 gear I, a 1-2-1 nut in the 1-2 screw nut mechanism is a cylinder with a flange at one end, and 4 countersunk holes and 2 threaded through holes are formed in the flange; the 1-5 feeding motor is arranged at one end of the 1-1 feeding mechanism shell, the output shaft is connected with the 1-4 gear II, and the 1-4 gear II is meshed with the 1-3 gear I; the 2-deflection driving mechanism comprises: 2-1 deflection motor seat, 2-2 deflection motor I, 2-3 deflection motor II, 2-4 transmission piece I and 2-5 transmission piece II; the output shaft of the 2-2 deflection motor is provided with a first 2-4 transmission part, the output shaft of the 2-3 deflection motor is provided with a second 2-5 transmission part, both deflection motors are arranged on a 2-1 deflection motor seat, and the middle of the 2-1 deflection motor seat is penetrated by a 1-2-1 nut in a 1-2 screw nut mechanism and is arranged on a 1-7 guide rail slide block; the flexible needle driving mechanism is arranged on a threaded through hole of a 1-2-1 nut in the 1-2 lead screw nut mechanism through a screw; the rotation of the 1-5 feeding motor is transmitted to the 1-2 screw nut mechanism through the 1-4 gear II and the 1-3 gear I to drive the 2 deflection driving mechanism and the 3 flexible needle driving mechanism to linearly move, so that the feeding and the retreating of the flexible needle are realized.

Further, the 3 flexible needle driving mechanism comprises: 3-1 flexible needle tip assembly, 3-2 front shell, 3-3 rear shell, 3-4 guide pulley block, 3-5 rope pulley assembly I, 3-6 rope pulley assembly II, 3-7 transverse traction wire and 3-8 longitudinal traction wire; the 3-1 flexible needle tip assembly composition comprises: 3-1-1 needle point, 3-1-2 thread sleeve, 3-1-3 needle point ball joint, 3-1-4 needle shaft inner core, 3-1-5 needle shaft outer sleeve; the 3-1-1 needle point and the 3-1-2 needle point opposite-top threaded sleeve are connected with a 3-1-3 needle point ball joint through threads; the spherical surface of the 3-1-6 joint of the 3-1-3 needle point ball joint is matched and connected with the spherical surface of the 3-1-7 needle shaft inner core of the 3-1-4 needle shaft inner core; the 3-1-4 needle shaft inner core is in interference fit nesting connection with the 3-1-5 needle shaft outer sleeve, and the 3-1-3 needle point ball joint can deflect 3-1-4 around the needle shaft inner core, so that the ball bowl auxiliary mechanism is formed; the 3-1-5 needle shaft sleeve is fixedly connected with the round hole of the 3-2 front shell; the first component of the 3-5 rope pulley assembly comprises a first rope pulley shaft of 3-5-1 and a first rope pulley of 3-5-2; the first rope wheel shaft 3-5-1 sequentially passes through the bearing, the first rope wheel 3-5-2 and the bearing, the tail part of the first rope wheel shaft 3-5-1 is fixed with a screw by a gasket, the middle of the first rope wheel 3-5-2 is a D-shaped shaft, and a D-shaped hole is formed in the middle of the first rope wheel 3-5-2 and can transmit motion; the two rope pulley components are identical in structure, are fixed between a 3-2 front shell and a 3-3 rear shell by using bearings, a 3-4 guide pulley block is distributed at a specific position of the shell, one end of a 3-7 transverse traction wire is wound in an upper half spiral wire groove of a 3-5-2 rope pulley I, is guided to a 3-1-4 needle shaft inner core by the 3-5 guide pulley block, penetrates into the 3-1-4 needle shaft inner core wire groove at the front end of a 3-1-3 needle point ball joint, bypasses a contralateral wire groove of the 3-1-4 needle shaft inner core, is guided by the 3-4 guide pulley block, is wound in a lower half spiral wire groove of the 3-5-2 rope pulley at the tail end, and is wound on a 3-6-2 rope pulley II after bypassing the 3-1 needle point component in the same manner; the two rope wheel shafts are of the same structure, the front end of the rope wheel shaft is of an oblate cylinder structure with a groove, the oblate cylinder structure extends out of the 3-2 front shell and is in nested fit with the 2-4 transmission part I and the 2-5 transmission part II, the 2-2 deflection motor I and the 2-3 deflection motor II drive the two rope wheel assemblies to rotate, the traction wire is contracted and released, and the needle point is pulled to deflect in all directions and different amplitudes.

Furthermore, after the 3-7 transverse traction wires and the 3-8 longitudinal traction wires are guided by the 3-4 guide pulley blocks, the 3-7 transverse traction wires and the 3-8 longitudinal traction wires are spatially staggered, so that interference and friction are avoided; the 3-1-4 needle shaft inner core and the 3-1-5 needle shaft outer sleeve are flexible, so that after the pulling wire is pulled to change the direction of the 3-1-3 needle point ball joint in human tissues, the flexible needle is fed, the whole flexible needle can be bent, and the avoidance function of important tissues or organs in the human body can be realized by computer-aided cooperation.

The working principle of the specific embodiment of the invention is as follows:

two deflection motors which are compactly arranged in the deflection driving mechanism can realize deflection control of the needle point of the flexible needle around the needle shaft by controlling clockwise and anticlockwise rotation of the two deflection motors through a program, and deflection amplitude of the needle point can be controlled by controlling the rotation angle of the deflection motors; as the needle structure penetrates into muscle tissue, the flexible needle shaft moves along with the deflection direction of the 3-1-1 needle point, and the path penetrating into muscle tissue can be changed through the control of the two deflection motors.

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 cord driven active flexible needle penetration mechanism comprising: a puncture feeding mechanism (1), a deflection driving mechanism (2) and a flexible needle driving mechanism (3); the puncture feeding mechanism (1) comprises the following components: a feed mechanism shell (1-1), a screw nut mechanism (1-2), a first gear (1-3), a second gear (1-4), a feed motor (1-5), a linear guide rail (1-6) and a guide rail sliding block (1-7); the linear guide rail (1-6) is arranged at the bottom end inside the feeding mechanism shell (1-1) through a screw; the screw nut mechanism (1-2) is arranged on the feed mechanism shell (1-1) through a bearing, a nut (1-2-1) in the screw nut mechanism (1-2) is a cylinder with a screw rod mounting hole in the center, one end surface of the cylinder is provided with a mounting flange, 4 countersunk holes are formed in the flange, and 2 threaded through holes are formed in the upper portion of the flange; the input end of the screw nut mechanism (1-2) is connected with the first gear (1-3); the feeding motor (1-5) is arranged at one end of the feeding mechanism shell (1-1), the output shaft is connected with the gear II (1-4), and the gear I (1-3) is meshed with the gear II (1-4); the deflection driving mechanism (2) comprises: a deflection motor seat (2-1), a deflection motor I (2-2), a deflection motor II (2-3), a transmission piece I (2-4) and a transmission piece II (2-5); the deflection motor seat (2-1) is of a U-shaped structure, a circular through hole (2-1-1) is formed in the middle of the bottom of the U-shape, four threaded holes are formed in the periphery of the through hole (2-1-1), 4 through holes are formed in one side wall of the U-shape, a raised motor mounting plate is arranged on the outer side of the other side wall of the U-shape, a motor mounting hole I (2-1-2) and a motor mounting hole II (2-1-3) are formed in the motor mounting plate; the nut of the screw nut mechanism (1-3) passes through the through hole (2-1-1) and is connected to the U-shaped bottom of the deflection motor seat (2-1) through screws, and the deflection motor seat (2-1) is installed on the guide rail sliding block (1-7) through 4 through holes by adopting screws; the first deflection motor (2-2) is arranged on a first motor mounting hole (2-1-2) on the deflection motor base (2-1), and the second deflection motor (2-3) is arranged on a second motor mounting hole (2-1-3) on the deflection motor base (2-1); the first transmission part (2-4) is of a flat cylinder structure, a motor shaft mounting hole is formed in the center of the cylinder, two cylindrical protrusions are symmetrically formed in the end face of the cylinder in the radial direction, the second transmission part (2-5) is identical to the first transmission part (2-4) in structure, the first transmission part (2-4) is connected with an output shaft of the first deflection motor (2-2), and the second transmission part (2-5) is connected with an output shaft of the second deflection motor (2-3); the flexible needle driving mechanism (3) is fixed on the nut (1-2-1) through a threaded through hole on the nut (1-2-1), and the rotation of the feeding motor (1-6) is transmitted to the screw nut mechanism (1-3) through the gear II (1-5) and the gear I (1-4), so that the nut (1-2-1) is driven to linearly move on the linear guide rail (1-2), and further the deflection driving mechanism (2) and the flexible needle driving mechanism (3) are driven to feed and retract.

2. A cord driven active flexible needle penetration mechanism according to claim 1, said flexible needle driving mechanism (3) comprising: the flexible needle tip assembly (3-1), the front shell (3-2), the rear shell (3-3), the guide pulley block (3-4), the rope pulley assembly I (3-5), the rope pulley assembly II (3-6), the transverse traction wire (3-7) and the longitudinal traction wire (3-8); the flexible needle tip assembly (3-1) comprises: a needle point (3-1-1), a thread sleeve (3-1-2), a needle point ball joint (3-1-3), a needle shaft inner core (3-1-4) and a needle shaft outer sleeve (3-1-5); the inner cylindrical surface of the needle point (3-1-1) is provided with threads, and the inner cylindrical surface of the thread sleeve (3-1-2) is provided with threads; the outer cylindrical surface of the needle point ball joint (3-1-3) is provided with threads, the outer cylindrical surface is uniformly provided with 4 wire grooves along the axial direction, and one cylindrical end surface of the needle point ball joint (3-1-3) is provided with an outer ball joint (3-1-6); the end face of a cylinder of the needle shaft inner core is provided with an inner concave spherical joint (3-1-7), and the outer cylindrical surface is uniformly provided with 4 wire slots which are the same as the needle point spherical joint (3-1-3) along the axial direction; the needle point (3-1-1) is connected with the thread sleeve (3-1-2) through threads and the needle point ball joint (3-1-3); the outer ball joint (3-1-6) of the needle point ball joint (3-1-3) is connected with the inner ball joint (3-1-7) of the needle shaft inner core (3-1-4) in a matched mode; the needle shaft inner core (3-1-4) is matched and nested with the needle shaft outer sleeve (3-1-5); the front shell (3-2) is characterized by a cuboid structure with steps of different heights, and a left half part of the high step is provided with a left first pin hole (3-2-1) and a left second pin hole (3-2-2); the right half part of the high step is provided with a first right pin hole (3-2-3) and a second right pin hole (3-2-4); a semi-cylindrical groove I (3-2-5), a cylindrical groove II (3-2-6) and a through hole (3-2-10) are arranged in the middle of the high step of the front shell (3-2); a first bearing hole (3-2-7) is formed in the lower step of the front shell (3-2), a second bearing hole (3-2-8) is formed in the lower step of the front shell (3-2), a shell mounting hole (3-2-9) is formed in the shell, and a needle shaft outer sleeve (3-1-5) in the needle point assembly (3-1) is fixedly connected to the through hole (3-2-10); the rear shell (3-3) is characterized by having a rectangular shell structure with the same outline size as that of the front shell (3-2), the rear shell (3-3) is provided with bearing holes corresponding to a first bearing hole (3-2-7) and a second bearing hole (3-2-8), a mounting hole corresponding to a shell mounting hole (3-2-9), a mounting plate (3-3-1) is arranged below the rear shell (3-3), and two through holes are formed in the mounting plate (3-3-1); the rear shell (3-3) is matched with the front shell (3-2), screw fixing is carried out through matched shell mounting holes (3-2-9), and screw through holes on a mounting plate (3-3-1) through which screws pass are used for fixing the rear shell with screw through holes on a nut (1-2-1) in the screw-nut mechanism (1-2).

3. A rope-driven active flexible needle penetration mechanism according to claim 1, wherein the guiding pulley block (3-4) comprises a pulley left one (3-4-1), a pulley left two (3-4-2), a pulley left three (3-4-3), a pulley left four (3-4-4), a pulley right one (3-4-5), a pulley right two (3-4-6), a pulley right three (3-4-7) and a pulley right four (3-4-8); the pulley left I (3-4-1) and the pulley left II (3-4-2) are the same in size and coaxially placed, the pulley right I (3-4-5) and the pulley right II (3-4-6) are the same in size and have the same radius at least smaller than the rope diameter of the pulley left I (3-4-1), and the pulley left II (3-2-6) is arranged on the front shell (3-2) by using a cylindrical groove I (3-2-5) which is arranged on the front shell (3-2) by using a pin shaft; the pulley left three (3-4-3), the pulley left four (3-4-4), the pulley right three (3-4-7), the pulley right four (3-4-8) are the same in size, the pulley left three (3-4-3) is mounted on the pin hole left two (3-2-2) by using a pin shaft, the pulley left four (3-4-4) is mounted on the pin hole left one (3-2-1) by using a pin shaft, the pulley right three (3-4-7) is mounted on the pin hole right one (3-2-3) by using a pin shaft, and the pulley right four (3-4-8) is mounted on the pin hole right two (3-2-4) by using a pin shaft; the rope wheel component I (3-5) comprises the following components: rope wheel shaft I (3-5-1), rope wheel I (3-5-2); wherein the rope wheel shaft I (3-5-1) is a flat cylinder with a groove at the front end, the middle shaft part is D-shaped, and the tail part of the shaft is provided with a threaded hole; the rope pulley I (3-5-2) is of a cylindrical structure, the surface of the rope pulley I is provided with a spiral groove, and a D-shaped hole is formed in the middle of the cylinder; the rope wheel shaft I (3-5-1) sequentially passes through the bearing, the rope wheel I (3-5-2) and the bearing, the tail part of the rope wheel shaft I (3-5-1) is fixed with a screw by a gasket, and the D-shaped shaft of the rope wheel shaft I (3-5-1) is matched with the D-shaped hole of the rope wheel I (3-5-2); the rope pulley component I (3-5) and the rope pulley component II (3-6) are of the same structure, and the rope pulley component II (3-6) comprises the following components: rope wheel shaft II (3-6-1), rope wheel II (3-6-2); one end of a transverse traction wire (3-7) is wound on the upper half part of a spiral groove of a rope wheel I (3-5-2) and is fixedly connected with the tail end, the transverse traction wire (3-7) is guided into a needle shaft sleeve (3-1-5) through a pulley left-fourth (3-4-4), passes through a wire groove in a needle shaft inner core (3-1-4), bypasses the front end of the needle point ball joint (3-1-3), passes through a wire groove on the opposite side of the needle shaft inner core (3-1-4), extends out of the needle shaft sleeve (3-1-5), is tangent to the outer cylindrical surface of the rope wheel I (3-5-2) after being guided by a pulley right-third (3-4-7), and is wound on the lower half part of the spiral groove of the rope wheel I (3-5-2) and is fixedly connected with the tail end; extending from the needle shaft sleeve (3-1-5); one end of a longitudinal traction wire (3-8) is wound on the upper half part of a spiral groove of a rope pulley II (3-6-2) and is fixedly connected with the tail end of the spiral groove, the longitudinal traction wire (3-8) is guided into a needle shaft sleeve (3-1-5) through a pulley left-three (3-4-3), passes through a wire groove in a needle shaft inner core (3-1-4), bypasses the front end of a needle point ball joint (3-1-3), passes through a wire groove on the opposite side of the needle shaft inner core (3-1-4), extends out of the needle shaft sleeve (3-1-5), is tangent to the outer cylindrical surface of the rope pulley II (3-6-2) after being guided by a pulley right-four (3-4-8), and is wound on the lower half part of the spiral groove of the rope pulley II (3-6-2) and is fixedly connected with the tail end of the rope pulley II (3-4-2); the needle shaft inner core (3-1-4) and the needle shaft outer sleeve (3-1-5) in the flexible needle tip assembly (3-1) are flexible, the rope wheel I (3-5-2) rotates clockwise and anticlockwise to pull the transverse traction wire (3-7), the needle tip (3-1-1) is pulled to swing transversely, the rope wheel II (3-6-2) rotates clockwise and anticlockwise to pull the longitudinal traction wire (3-8), the needle tip (3-1-1) is pulled to swing longitudinally, and the needle tip (3-1-1) is combined with the longitudinal deflection and the deflection amplitude is controlled, so that 360-degree deflection of the needle tip (3-1-1) with different amplitudes in all directions can be realized.

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