CN116999135A - RCM arc track needle feeding mechanism - Google Patents
RCM arc track needle feeding mechanism Download PDFInfo
- Publication number
- CN116999135A CN116999135A CN202311251966.8A CN202311251966A CN116999135A CN 116999135 A CN116999135 A CN 116999135A CN 202311251966 A CN202311251966 A CN 202311251966A CN 116999135 A CN116999135 A CN 116999135A
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- CN
- China
- Prior art keywords
- rcm
- needle
- rigid
- arc
- telecentric
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 137
- 238000003780 insertion Methods 0.000 claims description 6
- 230000037431 insertion Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 4
- 210000004872 soft tissue Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 210000001519 tissue Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 210000000481 breast Anatomy 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 210000002615 epidermis Anatomy 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
- 210000002307 prostate Anatomy 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000007306 turnover Effects 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
- A61B17/3403—Needle locating or guiding means
-
- 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
-
- 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
- A61B17/3476—Powered trocars, e.g. electrosurgical cutting, lasers, powered knives
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (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)
- Surgical Instruments (AREA)
Abstract
The invention relates to a needle inserting mechanism of an RCM arc-shaped track, and belongs to the field of medical appliances. The invention comprises the following steps: the invention mainly aims to help a surgeon to realize high-precision percutaneous interventional operation, the mechanism has flexibility, can realize circumferential rotation around a fixed point through the RCM arc-shaped track adjusting mechanism, can conveniently and rapidly adjust a proper puncture path, and can change the position of a telecentric point by adjusting the telecentric point position, so that the whole mechanism has flexibility, the rigid-flexible needle inserting mechanism combines the feeding of a rigid needle and a flexible needle, the mechanism has simple structure and high flexibility, the operation intensity of the surgeon can be reduced, the operation accuracy can be improved, and a feasible scheme is provided for a puncture robot in future.
Description
Technical Field
The invention relates to a needle inserting mechanism of an RCM arc-shaped track, and belongs to the field of medical appliances.
Background
At present, the puncture operation on the soft tissue of a patient is very common, and has the advantages of small wound and difficult complication, and the puncture soft tissue has wide application range, for example: pleuroperitoneal cavity, breast, prostate, neurosurgery, brain surgery, etc.
The invention aims to provide a needle inserting mechanism of an RCM arc-shaped track, which can ensure that a preset needle inserting point is fixed, and a puncture path is adjusted by performing turnover movement around the preset needle inserting point.
The technical scheme is as follows:
the RCM arc-shaped track needle inserting mechanism comprises a telecentric point adjusting mechanism, a rigid and flexible needle inserting mechanism and an RCM arc-shaped track adjusting mechanism, wherein the RCM arc-shaped track adjusting mechanism is positioned above the telecentric point adjusting mechanism, the rigid and flexible needle inserting mechanism is positioned above the RCM arc-shaped track adjusting mechanism, the rigid and flexible needle inserting mechanism can be used for controlling and driving a rigid needle and a flexible needle, the RCM arc-shaped track adjusting mechanism can enable a puncture needle to rotate around one telecentric point in a circumferential direction, and the telecentric point adjusting mechanism can be used for moving the telecentric point of the arc-shaped track to positions of different tissues through driving.
Further, the telecentric point position adjusting mechanism includes: the remote point position adjusting mechanism comprises a remote point position adjusting mechanism base plate, a remote point position adjusting mechanism polished rod, a remote point position adjusting mechanism stepping motor, a remote point position adjusting mechanism coupler, a remote point position adjusting mechanism screw rod, a remote point position adjusting mechanism nut, a remote point position adjusting mechanism sliding block and a remote point position adjusting mechanism bearing, wherein the remote point position adjusting mechanism stepping motor drives the remote point position adjusting mechanism sliding block to drive the RCM arc-shaped track adjusting mechanism, and the remote point position is adjusted.
Further, the rigid-flexible needle inserting mechanism comprises: rigid and flexible needle mechanism rigid needle driving motor, rigid and flexible needle mechanism flexible needle driving motor, rigid and flexible needle mechanism bottom plate, rigid and flexible needle mechanism flexible needle coupler, rigid and flexible needle mechanism flexible needle screw rod, rigid and flexible needle mechanism flexible needle nut, rigid and flexible needle mechanism flexible needle baffle, rigid and flexible needle mechanism fixed guiding device, flexible needle, rigid and flexible needle mechanism rigid needle screw rod, rigid and flexible needle mechanism rigid needle baffle, rigid and flexible needle mechanism rigid needle nut, rigid and flexible needle mechanism rigid needle coupler, rigid and flexible needle mechanism rigid needle driving motor drive rigid needle on rigid and flexible needle mechanism rigid needle baffle advance rigid needle feed, flexible needle be located rigid needle inside, rigid and flexible needle mechanism flexible needle driving motor drive rigid and flexible needle mechanism flexible needle baffle carry out flexible needle feed, realized that rigid needle and flexible needle feed.
Further, the RCM arc track adjustment mechanism includes: the device comprises an RCM motor support, an RCM stepping motor, a pinion, a large gear and an arc guide rail, wherein the RCM stepping motor is fixed on the RCM motor support, a rigid-flexible needle feeding mechanism is fixed on the other side of the RCM motor support, the RCM motor support is matched with the arc guide rail, the pinion is driven by the RCM stepping motor, the large gear is fixed on a mechanism sliding block for adjusting the telecentric point position, and the rigid-flexible needle feeding mechanism on the RCM motor support is driven by the RCM stepping motor to perform circumferential rotary motion together.
The modulus of the pinion is 2, the number of teeth is 10, the modulus of the large gear is 2, and the number of teeth is 50.
The invention is used for assisting the puncture operation and has the following beneficial effects:
(1) The rigid and flexible needle feeding mechanism realizes the feeding of the rigid needle and the flexible needle, the rigid needle can puncture tissues in the operation process, and the flexible needle can be fed again, so that the surgical operation device has good flexibility.
(2) RCM arc track adjustment mechanism has utilized needle point to surround arc track's telecentricity all the time, can also carry out circumference and adjust, lets whole piercing depth mechanism can be fine carry out the adjustment of puncture route.
(3) The main purpose of the telecentric point adjusting mechanism is to adjust the center position of the telecentric point, namely the RCM arc-shaped track adjusting mechanism, so that the whole puncture mechanism can realize circumferential adjustment of a plurality of points.
(4) The rigid-flexible needle inserting mechanism is also provided with a fixed guiding device, so that the rigid needle is more stable in puncturing.
Disclosure of Invention
The invention aims to provide a needle inserting mechanism of an RCM arc-shaped track, which can help a surgeon to perform a puncture operation and provides a feasible scheme for a puncture robot in the future.
Drawings
Fig. 1 is a block diagram of a needle insertion mechanism for an RCM arcuate track.
Fig. 2 is a structural diagram of a mechanism for adjusting the position of a telecentric point.
Fig. 3 is a block diagram of a rigid-flexible needle insertion mechanism.
Fig. 4 is a block diagram of an RCM arc track adjustment mechanism.
The names and the numbers of the components in the drawings are as follows:
the device comprises a rigid-flexible needle feeding mechanism (1), an RCM arc track adjusting mechanism (2), a telecentric point adjusting mechanism (3), a telecentric point adjusting mechanism bottom plate (4), a telecentric point adjusting mechanism polished rod (5), a telecentric point adjusting mechanism stepping motor (6), a telecentric point adjusting mechanism coupler (7), a telecentric point adjusting mechanism screw rod (8), a telecentric point adjusting mechanism nut (9), a telecentric point adjusting mechanism sliding block (10), a telecentric point adjusting mechanism bearing (11), a rigid needle driving motor (12), a flexible needle driving motor (13) of the rigid-flexible needle feeding mechanism the rigid-flexible needle inserting mechanism comprises a rigid-flexible needle inserting mechanism base plate (14), a rigid-flexible needle inserting mechanism flexible needle coupler (15), a rigid-flexible needle inserting mechanism flexible needle screw (16), a rigid-flexible needle inserting mechanism flexible needle nut (17), a rigid-flexible needle inserting mechanism flexible needle baffle plate (18), a rigid-flexible needle inserting mechanism fixing guide device (19), a flexible needle (20), a rigid needle (21), a rigid-flexible needle inserting mechanism rigid needle screw (22), a rigid-flexible needle inserting mechanism rigid needle baffle plate (23), a rigid-flexible needle inserting mechanism rigid needle nut (24), a rigid-flexible needle inserting mechanism rigid needle coupler (25), an RCM motor support (26), an RCM stepping motor (27), a pinion (28), a large gear (29), an arc-shaped guide rail (30).
The following detailed description of the invention is further described in conjunction with the accompanying drawings.
The structure of the invention is shown in figures 1, 2, 3 and 4, the RCM arc track needle feeding mechanism consists of a rigid-flexible needle feeding mechanism (1), an RCM arc track adjusting mechanism (2) and a telecentric point position adjusting mechanism (3), wherein the rigid-flexible needle feeding mechanism (1) has 2 degrees of freedom, the feeding of a rigid needle and a flexible needle is respectively realized, the RCM arc track adjusting mechanism (2) has 1 degree of freedom, the circumferential rotary motion is realized, the telecentric point position adjusting mechanism (3) has one degree of freedom, and the linear feeding motion of the RCM arc track adjusting mechanism is realized.
The RCM arc track adjusting mechanism (2) comprises: RCM motor support (26), RCM step motor (27), pinion (28), gear wheel (29), arc guide rail (30), RCM step motor (27) fix at RCM motor support (26), just gentle needle mechanism (1) fix at RCM motor support (26) opposite side, RCM motor support (26) cooperate with arc guide rail (30) again, pinion (28) by RCM step motor (27) drive, gear wheel (29) fix on adjustment telecentric point position mechanism slider (10), RCM step motor (27) drive can drive rigid gentle needle mechanism (1) on RCM motor support (26) and carry out circumference rotary motion together.
The telecentric point position adjusting mechanism (3) comprises: the feeding device comprises a telecentric point position adjusting mechanism base plate (4), a telecentric point position adjusting mechanism polished rod (5), a telecentric point position adjusting mechanism stepping motor (6), a telecentric point position adjusting mechanism coupler (7), a telecentric point position adjusting mechanism screw (8), a telecentric point position adjusting mechanism nut (9), a telecentric point position adjusting mechanism sliding block (10) and a telecentric point position adjusting mechanism bearing (11), wherein the telecentric point position adjusting mechanism stepping motor (6) drives the telecentric point position adjusting mechanism screw (8) to realize feeding of the telecentric point position adjusting mechanism nut (9).
The application method of the needle inserting mechanism of the RCM arc-shaped track comprises the following steps:
the operation steps are as follows: the focus point position is confirmed through medical imaging, the needle feeding mechanism of the RCM arc track is firstly positioned to a coarse precision position, the telecentric point is adjusted to the epidermis of soft tissues through driving of the stepping motor (6) of the telecentric point adjusting mechanism (3), then the ideal path is adjusted to be preset through the RCM arc track adjusting mechanism (2), and finally the feeding of the rigid needle (21) is realized through the rigid needle driving motor (12) of the rigid and flexible needle feeding mechanism.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. The foregoing description is only illustrative of the principles of the invention, and various changes and modifications can be made in the invention without departing from its spirit and scope, which is defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. An RCM arc track needle insertion mechanism, which is characterized in that: the utility model provides a flexible needle and flexible needle feeding have been realized respectively to the orbital needle feeding mechanism of RCM arc by just gentle needle feeding mechanism (1), RCM arc track guiding mechanism (2), adjustment telecentric point position mechanism (3) are constituteed, just gentle needle feeding mechanism (1) have 2 degrees of freedom, RCM arc track guiding mechanism (2) have 1 degree of freedom, realize circumference rotary motion, adjustment telecentric point position mechanism (3) have a degree of freedom, realize the linear feed motion of RCM arc track guiding mechanism.
2. The needle insertion mechanism of the RCM arc track according to claim 1, wherein: the RCM stepping motor (27) is fixed on the RCM motor support (26), the rigid and flexible needle feeding mechanism (1) is fixed on the other side of the RCM motor support (26), the RCM motor support (26) is matched with the arc-shaped guide rail (30), the pinion (28) is driven by the RCM stepping motor (27), the large gear (29) is fixed on the mechanism sliding block (10) for adjusting the telecentric position, and the rigid and flexible needle feeding mechanism (1) on the RCM motor support (26) is driven by the RCM stepping motor (27) to perform circumferential rotary motion together.
3. The needle insertion mechanism of the RCM arc track according to claim 2, wherein: the stepping motor (6) of the telecentric point position adjusting mechanism drives the screw rod (8) of the telecentric point position adjusting mechanism to realize the feeding of the nut (9) of the telecentric point position adjusting mechanism.
4. A needle insertion mechanism for an arcuate RCM track according to claim 3, wherein: the modulus of the pinion (28) is 2, the number of teeth is 10, the modulus of the large gear (29) is 5, and the number of teeth is 50.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311251966.8A CN116999135A (en) | 2023-09-26 | 2023-09-26 | RCM arc track needle feeding mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311251966.8A CN116999135A (en) | 2023-09-26 | 2023-09-26 | RCM arc track needle feeding mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116999135A true CN116999135A (en) | 2023-11-07 |
Family
ID=88563938
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311251966.8A Pending CN116999135A (en) | 2023-09-26 | 2023-09-26 | RCM arc track needle feeding mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116999135A (en) |
-
2023
- 2023-09-26 CN CN202311251966.8A patent/CN116999135A/en active Pending
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