CN117017453B - Steerable flexible needle for medical detection and treatment - Google Patents
Steerable flexible needle for medical detection and treatment Download PDFInfo
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- CN117017453B CN117017453B CN202311171601.4A CN202311171601A CN117017453B CN 117017453 B CN117017453 B CN 117017453B CN 202311171601 A CN202311171601 A CN 202311171601A CN 117017453 B CN117017453 B CN 117017453B
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- 238000001514 detection method Methods 0.000 title claims abstract description 18
- 238000005452 bending Methods 0.000 claims abstract description 16
- 239000000835 fiber Substances 0.000 claims description 7
- 239000013307 optical fiber Substances 0.000 claims description 4
- 238000001574 biopsy Methods 0.000 abstract description 5
- 238000002725 brachytherapy Methods 0.000 abstract description 2
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000003902 lesion Effects 0.000 description 3
- 239000002245 particle Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000001647 drug administration Methods 0.000 description 2
- 210000005069 ears Anatomy 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002513 implantation Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000001575 pathological effect Effects 0.000 description 2
- 238000001959 radiotherapy Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000013152 interventional procedure Methods 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000013188 needle biopsy Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 210000003437 trachea Anatomy 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
- A61B17/3417—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
- A61B17/3462—Trocars; Puncturing needles with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals
-
- 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
- A61B17/3468—Trocars; Puncturing needles for implanting or removing devices, e.g. prostheses, implants, seeds, wires
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B2017/3454—Details of tips
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- 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)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
A steerable flexible needle for medical detection and treatment belongs to the field of medical robots. Solves the problems that the conventional steerable flexible puncture needle has complex puncture path planning, the flexible puncture needle cannot realize multi-section active bending, and the operability is poor. The invention comprises an inner needle, an inner push-pull sleeve, a multi-layer push-pull sleeve and an outer needle which are sleeved in sequence from inside to outside; each external push-pull sleeve is deformed by pushing and pulling the No.1 push-pull rod, so that the integral deformation of the push-pull sleeve in which the No.1 push-pull rod is positioned is controlled; in the adjacent two layers of outer push-pull sleeves, the flexible thread cylinder of the outer push-pull sleeve is controlled to deform through the bottom of the No.1 push-pull rod of the outer push-pull sleeve; the deformation of the inner push-pull sleeve and the deformation of the multilayer push-pull sleeve are overlapped and then act on the outer needle, so that the multi-section bending of the outer needle is realized. The invention is mainly applied to puncture biopsy, brachytherapy or minimally invasive surgery and the like.
Description
Technical Field
The invention belongs to the field of medical robots, and relates to an steerable flexible needle for medical detection and treatment, which is further applied to interventional medical robots such as puncture biopsy, brachytherapy or minimally invasive surgery.
Background
Traditional medical detection and treatment methods have limitations in some cases. For example, the operating devices in the trachea are typically passive, and do not provide accurate feedback information on the lesion, relying too much on the skill level of the physician. Therefore, these detection methods are not sufficiently comprehensive for detecting pathological sites, and are not suitable for repeated biopsy of surrounding pathological sites.
In modern medical diagnostics and therapy, interventional procedures are of great importance and become a necessary skill for the surgeon in manipulating the needle. The operation of the puncture needle can only be realized through axial feeding, axial rotation, transverse rotation and the like on the operation of the tail part of the puncture needle by the puncture needle used clinically at present. However, as the needle penetrates into the tissue, lateral rotation gradually fails to change the position of the needle tip unless the tissue is torn; meanwhile, when the lesion is located in the deep part of the body, a doctor usually rotates and twists the puncture needle continuously in the process of inserting the puncture needle so as to ensure that the puncture needle can pass along a straight line, and once the needle point is greatly deviated, the puncture needle can only be retracted, and the puncture operation is performed again, but repeated puncture can bring physiological and psychological pain to a patient and can also cause complications; more importantly, manual penetration is not possible for certain lesions that cannot be reached through a straight path.
In the prior art, a flexible puncture needle exists, the puncture needle can be integrally bent once, and the current steerable flexible puncture needle has the following defects:
1. The current steerable flexible puncture needle has the 'steerable' shown in the stress bending of the needle body in the process of interacting with tissues, and the steerable is largely limited by the establishment of a needle body-tissue interaction model, and cannot realize active bending, so that the steerable is insufficient.
2. The existing controllable flexible puncture needle has insufficient sensing capability, and still depends on the traditional sensor, so that the shape and the stress of the needle body in the puncture process can not be sensed, and the risk in the puncture process is increased.
3. The existing steerable flexible puncture needles rely on the squeezing force of the tissue during interaction with the tissue, which is difficult to achieve complex shapes such as piecewise bending and difficult to apply for complex conditions.
4. The existing steerable flexible puncture needle cannot actively bend, and the puncture path, the needle insertion angle and the re-planning are required to be planned in advance in the face of different scenes, so that the physical and mental burden of a patient is increased.
5. The existing steerable puncture needle lacks of an 'inner needle' design and cannot be used for some medical scenes such as the implantation condition of radiotherapy particles.
Disclosure of Invention
The invention aims to solve the problems that the conventional steerable flexible puncture needle is complex in puncture path planning, and the flexible puncture needle cannot realize multi-section active bending and is poor in operability.
The steerable flexible needle for medical detection and treatment comprises an inner needle, an inner push-pull sleeve, a multi-layer push-pull sleeve and an outer needle which are sleeved in sequence from inside to outside;
Each external push-pull sleeve comprises two push-pull rods with the same length No.1, two No.1 side lugs and a flexible thread cylinder; the top ends of the two No.1 push-pull rods are respectively provided with a No.1 side lug, the bottom ends of the two No.1 push-pull rods are fixedly connected with the upper end surface of the flexible threaded cylinder, and the two No.1 push-pull rods are oppositely arranged;
each external push-pull sleeve is deformed by pushing and pulling the No. 1 push-pull rod, so that the integral deformation of the push-pull sleeve in which the No. 1 push-pull rod is positioned is controlled;
The bottom ends of the multilayer push-pull sleeve and the inner push-pull sleeve are aligned, and the heights of the multilayer push-pull sleeve and the inner push-pull sleeve are sequentially increased from outside to inside;
In the adjacent two layers of outer push-pull sleeves, the flexible thread cylinder of the outer push-pull sleeve is controlled to deform through the bottom of the No. 1 push-pull rod of the outer push-pull sleeve;
an axial groove is formed in the outer side wall of the inner needle, and FBG optical fibers are embedded in the axial groove;
The inner push-pull sleeve is provided with a No. 2 side lug, the integral deformation of the inner push-pull sleeve where the No. 2 side lug is positioned is controlled by pushing and pulling the No. 2 side lug, and the deformation of the inner push-pull sleeve is used for controlling the deformation of a flexible thread cylinder of an outer push-pull sleeve adjacent to the inner push-pull sleeve;
The outer needle is a flexible needle body with a hollow interior, and the whole outer wall surface of the needle body is provided with a spiral groove;
the deformation of the inner push-pull sleeve and the deformation of the multilayer push-pull sleeve are overlapped and then act on the outer needle, so that the multi-section bending of the outer needle is realized.
Preferably, in the two adjacent outer push-pull sleeves, the flexible thread cylinder of the push-pull sleeve positioned at the outer layer is partially overlapped with the No.1 push-pull rod of the push-pull sleeve positioned at the inner layer on the axis;
And the bottom of the No.1 push-pull rod of the push-pull sleeve positioned on the inner layer is used for controlling the deformation of the corresponding part of the flexible thread cylinder of the push-pull sleeve positioned on the outer layer, which is partially overlapped on the axis.
Preferably, the push-pull rod No. 1 is a strip rod with an arc-shaped transverse section.
Preferably, the inner push-pull sleeve comprises two No. 2 push-pull rods, two No. 2 side lugs and a circular ring;
The bottom ends of the two No. 2 push-pull rods are fixed on the upper end face of the circular ring, the two No. 2 push-pull rods are oppositely arranged, and the top ends of the two No. 2 push-pull rods are respectively provided with a No. 2 side lug.
Preferably, the No. 2 push-pull rod is a strip rod with an arc-shaped transverse section.
Preferably, the spiral groove on the outer needle is made by laser spiral cutting.
Preferably, the flexible thread cylinder has a cylindrical structure, and the whole outer wall surface of the cylindrical structure is provided with a spiral groove.
Preferably, the number of layers of the push-pull sleeve is 2 to 10.
Preferably, the number of the FBG fibers embedded in the outer side wall of the inner needle is 3, and the 3 FBG fibers are uniformly distributed along the circumferential direction of the outer side wall of the inner needle.
The invention has the beneficial effects that:
1. The whole steerable flexible needle has a size and a volume suitable for medical detection and treatment, and has certain flexibility;
2. the whole controllable flexible needle has the characteristics of accuracy and dexterity in working, and can realize different deformations according to actual requirements;
3. The invention can control the flexible needle to be nested in multiple layers, and simultaneously, the introduction of the inner needle ensures the integral rigidity in the process of needle body puncture, and simultaneously, the sensing of the shape and the stress of the needle body is realized;
4. Compared with the existing operable flexible puncture needle, the multi-layer nested design realizes the sectional control of the deformation of the needle body, and meanwhile, the extractable design of the inner needle enables the directional drug administration, such as the implantation of radiotherapy particles, to be realized by means of the design.
5. Compared with the existing steerable flexible puncture needle, the invention has the characteristics that the deformation of the puncture needle is independent of the action with tissues in the puncture process, and the active bending can be realized, so that the puncture needle has better steerable property;
6. compared with the existing steerable puncture needle, the invention can realize flexible and free bending according to the change in the puncture process, and does not need to realize pre-modeling and path planning; the puncture angle is not required, and the puncture angle can be adjusted according to actual conditions;
7. The controllable flexible needle has the advantages of simple and efficient structural design, wide application prospect and functions of puncture and drug administration.
Drawings
FIG. 1 is an exploded view of an assembly of a steerable flexible needle for medical detection and treatment;
FIG. 2 is a schematic illustration of the assembled structure of FIG. 1; wherein, fig. 2 (a) is a top view of fig. 1 after assembly, fig. 2 (b) is a front view of fig. 1 after assembly, and fig. 2 (c) is a side view of fig. 2 (b);
fig. 3 is a schematic structural view of an inner push-pull sleeve 2, a multi-layer push-pull sleeve 3 and an outer needle 4 which are sleeved in sequence from inside to outside;
fig. 4 is a schematic view of the structure of the outer needle 4;
Fig. 5 is a schematic view of the three-dimensional structure of each outer push-pull sleeve 3;
fig. 6 is a schematic plan view of each outer push-pull sleeve 3; wherein, fig. 6 (a) is a front view of fig. 5, fig. 6 (b) is a side view of fig. 6 (a), and fig. 6 (c) is a top view of fig. 6 (a);
Fig. 7 is a schematic structural view of the inner push-pull sleeve 2; wherein fig. 7 (a) is a front view of the inner push-pull sleeve 2, fig. 7 (b) is a side view of fig. 7 (a), and fig. 7 (c) is a top view of fig. 7 (a);
Fig. 8 is a schematic structural view of the inner needle 1; wherein fig. 8 (a) is a front view of the inner needle 1, and fig. 8 (b) is a side view of fig. 8 (a);
FIG. 9 is a state diagram of the push-pull sleeve 3 outside two adjacent layers being bent under push-pull force; wherein, the graph (a) in fig. 9 is a state diagram of the push-pull sleeve 3 located at the outer layer, and the graph (b) in fig. 9 is a state diagram of the push-pull sleeve 3 located at the inner layer;
FIG. 10 is a state diagram of the inner push-pull sleeve 2 being bent under push-pull force;
FIG. 11 is a schematic representation of the steerable flexible needle for medical detection and treatment of the present invention in a state of overall controlled deformation;
FIG. 12 is a schematic view of the present invention in a state of use for a needle biopsy task.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The first embodiment is as follows: referring to fig. 1 to 6, the steerable flexible needle for medical examination and treatment according to the present embodiment includes an inner needle 1, an inner push-pull sleeve 2, a multi-layer push-pull sleeve 3 and an outer needle 4, which are sequentially sleeved from inside to outside;
Each external push-pull sleeve 3 comprises two push-pull rods 3-1 with the same length, two No. 1 side lugs 3-2 and a flexible thread cylinder 3-3; the top ends of the two No. 1 push-pull rods 3-1 are respectively provided with a No. 1 side lug 3-2, the bottom ends of the two No. 1 push-pull rods 3-1 are fixedly connected with the upper end surface of the flexible thread cylinder 3-3, and the two No. 1 push-pull rods 3-1 are oppositely arranged;
each layer of outer push-pull sleeve 3 deforms the No.1 push-pull rod 3-1 by pushing and pulling the No.1 push-pull rod 3-1, so as to control the integral deformation of the push-pull sleeve 3 where the No.1 push-pull rod 3-1 is positioned;
the bottom ends of the multi-layer outer push-pull sleeve 3 and the inner push-pull sleeve 2 are aligned, and the heights of the multi-layer outer push-pull sleeve and the inner push-pull sleeve become higher from outside to inside in sequence;
in the adjacent two layers of outer push-pull sleeves 3, the flexible thread cylinder 3-3 deformation of the outer push-pull sleeve 3 is controlled through the bottom of the No. 1 push-pull rod 3-1 of the inner push-pull sleeve 3;
An axial groove is formed in the outer side wall of the inner needle 1, and an FBG optical fiber 1-1 is embedded in the axial groove;
The inner push-pull sleeve 2 is provided with a No. 2 side lug 2-2, the integral deformation of the inner push-pull sleeve 2 where the No. 2 side lug 2-2 is positioned is controlled by pushing and pulling the No. 2 side lug 2-2, and the deformation of the inner push-pull sleeve 2 is used for controlling the deformation of a flexible thread cylinder 3-3 of an outer push-pull sleeve 3 adjacent to the inner push-pull sleeve; the outer needle 4 is a flexible hollow needle body, and the whole outer wall surface of the needle body is provided with a spiral groove;
the deformation of the inner push-pull sleeve 2 and the deformation of the multilayer outer push-pull sleeve 3 are overlapped and then act on the outer needle 4, so that the multi-section bending of the outer needle 4 is realized.
Referring to fig. 3, the inner diameter of each layer of the steerable flexible needle is sequentially increased from inside to outside, the number 1 lug 3-2 of the push-pull sleeve 3 positioned at the outer layer is lower than the number 1 lug 3-2 of the push-pull sleeve 3 positioned at the inner layer, and the length of the number 1 push-pull rod 3-1 of the push-pull sleeve 3 positioned at the outer layer is smaller than the length of the number 1 push-pull rod 3-1 of the push-pull sleeve 3 positioned at the inner layer. In the use process, the inner needle 1, the inner push-pull sleeve 2, the multi-layer push-pull sleeve 3 and the outer needle 4 are sequentially overlapped in the sequence from top to bottom in the figure 1, and the effect is as shown in figure 2; the side lugs are used as control interfaces and also used as force transmission media, the side lugs in the inner push-pull sleeve 2 and the multi-layer push-pull sleeve 3 are operated, so that flexible push-pull of the push-pull rod is realized, the deformation is subjected to multi-layer superposition, and finally the integral multi-section bending of the steerable flexible needle is realized, wherein the deformation effect of each part is shown in fig. 9 and 10; by superposition of the deformations of fig. 9 and 10, the deformation effect shown in fig. 11 is finally obtained, and the control of different deformations of the needle body, namely the bending of multiple sections of different degrees, is realized by changing the push-pull length of the push-pull rod.
Referring to fig. 3, in two adjacent outer push-pull sleeves 3, a flexible thread cylinder 3-3 of the push-pull sleeve 3 positioned at the outer layer is partially overlapped with a push-pull rod 3-1 of the push-pull sleeve 3 positioned at the inner layer on the axial line; and the bottom of the push-pull rod 3-1 of the push-pull sleeve 3 positioned at the inner layer is used for controlling the bending of the corresponding part of the flexible thread cylinder 3-3 of the push-pull sleeve 3 positioned at the outer layer, which is partially overlapped on the axis. The push-pull rod positioned on the inner layer in fig. 3 controls the bending of the outer flexible thread cylinder at the expected overlapping part, so that the bending superposition is realized, and finally, the steerable flexible needle is integrally bent in a plurality of sections, and the special reference is made to fig. 11.
Referring to fig. 3, the push-pull rod No. 1 3-1 is a bar with an arc-shaped transverse section, and the push-pull rod No. 2-1 is a bar with an arc-shaped transverse section. The arc shape is formed to enhance the flexibility and the perception sensitivity of the strip-shaped rod, and the maneuvering performance is improved.
Referring to fig. 7 and 10, the inner push-pull sleeve 2 comprises two push-pull rods 2-1, two side lugs 2-2 and a circular ring 2-3; the bottom ends of the two No. 2 push-pull rods 2-1 are fixed on the upper end face of the circular ring 2-3, the two No. 2 push-pull rods 2-1 are oppositely arranged, and the top ends of the two No. 2 push-pull rods 2-1 are respectively provided with a No. 2 side lug 2-2. In specific application, the inner push-pull sleeve 2 is formed by carving a flexible cylinder by laser, and is processed into the structure shown in fig. 7 and 10, so that the rigidity of the inner push-pull sleeve 2 is further reduced, and the inner push-pull sleeve is simple in structure, small in size, light and convenient to operate.
Referring to fig. 4, the spiral groove on the outer needle 4 is made by laser spiral cutting. The whole needle body is cut into small-pitch spiral grooves by means of technologies such as laser spiral cutting, and the rigidity of the outer needle is reduced while the shape of the needle body is guaranteed by the spiral grooves.
Referring to fig. 5 and 6, the flexible thread cylinder 3-3 has a cylindrical structure, and a spiral groove is formed on the entire outer wall surface of the cylindrical structure. The spiral groove with small pitch is cut by means of laser spiral cutting and other technologies, and the rigidity of the push-pull sleeve 3 is reduced while the shape of the push-pull sleeve 3 is guaranteed, so that the integral rigidity of the steerable flexible needle is further reduced.
Further, the number of layers of the push-pull sleeve 3 is 2 to 10, and the specific structure of the two-layer push-pull sleeve 3 is shown in fig. 1 and 2.
Referring to fig. 8, the number of the FBG fibers 1-1 embedded on the outer sidewall of the inner needle 1 is 3, and the 3 FBG fibers 1-1 are uniformly distributed along the circumference of the outer sidewall of the inner needle 1. When the novel fiber bragg grating is applied, the inner needle 1 body is uniformly cut into 3 axial grooves in the vertical direction at an angle of 120 degrees, and the FBG optical fibers are arranged to realize sensing of the shape and force of the needle body.
As shown in fig. 12, the invention can be used for a biopsy puncture task, when the biopsy puncture task is performed, the push-pull rod where the side ears are positioned is deformed by pushing and pulling the side ears, the integral deformation of the push-pull rod is changed, and the deformation of the push-pull rod positioned in the inner layer in two adjacent layers is utilized to deform the outer layer flexible thread cylinder overlapped with the push-pull rod, so that the flexible needle can be controlled to bend in 3 sections, the inner needle 1 is extracted after important organs are avoided to act on a target puncture point, and radioactive particles can be injected to the target puncture point by utilizing a channel formed after the inner needle 1 is extracted.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in ways other than as described in the original claims. It is also to be understood that features described in connection with separate embodiments may be used in other described embodiments.
Claims (8)
1. The steerable flexible needle for medical detection and treatment is characterized by comprising an inner needle (1), an inner push-pull sleeve (2), a multi-layer push-pull sleeve (3) and an outer needle (4) which are sleeved in sequence from inside to outside;
Each external push-pull sleeve (3) comprises two push-pull rods (3-1) with the same length, two No. 1 side lugs (3-2) and a flexible thread cylinder (3-3); the top ends of the two No. 1 push-pull rods (3-1) are respectively provided with a No. 1 side lug (3-2), the bottom ends of the two No. 1 push-pull rods (3-1) are fixedly connected with the upper end surface of the flexible thread cylinder (3-3), and the two No. 1 push-pull rods (3-1) are oppositely arranged;
The push-pull sleeve (3) outside each layer is deformed by pushing and pulling the push-pull rod (3-1) No.1 to control the integral deformation of the push-pull sleeve (3) where the push-pull rod (3-1) No.1 is positioned;
the bottoms of the outer push-pull sleeve (3) and the inner push-pull sleeve (2) are aligned, and the heights of the outer push-pull sleeve and the inner push-pull sleeve are sequentially increased from outside to inside;
in the two adjacent layers of outer push-pull sleeves (3), the flexible thread cylinder (3-3) of the outer push-pull sleeve (3) is controlled to deform through the bottom of the No. 1 push-pull rod (3-1) of the outer push-pull sleeve (3) positioned in the inner layer;
an axial groove is formed in the outer side wall of the inner needle (1), and FBG optical fibers (1-1) are embedded in the axial groove;
The inner push-pull sleeve (2) is provided with a No. 2 Bian Er (2-2), the integral deformation of the inner push-pull sleeve (2) where a No. 2 Bian Er (2-2) is positioned is controlled by pushing and pulling a No. 2 Bian Er (2-2), and the deformation of the inner push-pull sleeve (2) is used for controlling the deformation of a flexible thread cylinder (3-3) of an outer push-pull sleeve (3) adjacent to the inner push-pull sleeve;
The outer needle (4) is a flexible hollow needle body, and the whole outer wall surface of the needle body is provided with a spiral groove;
The deformation of the inner push-pull sleeve (2) and the deformation of the multilayer outer push-pull sleeve (3) are overlapped and then act on the outer needle (4), so that the multi-section bending of the outer needle (4) is realized;
In the two adjacent layers of outer push-pull sleeves (3), a flexible thread cylinder (3-3) of the outer push-pull sleeve (3) is overlapped with a No. 1 push-pull rod (3-1) of the inner push-pull sleeve (3) on the axis;
And the bottom of the push-pull rod No. 1 (3-1) of the push-pull sleeve (3) positioned on the inner layer is used for controlling the deformation of the corresponding part of the flexible thread cylinder (3-3) of the push-pull sleeve (3) positioned on the outer layer, which is partially overlapped on the axis.
2. Steerable flexible needle for medical detection and treatment according to claim 1, characterized in that the No.1 push-pull rod (3-1) is a bar with an arc-shaped transversal section.
3. Steerable flexible needle for medical detection and treatment according to claim 1, characterized in that the inner push-pull sleeve (2) comprises two push-pull rods 2-1, two Bian Er-2 and a ring 2-3;
the bottom ends of the two No. 2 push-pull rods (2-1) are fixed on the upper end face of the circular ring (2-3), the two No. 2 push-pull rods (2-1) are oppositely arranged, and the top ends of the two No. 2 push-pull rods (2-1) are respectively provided with a No. 2 Bian Er (2-2).
4. Steerable flexible needle for medical detection and treatment according to claim 1, characterized in that the No. 2 push-pull rod (2-1) is a bar with an arc-shaped transversal section.
5. Steerable flexible needle for medical detection and treatment according to claim 1, characterized in that the spiral groove on the outer needle (4) is made by laser spiral cutting.
6. Steerable flexible needle for medical detection and treatment according to claim 1, characterized in that the flexible thread cylinder (3-3) is of cylindrical structure and the whole outer wall of the cylindrical structure is provided with spiral grooves.
7. Steerable flexible needle for medical detection and treatment according to claim 1, characterized in that the number of layers of the push-pull sleeve (3) is 2 to 10.
8. Steerable flexible needle for medical detection and treatment according to claim 1, characterized in that the number of embedded FBG fibers (1-1) on the outer side wall of the inner needle (1) is 3 and that the 3 FBG fibers (1-1) are evenly distributed along the circumference of the outer side wall of the inner needle (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311171601.4A CN117017453B (en) | 2023-09-12 | 2023-09-12 | Steerable flexible needle for medical detection and treatment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311171601.4A CN117017453B (en) | 2023-09-12 | 2023-09-12 | Steerable flexible needle for medical detection and treatment |
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| Publication Number | Publication Date |
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| CN117017453A CN117017453A (en) | 2023-11-10 |
| CN117017453B true CN117017453B (en) | 2024-05-10 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08206118A (en) * | 1994-04-14 | 1996-08-13 | Yasuo Majima | Puncturing needle for medical treatment |
| JP2004298278A (en) * | 2003-03-28 | 2004-10-28 | Terumo Corp | Medical puncture needle |
| WO2015088961A1 (en) * | 2013-12-13 | 2015-06-18 | Intuitive Surgical Operations, Inc. | Sensor stylet |
| CN113208706A (en) * | 2021-04-30 | 2021-08-06 | 哈尔滨工业大学 | Steerable pjncture needle with shape perception function |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3125983B1 (en) * | 2014-04-02 | 2021-05-05 | Intuitive Surgical Operations, Inc. | Systems using a steerable stylet and flexible needle |
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2023
- 2023-09-12 CN CN202311171601.4A patent/CN117017453B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08206118A (en) * | 1994-04-14 | 1996-08-13 | Yasuo Majima | Puncturing needle for medical treatment |
| JP2004298278A (en) * | 2003-03-28 | 2004-10-28 | Terumo Corp | Medical puncture needle |
| WO2015088961A1 (en) * | 2013-12-13 | 2015-06-18 | Intuitive Surgical Operations, Inc. | Sensor stylet |
| CN113208706A (en) * | 2021-04-30 | 2021-08-06 | 哈尔滨工业大学 | Steerable pjncture needle with shape perception function |
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| CN117017453A (en) | 2023-11-10 |
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