CN117414188B - Puncture needle fixing device and puncture navigation positioning system - Google Patents
Puncture needle fixing device and puncture navigation positioning system Download PDFInfo
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- CN117414188B CN117414188B CN202311715303.7A CN202311715303A CN117414188B CN 117414188 B CN117414188 B CN 117414188B CN 202311715303 A CN202311715303 A CN 202311715303A CN 117414188 B CN117414188 B CN 117414188B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 230000009471 action Effects 0.000 claims abstract description 8
- 238000000926 separation method Methods 0.000 claims abstract description 6
- 230000033001 locomotion Effects 0.000 description 10
- 230000000241 respiratory effect Effects 0.000 description 6
- 230000035515 penetration Effects 0.000 description 5
- 230000029058 respiratory gaseous exchange Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 208000014674 injury Diseases 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
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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
-
- 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
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Abstract
The application provides a puncture needle fixing device and a puncture navigation positioning system, wherein the puncture needle fixing device comprises a base, a puncture cavity and a lateral opening, wherein the puncture cavity is used for a puncture needle to penetrate through, and the lateral opening is communicated with the puncture cavity; the deformable clamping part is arranged on the base around the puncture cavity, a deformable space is formed in the deformable clamping part, the deformable space is arranged from large to small to form a closed gap for clamping the puncture needle, a closed movable space for releasing the puncture needle and allowing the puncture needle to move is formed from small to large, the deformable clamping part can continue to deform on the basis of the closed movable space to open the closed movable space and form a space opening communicated with the lateral opening on the closed movable space, and the space opening and the lateral opening form a separation opening for separating the puncture needle from the puncture cavity together; and the transmission part is arranged on the base and is arranged to drive the deformable clamping part to deform under the action of driving force.
Description
Technical Field
The application relates to the technical field of medical equipment, in particular to a puncture needle fixing device and a puncture navigation positioning system.
Background
In the puncture operation, the puncture needle fixing device positions the puncture position and angle or clamps the puncture needle to puncture. The lancet holding apparatus also requires the ability to release the lancet and to hold the lancet again after release in order to prevent the situation where the lancet needs to be held again for a second or even multiple punctures because the puncture is not in place once.
The puncture needle fixing device in the related art cannot clamp the puncture needle again after releasing the puncture needle. The main reason is that the puncture needle is released and the position of the puncture needle fixing device is unchanged due to the deviation of the position caused by the breathing movement of the patient, so that the puncture needle fixing device cannot clamp the puncture needle again, and the position and the angle of the puncture needle are consistent with those before release or detachment.
Disclosure of Invention
The utility model provides a main aim at provides a pjncture needle fixing device to solve among the prior art pjncture needle fixing device can't centre gripping pjncture needle again after releasing the pjncture needle and guarantee pjncture needle's position and angle and the unanimous problem before the release.
To achieve the above object, a first aspect of the present application provides a puncture needle fixing device, comprising:
a puncture needle;
the base is provided with a puncture cavity for the puncture needle to penetrate and a lateral opening communicated with the puncture cavity;
a deformable clamping part arranged on the base around the puncture cavity, wherein a deformable space is formed inside the deformable clamping part, the deformable space is arranged from large to small to form a closed gap for clamping the puncture needle, a closed movable space for releasing the puncture needle and allowing the puncture needle to move is formed from small to large, the deformable clamping part can continue to deform on the basis of the closed movable space to open the closed movable space and form a space opening communicated with the lateral opening on the closed movable space, and the space opening and the lateral opening form a separation opening for separating the puncture needle from the puncture cavity together;
the driving device is arranged on the base and comprises a driving motor and a transmission part, and the transmission part is arranged to drive the deformable clamping part to deform under the action of the driving force of the driving motor.
Optionally, the deformable clamping part includes a plurality of clamping jaws, a plurality of clamping jaws are arranged around the puncture chamber at intervals on the base, the clamping jaws are rotatably connected to the base, the clamping jaws are arranged to be capable of intersecting each other to form the deformable space, and capable of rotating inwards to enable the deformable space to form the closed gap from large to small, and capable of rotating outwards to enable the deformable space to form the closed movable space from small to large, and at least one clamping jaw can continue rotating outwards on the basis of the closed movable space to open the closed movable space to form the space opening.
Optionally, the transmission part comprises a driving wheel, a plurality of rotating shafts with the same number as the clamping jaws and a transmission belt; the driving motor drives the driving wheel to rotate, the clamping jaws are arranged on corresponding rotating shafts, the driving belt is wound on the driving wheel and the rotating shafts, and the driving wheel drives the rotating shafts to rotate under the driving force action of the driving motor through the driving belt, so that the clamping jaws are driven to rotate.
Optionally, the driving belt is wound in a manner that the driving wheel can drive the plurality of rotating shafts to rotate clockwise or anticlockwise around the same direction.
Optionally, the driving belt is a belt; the base is also provided with a belt guide post which is used for tightening the belt and avoiding interference with the base when the belt is driven.
Optionally, the plurality of clamping jaws are divided into a first clamping jaw and a second clamping jaw, and the plurality of rotating shafts are divided into a first rotating shaft and a second rotating shaft corresponding to the first clamping jaw and the second clamping jaw; the first clamping jaw is arranged close to the lateral opening and is fixedly connected with the corresponding first rotating shaft in the rotating direction, and can continuously rotate outwards along with the first rotating shaft to open the closed movable space to form the space opening;
the second clamping jaw is sleeved on a corresponding second rotating shaft and can rotate relative to the second rotating shaft, a stop block is arranged on the side face of the second clamping jaw and the corresponding second rotating shaft, a torsion spring is sleeved on the second rotating shaft, one foot of the torsion spring abuts against the stop block on the side face of the second rotating shaft, and the other foot of the torsion spring abuts against the stop block on the side face of the second clamping jaw;
and a limiting column used for preventing the second clamping jaw from continuing to rotate outwards is arranged on the outer side of the preset position of the second clamping jaw.
Optionally, the number of the rotating shafts is three, and the rotating shafts are installed on the base along the circumferential direction of the puncture cavity at 120 degrees.
Optionally, the puncture cavity is circular.
Optionally, the base is generally "Y" shaped.
Optionally, the clamping jaw is an arc clamping jaw, and when the plurality of arc clamping jaws outwards rotate to a preset position, the plurality of arc clamping jaws are connected end to form a closed circular ring serving as a maximum closed movable space.
A second aspect of the present application provides a puncture navigation positioning system, including the above-mentioned puncture needle fixing device.
The technical scheme of the application has the following advantages:
1. the utility model provides a pjncture needle fixing device can divide into three kinds of states: first, clamping state: when the puncture needle is required to be clamped for puncture, the deformable clamping part is driven to deform, so that the deformable space of the deformable clamping part is reduced from large to small to form a closed gap for clamping the puncture needle, and the closed gap is used as a clamping part of the puncture needle to fix the position and the angle of the puncture needle; second, released state: when the puncture needle is not in place for two times or even multiple times, the puncture needle fixing device is required to release the puncture needle, and the deformable clamping part is driven to deform, so that the deformable space of the puncture needle fixing device is changed from small to large to form a closed movable space for releasing and allowing the puncture needle to move, the puncture needle is quickly released, and meanwhile, the space for the movement of the puncture needle is reserved in the closed movable space, so that a patient can intermittently breathe in the puncture process, and the movable space is set to be closed because the puncture needle possibly moves to any position in the periphery along with breathing, so that the puncture needle is prevented from being separated from the movable space; third, disengaged state: the deformable clamping part is driven to continuously deform to open and close the movable space to form a space opening corresponding to the lateral opening of the base, and the space opening of the deformable clamping part and the lateral opening of the base form a separation opening together, so that the puncture needle can be completely separated from the puncture needle fixing device through the separation opening.
The utility model provides a pjncture needle fixing device can reach repeatedly release, centre gripping pjncture needle and release and can not receive patient respiratory motion and lead to the influence of pjncture needle position offset after the centre gripping again through the deformation of flexible clamping part for pjncture needle's position and angle are unanimous before the release.
2. The application provides a pjncture needle fixing device, but the clamping part that warp includes a plurality of clamping jaws, a plurality of clamping jaws are followed puncture chamber rotationally installs on the base, a plurality of clamping jaws can cross each other in order to form but the deformation space, a plurality of clamping jaws set up to can inwards rotate in order to make its deformation space form by big change the closure gap to and can outwards rotate in order to make its deformation space form by little change the closure activity space, and at least one clamping jaw can continue outwards to rotate in order to open the closure activity space forms the space opening.
In the clamping state, the deformable space inside the clamping jaws is formed by reducing the size of the deformable space by driving the clamping jaws to rotate inwards (namely, to rotate towards the direction close to the puncture needle), so that a closed gap for clamping the puncture needle is formed, and the contact points of the clamping jaws and the puncture needle are clamping points; when the puncture needle needs to be released, the deformable space is formed into a closed movable space from small to large by driving the clamping jaws to rotate outwards (namely to rotate in the direction away from the puncture needle), the puncture needle swings freely in the closed movable space along with the breathing movement of a patient, and when the puncture needle needs to be clamped again, the clamping jaws are driven to rotate inwards again, and the deformable space is formed into a closed gap for clamping the puncture needle from large to small again; when the puncture needle needs to be separated, the puncture needle is separated from a separation opening formed by the space opening and the lateral opening by driving at least one clamping jaw to rotate outwards until the clamping jaw opens the closing movable space so as to form a space opening corresponding to the lateral opening of the base on the closing movable space.
3. The utility model provides a pjncture needle fixing device for tighten the belt through setting up the belt guide post on the base for can avoid taking place to interfere with the self and influence normal operating when belt drive.
4. The utility model provides a pjncture needle fixing device, through setting up a plurality of clamping jaws into the arc clamping jaw, when needing to release the pjncture needle, a plurality of arc clamping jaws outwards rotate when predetermineeing the position, this predetermineeing the position can be the biggest release position of arc clamping jaw, a plurality of arc clamping jaw end to end forms closed ring, this closed ring is as biggest closed activity space for the pjncture needle is along with patient's respiratory motion and free swing, because the swing of pjncture needle probably is the arbitrary direction of ring, consequently set up closed activity space into closed ring, the pjncture needle can swing in the ring that the clamping jaw formed along with patient's respiratory motion, avoid the pjncture needle to cause the injury to the patient.
5. The utility model provides a pjncture needle fixing device, three arc clamping jaw surrounds closed centre gripping pjncture needle, can the pjncture needle of the different thickness models of centre gripping, and three contact points that are 120 each other are firm reliable to the location and the centre gripping of pjncture needle.
6. According to the puncture needle fixing device, three arc-shaped clamping jaws surround the closed clamping puncture needle, and the three states of forming a closed gap, forming a closed circular ring and fully opening are provided, so that the puncture needle can be released and clamped again, the position and the angle of the puncture needle are consistent with those before release, multiple release-clamping-puncture operations can be realized, and the safety of a patient is ensured; the puncture needle can be completely opened and completely separated from the puncture needle fixing device; the puncture needle fixing device provided by the application can realize the switching of the three states by only changing the rotating position of the driving wheel, and has simple structure and operation and practicability.
7. The utility model provides a pjncture needle fixing device, second clamping jaw and third clamping jaw also can not bulge the base when the device is opened completely, and the device is small and exquisite, easily miniaturized, can be used to very near position from patient's skin, can not produce collision interference with patient's skin.
8. The puncture needle fixing device can be used for robot auxiliary positioning of two operation modes of manual puncture of doctors and robot puncture.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. In the drawings:
fig. 1 is a schematic perspective view showing a puncture needle held by a puncture needle fixing structure according to an embodiment of the present application.
Fig. 2 is another perspective view of the lancet holding structure of fig. 1 holding a lancet.
Fig. 3 is a schematic perspective view showing the structure for fixing the puncture needle shown in fig. 1 with the puncture needle opened.
Fig. 4 is another perspective view of the lancet holding structure of fig. 1 with the lancet opened.
Wherein, the reference numerals in the drawings are as follows:
100. a puncture needle;
10. a base; 11. a first rotating shaft; 12. a second rotating shaft; 13. a third rotating shaft; 15. a driving wheel; 17. a guide post; 18. a limit column; 19. a lateral opening;
21. a clamping jaw I; 22. a clamping jaw II; 23. a clamping jaw III;
31. a belt; 33. and (3) a torsion spring.
Detailed Description
The following description of the embodiments of the present application will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the puncture operation, the puncture needle 100 fixing device is used for positioning the puncture position and angle of the puncture needle 100 and clamping the puncture needle 100 for puncture. In the puncture operation, the puncture needle 100 fixing device is required to release the puncture needle 100 and to clamp the puncture needle 100 again after releasing, so as to prevent the condition that the puncture needle 100 is clamped again for two or more times due to the fact that the puncture needle 100 is not in place once.
However, in the related art, the puncture needle 100 fixture cannot clamp the puncture needle 100 again after releasing the puncture needle 100, which is mainly because the puncture needle 100 is released and the position is shifted due to the respiratory movement of the patient, and the clamping position of the puncture needle 100 fixture is not changed, which results in the puncture needle 100 fixture not being able to clamp the puncture needle 100 again by the puncture needle 100 fixture and the position and angle of the puncture needle 100 being consistent with those before releasing or disengaging.
For this reason, the present application provides a fixing device for the puncture needle 100 to solve the above-mentioned problems. As shown in fig. 1 to 4, a lancet 100 fixing device is shown, and the lancet 100 fixing device mainly includes a lancet 100, a base 10, a deformable grip portion, and a driving means. Wherein,
the base 10 is provided with a puncture cavity for penetration of the puncture needle 100, and a lateral opening 19 opened at one side of the puncture cavity in the circumferential direction and communicated with the puncture cavity.
The deformable clamping part is arranged on the base 10 around the puncture cavity, a deformable space is formed inside the deformable clamping part, the deformable space is arranged from large to small to form a closed gap for clamping the puncture needle 100, a closed movable space for releasing the puncture needle 100 and allowing the puncture needle 100 to move is formed from small to large, the space opening communicated with the lateral opening 19 is formed on the closed movable space by continuing to deform on the basis of the closed movable space, and the space opening and the lateral opening 19 jointly form a separating opening for separating the puncture needle 100 from the puncture cavity.
The driving device is arranged on the base 10 and comprises a driving motor and a transmission part, and the transmission part is arranged to drive the deformable clamping part to deform under the action of the driving force of the driving motor.
In this application, the needle 100 fixture may be divided into three states: first, clamping state: when the puncture needle 100 needs to be clamped for puncture, the deformable clamping part is driven to deform, so that the deformable space of the deformable clamping part is reduced from large to small to form a closed gap for clamping the puncture needle 100, and the closed gap is used as a clamping part of the puncture needle 100 to fix the position and the angle of the puncture needle 100; second, released state: when the puncture needle 100 is required to be performed for two times or even a plurality of times in a short time, the puncture needle 100 fixing device is required to release the puncture needle 100, and the puncture needle 100 fixing device can deform by driving the deformable clamping part to ensure that the deformable space of the puncture needle 100 fixing device is changed from small to large so as to form a closed movable space for releasing and moving the puncture needle 100, so that the puncture needle 100 is quickly released, and meanwhile, the space for moving the puncture needle 100 is reserved in the closed movable space, so that a patient can intermittently breathe in the puncture process, and the movable space is set to be closed because the puncture needle 100 possibly moves to any position in the periphery along with breathing, so that the puncture needle 100 is prevented from being separated from the movable space; third, disengaged state: by driving the deformable gripping portion to continue to deform to open and close the movable space to form a space opening corresponding to the lateral opening 19 of the base 10, the space opening of the deformable gripping portion and the lateral opening 19 of the base 10 together form a disengagement opening through which the lancet 100 can be completely disengaged from the lancet 100 fixture.
The puncture needle 100 fixing device can repeatedly release and clamp the puncture needle 100 through the deformation of the deformable clamping part, and the puncture needle 100 is not influenced by the position deviation of the puncture needle 100 caused by the respiratory motion of a patient after the release and the reclamping, so that the position and the angle of the puncture needle 100 are consistent with those before the release.
In this application, the deformable clamping portion may have a plurality of embodiments, for example, the deformable clamping portion may be formed by a retractable ring structure, the retractable ring is formed by a plurality of nested ring structures, and under the action of driving force, the nested ring may extend from outside to inside, so that a small round hole is formed inside the nested ring as a closed gap to clamp the puncture needle 100, and a space formed inside the nested ring is a deformable space.
As a preferred embodiment of the present application, in one embodiment, the deformable gripping portion includes a plurality of gripping jaws, the plurality of gripping jaws are arranged on the base 10 at intervals around the puncture cavity, the gripping jaws are rotatably connected with the base 10, the plurality of gripping jaws are configured to be capable of intersecting each other to form a deformable space and capable of rotating inwards to make the deformable space form a closed gap from large to small, and capable of rotating outwards to make the deformable space form a closed movable space from small to large, and at least one gripping jaw is capable of continuing to rotate outwards on the basis of the closed movable space to open the closed movable space to form a space opening.
When in use, an operator drives the clamping jaws to rotate inwards (namely, rotate towards the direction close to the puncture needle 100), so that a deformable space formed by the mutual intersection of the clamping jaws is changed from large to small into a closed gap for clamping the puncture needle 100, the space size of the closed gap is matched with the outer diameter size of the puncture needle 100, and the contact points of the clamping jaws and the puncture needle 100 are clamping points; the deformable space is always closed during the process of being smaller, so that the puncture needle can not leak outside.
When the puncture needle 100 needs to be released, the deformable space is changed from small to large into a closed movable space by driving the clamping jaws to rotate outwards (namely, to rotate in the direction away from the puncture needle 100), the puncture needle 100 swings freely in the closed movable space along with the breathing movement of a patient, and when the puncture needle 100 needs to be clamped again, the clamping jaws are driven to rotate inwards again, and the deformable space is changed from large to small again to form a closed gap for clamping the puncture needle 100; when it is desired to disengage the lancet 100, the lancet 100 is disengaged from the disengagement opening formed by the side opening 19 in combination with the space opening by driving the at least one jaw to continue to rotate outwardly until the jaw opens the closing movable space to form a space opening in the closing movable space corresponding to the side opening 19 of the base 10.
The drive part comprises a driving wheel 15, a plurality of rotating shafts with the same number as the clamping jaws and a driving belt, the clamping jaws are arranged on the corresponding rotating shafts, the driving belt is wound on the driving wheel 15 and the rotating shafts, and the driving wheel 15 drives the rotating shafts to rotate under the action of driving force through the driving belt, so that the clamping jaws are driven to rotate. The driving belt is wound in such a manner that the driving wheel 15 can drive the plurality of rotating shafts to rotate clockwise or counterclockwise around the same direction. The transmission belt is a belt 31; the base 10 is also provided with a belt 31 guide post 17 for tightening the belt 31 and avoiding interference with the belt 31 during transmission.
Further, the plurality of jaws may be divided into a first jaw and a second jaw, and the plurality of rotating shafts may be divided into a first rotating shaft and a second rotating shaft corresponding to the first jaw and the second jaw; the first clamping jaw is arranged close to the lateral opening 19, and the first clamping jaw is fixedly connected with the corresponding first rotating shaft in the rotating direction, and can continuously rotate outwards along with the first rotating shaft to open and close the movable space to form a space opening; the second clamping jaw is sleeved on the corresponding second rotating shaft and can rotate relative to the second rotating shaft, the side surfaces of the second clamping jaw and the corresponding second rotating shaft are respectively provided with a stop block, the second rotating shaft is sleeved with a torsion spring 33, one foot of the torsion spring 33 is propped against the stop block on the side surface of the second rotating shaft, and the other foot is propped against the stop block on the side surface of the second clamping jaw; a limit post 18 for preventing the second jaw from continuing to rotate outwards is provided on the outside of the preset position of the second jaw. The number of the rotating shafts is three, and the rotating shafts are mutually 120 degrees along the circumferential direction of the puncture cavity and are arranged on the base 10. The clamping jaw is an arc clamping jaw, and when the plurality of arc clamping jaws outwards rotate to a preset position, the plurality of arc clamping jaws are connected end to form a closed circular ring serving as a maximum closed movable space.
The technical solution of the present application described above is described in detail below by way of example with a specific embodiment.
As shown in FIG. 1, the base 10 of the fixing device for the puncture needle 100 of the present embodiment is generally Y-shaped, and the front portion of the base 10 has a circular opening, i.e. the puncture cavity located inside the base 10 is circular. It should be noted that this is not limiting, and the base 10 may be square, triangular, trapezoidal, etc. in other embodiments, according to actual needs. Further, in the present embodiment, a mounting structure for fixedly mounting with the distal end of the mechanical arm of the puncture navigation positioning system is provided on the base 10, so that the puncture needle 100 fixing device of the present embodiment can be assembled onto the distal end of the mechanical arm.
The number of the clamping jaws is three, specifically a clamping jaw one 21, a clamping jaw two 22 and a clamping jaw three 23. Correspondingly, the number of the rotating shafts is also three, specifically a first rotating shaft 11, a second rotating shaft 12 and a third rotating shaft 13. Wherein, the first clamping jaw 21 is a first clamping jaw, and the second clamping jaw 22 and the third clamping jaw 23 are second clamping jaws; the first rotating shaft 11 is a first rotating shaft, and the second rotating shaft 12 and the third rotating shaft 13 are second rotating shafts.
A first rotating shaft 11, a second rotating shaft 12 and a third rotating shaft 13 are arranged along the circumferential direction of the circular puncture cavity at 120 degrees; the rear part of the base 10 is provided with a driving wheel 15, and the first rotating shaft 11, the second rotating shaft 12 and the third rotating shaft 13 are driven to synchronously rotate clockwise or anticlockwise around the same direction through the transmission of a belt 31; the base 10 is provided with the guide post 17 of the belt 31, so that the belt 31 is tightened, and interference between the belt 31 and the base during transmission is avoided.
As shown in fig. 2, a first clamping jaw 21, a second clamping jaw 22 and a third clamping jaw 23 which are arc-shaped clamping jaws with 120 degrees are respectively connected to a first rotating shaft 11, a second rotating shaft 12 and a third rotating shaft 13; the three clamping jaws can rotate along with the rotating shafts of the clamping jaws, a closed gap is formed by crossing, the center of the gap is the center of a circular lateral opening 19 at the front part of the base 10, at the moment, the needle bar of the puncture needle 100 is clamped into the closed gap formed by the clamping jaws, and three contact points which are 120 degrees each other are used for positioning the puncture needle 100 or clamping the puncture needle 100.
As shown in fig. 3, the three jaws may rotate with the shaft to form a complete ring, at which point the needle shaft of the lancet 100 may oscillate within the ring formed by the jaws.
As shown in fig. 4, the first clamping jaw 21 is fixedly connected with the first rotating shaft 11 in the rotating direction and can be opened outwards along with the rotation of the first rotating shaft 11, and at this time, the puncture needle 100 can be completely separated from the puncture needle 100 fixing device; the connection mode of the clamping jaw two 22 and the clamping jaw three 23 in the rotation direction is the same as that of the rotating shaft two 12 and the rotating shaft three 13, taking the clamping jaw two 22 as an example: the clamping jaw II 22 is sleeved on the rotating shaft II 12 and can rotate relative to the rotating shaft II 12; the side surfaces of the rotating shaft II 12 and the clamping jaw II 22 are provided with a stop block, the torsion spring 33 is sleeved in the rotating shaft II 12, one foot of the torsion spring 33 is propped against the stop block on the side surface of the rotating shaft II 12, and the other foot of the torsion spring 33 is propped against the stop block on the side surface of the clamping jaw II 22; when the clamping jaw II 22 needs to be closed, the rotating shaft II 12 rotates, and the stop block on the side surface of the rotating shaft II 12 can prop against the stop block on the side surface of the clamping jaw II 22 to push the clamping jaw to be closed; when the second clamping jaw 22 needs to be opened, the second rotating shaft 12 reversely rotates, the second clamping jaw 22 is pushed to be opened by the elastic force of the torsion spring 33, after the second clamping jaw 22 touches the limiting post 18, the second rotating shaft 12 continues to rotate to compress the torsion spring 33, and the second clamping jaw 22 does not move to protrude out of the base 10 under the limiting of the limiting post 18.
The operation of the fixing device for the puncture needle 100 according to the present embodiment will be described below.
The puncture needle 100 fixing device has the following two application modes:
first, the robot grips the needle 100, swings the position and angle of the needle 100, and the penetration needle is still operated by the doctor. First, the puncture needle 100 is placed in the circular puncture cavity of the base 10, the clamping jaw is closed, the needle shaft of the puncture needle 100 is limited in the closing gap formed by the clamping jaw, and the doctor pushes the tail of the puncture needle 100 to puncture (see fig. 1). When the sudden puncture is not in place but the patient is not in hold with the gas and other dangerous conditions, the clamping jaws are opened, so that the three clamping jaws form a complete circular ring, the puncture needle 100 can swing in the circular ring formed by the clamping jaws along with the respiratory motion of the patient (see fig. 3), and the damage of the puncture needle 100 to the patient is avoided. When the patient is holding his breath again, the jaws are closed and the needle 100 is held in the three arcuate jaw enclosure to the original position and angle (see fig. 1) at which time a secondary needle insertion is possible. After the penetration needle is in place, the jaws are fully opened and the penetration needle 100 can be completely disengaged from the needle 100 fixture (see fig. 4).
Second, the robot grips the lancet 100, swings the position and angle of the lancet 100, and performs the puncturing. At this time, the needle bar of the puncture needle 100 is clamped when the jaws are closed, so that there is no relative sliding between the needle bar of the puncture needle 100 and the jaws, and the needle is inserted by the robot, and the rest of the operations are the same as those when the doctor operates the needle insertion.
When the robot pierces the needle, in order to avoid bending of the puncture needle 100, the puncture needle 100 fixing device can clamp the part of the puncture needle 100 close to the needle tip, after the puncture needle is inserted for a certain distance, the clamping jaw is opened, the puncture needle 100 fixing device moves for a certain distance towards the tail direction of the puncture needle 100, and then the puncture needle 100 is clamped again to puncture. This is repeated until the penetration needle is in place.
The application also provides a puncture navigation positioning system, which comprises a computing terminal, a navigation positioning device such as an infrared navigation positioning camera, a body surface positioning belt, a mechanical arm and the puncture needle fixing device. The puncture needle fixing device is fixedly connected to the tail end of the mechanical arm, and specifically, the rear end (the end with the back side open) of the base of the puncture needle fixing device can be fixedly connected with the end of the mechanical arm.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While nevertheless, obvious variations or modifications may be made to the embodiments described herein without departing from the scope of the invention.
Claims (10)
1. A lancet holder, comprising:
a puncture needle;
the base is provided with a puncture cavity for the puncture needle to penetrate and a lateral opening communicated with the puncture cavity;
a deformable clamping part arranged on the base around the puncture cavity, wherein a deformable space is formed inside the deformable clamping part, the deformable space is arranged from large to small to form a closed gap for clamping the puncture needle, a closed movable space for releasing the puncture needle and allowing the puncture needle to move is formed from small to large, the deformable clamping part can continue to deform on the basis of the closed movable space to open the closed movable space and form a space opening communicated with the lateral opening on the closed movable space, and the space opening and the lateral opening form a separation opening for separating the puncture needle from the puncture cavity together;
the driving device is arranged on the base and comprises a driving motor and a transmission part, and the transmission part is arranged to drive the deformable clamping part to deform under the action of the driving force of the driving motor;
the deformable clamping part comprises a plurality of clamping jaws which are arranged on the base at intervals around the puncture cavity, the clamping jaws are rotatably connected with the base, the clamping jaws are arranged to be capable of intersecting each other to form the deformable space and capable of rotating inwards to enable the deformable space to be formed into the closed gap from large to small, the clamping jaws can rotate outwards to enable the deformable space to be formed into the closed movable space from small to large, and at least one clamping jaw can continue to rotate outwards on the basis of the closed movable space to open the closed movable space to form the space opening.
2. The lancet holder of claim 1, wherein the transmission comprises a drive wheel, a plurality of shafts in the same number as the jaws, and a belt; the driving motor drives the driving wheel to rotate, the clamping jaws are arranged on corresponding rotating shafts, the driving belt is wound on the driving wheel and the rotating shafts, and the driving wheel drives the rotating shafts to rotate under the driving force action of the driving motor through the driving belt, so that the clamping jaws are driven to rotate.
3. The lancet holder of claim 2, wherein the belt is wound in a manner such that the drive wheel is capable of rotating the plurality of shafts clockwise or counterclockwise about the same direction.
4. The needle mount of claim 2, wherein the drive belt is a belt; the base is also provided with a belt guide post which is used for tightening the belt and avoiding interference with the base when the belt is driven.
5. The lancet holder of claim 2, wherein the plurality of jaws are divided into a first jaw and a second jaw, and the plurality of shafts are divided into a first shaft and a second shaft corresponding to the first jaw and the second jaw; the first clamping jaw is arranged close to the lateral opening and is fixedly connected with the corresponding first rotating shaft in the rotating direction, and can continuously rotate outwards along with the first rotating shaft to open the closed movable space to form the space opening;
the second clamping jaw is sleeved on a corresponding second rotating shaft and can rotate relative to the second rotating shaft, a stop block is arranged on the side face of the second clamping jaw and the corresponding second rotating shaft, a torsion spring is sleeved on the second rotating shaft, one foot of the torsion spring abuts against the stop block on the side face of the second rotating shaft, and the other foot of the torsion spring abuts against the stop block on the side face of the second clamping jaw;
and a limiting column used for preventing the second clamping jaw from continuing to rotate outwards is arranged on the outer side of the preset position of the second clamping jaw.
6. The puncture needle fixing device according to claim 5, wherein the number of the rotating shafts is three, and the rotating shafts are installed on the base at 120 degrees along the circumferential direction of the puncture cavity.
7. The needle holder of claim 5, wherein the puncture lumen is circular.
8. The needle mount of claim 5, wherein the base is generally "Y" shaped.
9. The lancet holder of any one of claims 1-8, wherein the jaws are arcuate jaws that end to end when rotated outwardly to a predetermined position form a closed loop that is the maximum closed active space.
10. A puncture navigation positioning system, characterized by comprising a puncture needle fixing device according to any of claims 1-9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311715303.7A CN117414188B (en) | 2023-12-14 | 2023-12-14 | Puncture needle fixing device and puncture navigation positioning system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311715303.7A CN117414188B (en) | 2023-12-14 | 2023-12-14 | Puncture needle fixing device and puncture navigation positioning system |
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| CN117414188A CN117414188A (en) | 2024-01-19 |
| CN117414188B true CN117414188B (en) | 2024-02-20 |
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| Publication number | Publication date |
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| CN117414188A (en) | 2024-01-19 |
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