CN118141469A - Automatic puncture medicine injection apparatus for flexible continuum blood vessel - Google Patents
Automatic puncture medicine injection apparatus for flexible continuum blood vessel Download PDFInfo
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- CN118141469A CN118141469A CN202410573885.8A CN202410573885A CN118141469A CN 118141469 A CN118141469 A CN 118141469A CN 202410573885 A CN202410573885 A CN 202410573885A CN 118141469 A CN118141469 A CN 118141469A
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- 238000002347 injection Methods 0.000 title claims abstract description 140
- 239000007924 injection Substances 0.000 title claims abstract description 140
- 239000003814 drug Substances 0.000 title claims abstract description 56
- 210000004204 blood vessel Anatomy 0.000 title claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 114
- 238000005452 bending Methods 0.000 claims abstract description 43
- 238000012377 drug delivery Methods 0.000 claims abstract description 23
- 230000009471 action Effects 0.000 claims abstract description 15
- 239000013307 optical fiber Substances 0.000 claims description 40
- 229940079593 drug Drugs 0.000 claims description 26
- 238000003384 imaging method Methods 0.000 claims description 16
- 238000003825 pressing Methods 0.000 claims description 16
- 230000002792 vascular Effects 0.000 claims description 12
- 125000006850 spacer group Chemical group 0.000 claims description 11
- 230000007704 transition Effects 0.000 claims description 7
- 230000001960 triggered effect Effects 0.000 claims description 6
- 239000000835 fiber Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000035515 penetration Effects 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 abstract description 4
- 230000006835 compression Effects 0.000 description 9
- 238000007906 compression Methods 0.000 description 9
- 238000010253 intravenous injection Methods 0.000 description 9
- 230000002207 retinal effect Effects 0.000 description 9
- 208000004644 retinal vein occlusion Diseases 0.000 description 5
- 239000000243 solution Substances 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000002788 crimping Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 201000004569 Blindness Diseases 0.000 description 2
- 208000007536 Thrombosis Diseases 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910001000 nickel titanium Inorganic materials 0.000 description 2
- 210000001957 retinal vein Anatomy 0.000 description 2
- 208000022873 Ocular disease Diseases 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000017531 blood circulation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 230000008451 emotion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003527 fibrinolytic agent Substances 0.000 description 1
- 239000000945 filler Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
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- 230000001360 synchronised effect Effects 0.000 description 1
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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
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/0008—Introducing ophthalmic products into the ocular cavity or retaining products therein
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/008—Racks for supporting syringes or needles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
- A61M5/158—Needles for infusions; Accessories therefor, e.g. for inserting infusion needles, or for holding them on the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B2017/22082—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for after introduction of a substance
- A61B2017/22084—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for after introduction of a substance stone- or thrombus-dissolving
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
- A61M5/158—Needles for infusions; Accessories therefor, e.g. for inserting infusion needles, or for holding them on the body
- A61M2005/1585—Needle inserters
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Biomedical Technology (AREA)
- Public Health (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Surgery (AREA)
- Ophthalmology & Optometry (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The invention relates to the technical field of medical appliances, and provides an automatic puncture and injection appliance for a flexible continuous blood vessel, which comprises a base, a drug delivery mechanism, a rotary driving mechanism, a delivery driving mechanism and a bending driving mechanism, wherein the drug delivery mechanism comprises a continuous sleeve and a flexible injection needle assembly, the flexible injection needle assembly is arranged in the continuous sleeve in a penetrating way, a traction rope is embedded in the continuous sleeve, and one end of the traction rope is fixed at the end part of a flexible section of the continuous sleeve; the rotary driving mechanism is connected with the rigid section of the continuum sleeve so as to drive the continuum sleeve to rotate; the delivery driving mechanism is connected with the flexible injection needle assembly to drive the flexible injection needle assembly to deliver; the action end of the bending driving mechanism is sleeved on the rigid section of the continuum sleeve, the other end of the traction rope is fixed at the action end of the bending driving mechanism, and the bending driving mechanism bends the flexible section by traction of the traction rope; the medicine injection device can realize automatic puncture and has higher accuracy and stability.
Description
Technical Field
The invention relates to the technical field of medical appliances, in particular to an automatic puncture and drug injection appliance for a flexible continuum blood vessel.
Background
Retinal Vein Occlusion (RVO) is an ocular disease commonly found in the elderly, severely affecting vision and possibly even leading to blindness. Its pathogenesis is mainly related to thrombosis in the center of retinal veins or in branch vessels, leading to a blockage of blood reflux and thus impairment of retinal function. With the increasing trend of global aging, the incidence of RVO increases year by year, and has become an important cause of vision loss for the elderly. Therefore, the exploration of the high-efficiency and safe RVO treatment method has important clinical significance and social value.
Currently, retinal intravenous injection techniques have been widely used in RVO therapy to restore blood circulation by injecting thrombolytic drugs directly into the occluded retinal vein to dissolve the thrombus. However, the conventional retinal intravenous injection method mainly relies on manual operation of a doctor, and has obvious limitations. First, physiological tremors of the human hand are unavoidable, which makes it difficult to ensure the accuracy and stability of the needle during the mini-vascular puncture, increasing the risk of surgery and the incidence of complications. Secondly, manual operation has high requirements on experience and skills of doctors, and the operation process can be influenced by various factors such as fatigue, emotion and the like, so that the operation quality is unstable.
Therefore, how to overcome the limitation of the traditional manual operation and improve the accuracy and stability of retinal intravenous injection becomes a problem to be solved in the current medical instrument field.
Disclosure of Invention
The invention provides an automatic puncture medicine injection device for a flexible continuum blood vessel, which is used for solving the problem that the accuracy and stability of retinal intravenous injection are difficult to ensure due to the limitation of manual operation in the conventional retinal intravenous injection.
The invention provides an automatic puncture and drug injection device for a flexible continuum blood vessel, which comprises:
A base;
The drug delivery mechanism is arranged on the base and comprises a continuous sleeve and a flexible injection needle assembly, wherein the flexible injection needle assembly penetrates through the continuous sleeve, the continuous sleeve comprises a flexible section and a rigid section, a traction rope is further embedded in the continuous sleeve, and one end of the traction rope is fixed at the end part of the continuous sleeve, which is close to the flexible section;
The rotating driving mechanism is arranged on the base, and the action end of the rotating driving mechanism is connected with the rigid section and is used for driving the continuum sleeve to rotate;
the delivery driving mechanism is arranged on the base, is positioned on one side of the rigid section, which is far away from the flexible section, and is connected with the flexible injection needle assembly and used for driving the flexible injection needle assembly to move along the axial direction of the continuous body sleeve so that the needle end of the flexible injection needle assembly extends out of or into the continuous body sleeve;
The bending driving mechanism is arranged on the base, the action end of the bending driving mechanism is sleeved on the rigid section, the other end of the traction rope is fixed at the action end of the bending driving mechanism, and the bending driving mechanism bends the flexible section by traction of the traction rope.
According to the flexible continuum vascular automatic puncture medicine injection device provided by the invention, the continuum sleeve further comprises a sleeve framework, an extension tube, a sleeve transfer tube and a shaft sleeve, wherein one end of the sleeve framework is sleeved at one end of the sleeve transfer tube through the extension tube, and the shaft sleeve is sleeved at the other end of the sleeve transfer tube;
A plurality of first grooves are formed in one end, far away from the sleeve transfer tube, of the sleeve framework, and the part, corresponding to the first grooves, of the sleeve framework forms a flexible section of the continuous sleeve; the outer wall of the sleeve framework is provided with at least one second groove, and the second groove extends from one end of the sleeve framework to the other end of the sleeve framework along the axial direction of the sleeve framework; a third groove corresponding to the second groove is formed in the sleeve transfer tube, and the third groove extends along the axial direction of the sleeve transfer tube;
The traction rope is embedded in one second groove, one end of the traction rope is fixed at one end of the sleeve framework away from the sleeve transfer tube, and the other end of the traction rope penetrates through the extension tube to extend into the sleeve transfer tube and extends out of the sleeve transfer tube through the corresponding third groove to be fixed at the action end of the bending driving mechanism.
According to the flexible continuum blood vessel automatic puncture medicine injection device provided by the invention, the outer wall of the sleeve framework is provided with three second grooves, the three second grooves are distributed at intervals along the circumferential direction of the sleeve framework, the continuum sleeve further comprises two shape sensing optical fibers, the two shape sensing optical fibers are respectively embedded in the other two second grooves, and the shape sensing optical fibers are used for analyzing the bending form of the continuum sleeve.
According to the automatic puncture and injection device for the flexible continuum blood vessel, the drug delivery mechanism further comprises a force sensing structure, an injection catheter and an injection needle tube, the tail end of the flexible injection needle assembly is communicated with the injection needle tube through the injection catheter, the force sensing structure is sleeved at the tail of the flexible injection needle assembly, and the force sensing structure is used for monitoring the puncture force of the needle end of the flexible injection needle assembly.
According to the flexible continuum vessel automatic puncture medicine injection device provided by the invention, the flexible injection needle assembly comprises an OCT imaging optical fiber, an injection needle sleeve and a flexible injection needle, wherein the injection needle sleeve is sleeved on the flexible injection needle and exposes the needle head of the flexible injection needle; the OCT imaging optical fiber is arranged in the injection needle sleeve, one end of the OCT imaging optical fiber, which is close to the needle, is exposed out of the injection needle sleeve and used for imaging the needle and the surrounding environment, and the OCT imaging optical fiber and the injection needle sleeve are fixed through filling by filling a filling body.
According to the automatic puncture medicine injection device for the flexible continuum blood vessel, the force sensing structure comprises force sensing brackets, force sensing optical fibers and force sensing frameworks, wherein the force sensing frameworks are sleeved at the tail part of the flexible injection needle assembly, the two force sensing brackets are respectively sleeved at two ends of the force sensing frameworks, and the force sensing optical fibers are embedded on the two force sensing brackets;
The puncture force of the needle head is transmitted to the force sensing framework through the flexible injection needle and is sequentially transmitted to the force sensing bracket and the force sensing optical fiber through the force sensing framework, and the force sensing optical fiber is used for analyzing the puncture force.
According to the automatic puncture medicine injection device for the flexible continuum blood vessel, the medicine conveying mechanism further comprises a transition pipe and a crimping pipe, the tail end of the flexible injection needle is connected with the crimping pipe through the transition pipe, and the other end of the crimping pipe is connected with the medicine injection catheter.
According to the flexible continuum blood vessel automatic puncture medicine injection device provided by the invention, the rotary driving mechanism comprises a rotary support, a rotary motor and a rotary connecting rod, the rotary motor is fixed on the base through the rotary support, one end of the rotary connecting rod is fixedly connected with an output shaft of the rotary motor, the other end of the rotary connecting rod is sleeved on a rigid section of the continuum sleeve, and the rotary motor drives the continuum sleeve to rotate through the rotary connecting rod.
According to the flexible continuum blood vessel automatic puncture medicine injection device provided by the invention, the delivery driving mechanism comprises a first linear motor, a pushing plate, a pushing clamping block and a compression ring, wherein the first linear motor is fixed on the base, the pushing plate is fixed on the output end of the first linear motor, the compression ring is fixed at one end of the pushing clamping block, the other end of the pushing clamping block is fixed on the pushing plate, the compression ring is fixedly connected with the flexible injection needle assembly, and the first linear motor synchronously moves by pushing the pushing plate, the pushing clamping block and the compression ring so as to deliver the needle head end of the flexible injection needle assembly out of the continuum sleeve.
According to the flexible continuum vascular automatic puncture medicine injection device provided by the invention, the delivery driving mechanism further comprises a first reset bracket and a first reset switch, the first reset bracket is fixed at the rear end of the rotor of the first linear motor, the first reset switch is fixed at the rear end of the stator of the first linear motor, the first reset switch is connected with the controller of the first linear motor, and when the first reset bracket moves to the trigger point position of the first reset switch along with the rotor of the first linear motor, the first reset switch is triggered, so that zero point reset of the first linear motor is realized.
According to the flexible continuum vascular automatic puncture medicine injection device provided by the invention, the bending driving mechanism comprises a second linear motor, a push-pull assembly, a force application disc, a spacing ring and a wire fixing structure, wherein the second linear motor is fixed on the base, one end of the push-pull assembly is fixed at the output end of the second linear motor, the other end of the push-pull assembly is fixed on the force application disc, the spacing ring is fixed at the middle position of the force application disc, the wire fixing structure is arranged on one side, close to the second linear motor, of the spacing ring, the spacing ring is sleeved on the rigid section of the continuum sleeve in a sliding manner, and the other end of the traction rope is fixed on the wire fixing structure through the spacing ring;
The second linear motor drives the push-pull assembly to enable the force application disc, the spacing ring and the wire fixing structure to move synchronously along the axial direction of the continuous sleeve so as to realize traction of the traction rope, thereby driving the flexible section to bend.
According to the flexible continuum vascular automatic puncture medicine injection device provided by the invention, the push-pull assembly comprises two push-pull plates and two push-pull rods, one ends of the two push-pull plates are fixed at the output end of the second linear motor, the other ends of the two push-pull plates are respectively connected with the two push-pull rods, and the other ends of the two push-pull rods are respectively connected with the two ends of the force application disc.
According to the flexible continuum vascular automatic puncture medicine injection device provided by the invention, the wire fixing structure comprises a wire fixing ring and a rope pressing block, the wire fixing ring is fixed on the spacing ring and is coaxially arranged with the spacing ring, the wire fixing ring and the spacing ring are both sleeved on the rigid section of the continuum sleeve in a sliding manner, the rope pressing block is positioned on one radial side of the wire fixing ring, the rope pressing block is connected with the wire fixing ring through a fastener, and one end of the traction rope is pressed between the rope pressing block and the wire fixing ring.
According to the flexible continuum vascular automatic puncture medicine injection device provided by the invention, the bending driving mechanism further comprises a second reset bracket and a second reset switch, the second reset bracket is fixed at the rear end of the rotor of the second linear motor, the second reset switch is fixed at the rear end of the stator of the second linear motor, the second reset switch is connected with the controller of the second linear motor, and when the second reset bracket moves to the trigger point position of the second reset switch along with the rotor of the second linear motor, the second reset switch is triggered, so that zero point reset of the second linear motor is realized.
The invention provides an automatic puncture and drug injection device for a flexible continuum blood vessel, wherein the base comprises a base plate, a front support, a stand column support, a rear support and a mechanical arm mounting plate, wherein the front support is arranged at the front end of the base plate and used for supporting a bending driving mechanism; the rear bracket is arranged at the rear end of the base plate and is used for supporting the drug delivery mechanism; the upright post support is arranged in the middle of the base plate and used for supporting the delivery driving mechanism; the mechanical arm mounting plate is arranged on the base plate and used for mounting the base on the mechanical arm.
The technical scheme of the invention has the following beneficial effects:
The invention provides an automatic puncture medicine injection device for a flexible continuous blood vessel, which is characterized in that a medicine conveying mechanism, a rotary driving mechanism, a delivery driving mechanism and a bending driving mechanism are arranged on a base, the medicine conveying mechanism comprises a continuous sleeve and a flexible injection needle assembly, the flexible injection needle assembly is arranged in the continuous sleeve in a penetrating way, a traction rope is embedded in the continuous sleeve, and one end of the traction rope is fixed at the end part of a flexible section of the continuous sleeve; the action end of the rotary driving mechanism is connected with the rigid section of the continuum sleeve so as to drive the continuum sleeve to rotate; the delivery driving mechanism is connected with the flexible injection needle assembly to drive the flexible injection needle assembly to deliver along the axial direction of the continuum sleeve; the action end of the bending driving mechanism is sleeved on the rigid section of the continuous body sleeve, the other end of the traction rope is fixed at the action end of the bending driving mechanism, the bending driving mechanism bends the flexible section of the continuous body sleeve by traction of the traction rope, and the flexible section of the continuous body sleeve bends to enable the flexible injection needle assembly positioned in the flexible section of the continuous body sleeve to bend along with the flexible section of the continuous body sleeve. The injection device can adjust the position and the posture of the tail end of the continuous body sleeve (namely, near one end of the needle head) through the rotary driving mechanism and the bending driving mechanism, and can change the puncture direction of the flexible injection needle assembly; and the flexible injection needle component is sent out from the continuum sleeve through the delivery driving mechanism to implement vascular puncture operation, so that automatic puncture is realized, the limitation of the traditional manual operation is broken, and the accuracy and the stability of retinal intravenous injection are improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic structural view of an automatic puncture and drug injection device for a flexible continuum blood vessel according to an embodiment of the present invention;
FIG. 2 is a schematic view of the structure of the base shown in FIG. 1;
FIG. 3 is a schematic view of the rotary drive mechanism shown in FIG. 1;
FIG. 4 is a schematic view of the delivery drive mechanism shown in FIG. 1;
FIG. 5 is a schematic view of the bend drive mechanism shown in FIG. 1;
FIG. 6 is a schematic structural view of the drug delivery mechanism shown in FIG. 1;
FIG. 7 is a schematic view of the construction of the continuum sleeve shown in FIG. 6;
FIG. 8 is an enlarged view of a portion of the front end of the continuum sleeve shown in FIG. 7;
Fig. 9 is a schematic structural view of a flexible needle assembly according to an embodiment of the present invention.
Reference numerals:
1. A base; 2. a rotary driving mechanism; 3. a delivery drive mechanism; 4. a bending drive mechanism; 5. a drug delivery mechanism; 101. a base plate; 102. a front bracket; 103. a rear bracket; 104. a column support; 201. a rotating electric machine; 202. a rotating bracket; 203. rotating the connecting rod; 2031. a connecting ring; 301. a first linear motor; 302. a pushing plate; 303. pushing the clamping block; 304. a clamp ring; 305. a first reset bracket; 306. a first reset switch; 401. a second linear motor; 402. a push-pull plate; 403. a push-pull rod; 404. a force application plate; 405. a spacer ring; 406. rope pressing blocks; 407. a wire fixing ring; 408. a second reset bracket; 409. a second reset switch; 51. a continuum sleeve; 52. a force sensing structure; 53. a crimping tube; 54. a drug injection catheter; 55. a needle tube for injecting medicine; 56. a flexible needle assembly; 57. a transition pipe; 511. a sleeve skeleton; 512. an extension tube; 513. a sleeve transfer tube; 514. a shaft sleeve; 515. pulling the rope; 516. a shape-sensing optical fiber; 5111. a first groove; 5112. a second groove; 5131. a third groove; 521. a force sensing skeleton; 522. a force sensing bracket; 523. a force sensing optical fiber; 561. a flexible injection needle; 562. an injection needle cannula; 563. OCT imaging optical fiber; 564. and (5) a filling body.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, 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.
Referring to fig. 1-9, the present invention provides an automatic puncture and injection device for a flexible continuum blood vessel, which comprises a base 1, a rotary driving mechanism 2, a delivery driving mechanism 3, a bending driving mechanism 4 and a drug delivery mechanism 5, wherein the rotary driving mechanism 2, the delivery driving mechanism 3, the bending driving mechanism 4 and the drug delivery mechanism 5 are all arranged on the base 1.
The drug delivery mechanism 5 is used for delivering a drug and injecting the drug into a body, the drug delivery mechanism 5 comprises a continuous body sleeve 51 and a flexible injection needle assembly 56, the flexible injection needle assembly 56 penetrates through the continuous body sleeve 51, the continuous body sleeve 51 comprises a flexible section and a rigid section, the continuous body sleeve 51 is further embedded with a traction rope 515, and one end of the traction rope 515 is fixed at the end, close to the flexible section, of the continuous body sleeve 51.
The actuating end of the rotary drive mechanism 2 is connected to a rigid section of the continuum sleeve 51, and the rotary drive mechanism 2 is configured to drive the continuum sleeve 51 to rotate.
The delivery driving mechanism 3 is located on the side of the rigid section of the continuum sleeve 51 away from the flexible section, and the delivery driving mechanism 3 is connected with the flexible injection needle assembly 56, and the delivery driving mechanism 3 is used for driving the flexible injection needle assembly 56 to move along the axial direction of the continuum sleeve 51 so that the needle end of the flexible injection needle assembly 56 extends out of or into the continuum sleeve 51 to deliver the flexible injection needle assembly 56 to achieve penetration of the flexible injection needle assembly 56.
The actuating end of the bending drive mechanism 4 is sleeved on the rigid section of the continuum sleeve 51, the other end of the traction rope 515 is fixed on the actuating end of the bending drive mechanism 4, and the bending drive mechanism 4 bends the flexible section of the continuum sleeve 51 by traction of the traction rope 515.
The injection device of the invention can adjust the position and the posture of the tail end (namely, the end close to the needle head) of the continuum sleeve 51 through the rotary driving mechanism 2 and the bending driving mechanism 4, and change the puncture direction of the flexible injection needle assembly 56; the flexible needle assembly 56 is also advanced out of the continuum sheath 51 by the delivery drive mechanism 3 to perform a vascular puncturing operation to achieve automatic puncturing. The drug injection device breaks the limitation of the traditional manual operation, and integrates three degrees of freedom by using a flexible continuum technology: rotation, bending and feeding, enabling flexible handling in narrow and complex fundus environments. Compared with the traditional automatic puncture device, the three-degree-of-freedom device provides greater flexibility and higher reaching precision in operation, and particularly improves the precision and stability of retinal intravenous injection when locating retinal intravenous injection points.
Specifically, referring to fig. 1 and 2, the base 1 includes a base plate 101, a front bracket 102, a column bracket 104, a rear bracket 103, and a robot arm mounting plate. The front bracket 102 is disposed at the front end of the base plate 101 and is used for supporting the bending driving mechanism 4, and a through hole is further formed in the front bracket 102, and the continuum sleeve 51 can pass through the front bracket 102 through the through hole. A rear support 103 is provided at the rear end of the base plate 101 for supporting the drug delivery mechanism 5. A column support 104 is provided in the middle of the base plate 101 for supporting the delivery driving mechanism 3. The mechanical arm mounting plate is arranged on the base plate 101 and used for mounting the base 1 on a mechanical arm, and the mechanical arm can drive the base 1 and each mechanism positioned on the base 1 to synchronously move.
Referring to fig. 1 and 3, the rotary driving mechanism 2 includes a rotary bracket 202, a rotary motor 201 and a rotary connecting rod 203, the rotary motor 201 is fixed at a position of the base 1 corresponding to the upright post bracket 104 through the rotary bracket 202, one end of the rotary connecting rod 203 is fixedly connected with an output shaft of the rotary motor 201, the other end of the rotary connecting rod 203 is sleeved on a rigid section of the continuous body sleeve 51, and the rotary motor 201 drives the continuous body sleeve 51 to rotate synchronously by driving the rotary connecting rod 203.
Wherein, the end of the rotary connecting rod 203 for connecting with the continuum sleeve 51 comprises a connecting ring 2031, the connecting ring 2031 is coaxially arranged with the through hole on the front bracket 102, and the rigid section of the continuum sleeve 51 is fixed on the connecting ring 2031 through the through hole on the front bracket 102. It will be appreciated that the connection ring 2031 is detachably connected to the continuum sleeve 51.
Referring to fig. 1 and 4, the delivery driving mechanism 3 includes a first linear motor 301, a pushing plate 302, a pushing block 303, and a compression ring 304, wherein the first linear motor 301 is fixed on the upright support 104 of the base 1, and the first linear motor 301 is correspondingly located above the rotating motor 201. The push plate 302 is fixed on the output of first linear motor 301, and clamp ring 304 is fixed in the one end of push fixture block 303, and the other end of push fixture block 303 is fixed on push plate 302, and clamp ring 304 and flexible injection needle subassembly 56 fixed connection, first linear motor 301 through pushing push plate 302, push fixture block 303 and clamp ring 304 synchronous movement to deliver the syringe needle end of flexible injection needle subassembly 56 out of continuum sleeve 51, realize the puncture operation of flexible injection needle subassembly 56.
Further, the delivery driving mechanism 3 further includes a first reset bracket 305 and a first reset switch 306, the first reset bracket 305 is fixed at the rear end of the mover of the first linear motor 301, the first reset switch 306 is fixed at the rear end of the stator of the first linear motor 301, and the first reset switch 306 is connected with the controller of the first linear motor 301, when the first reset bracket 305 moves to the trigger point of the first reset switch 306 along with the mover of the first linear motor 301, the first reset switch 306 is triggered, thereby realizing zero reset of the first linear motor 301 to ensure the accurate start of the next operation.
Referring to fig. 1 and 5, the bending drive mechanism 4 includes a second linear motor 401, a push-pull assembly, a force plate 404, a spacer ring 405, and a wire fixing structure. The second linear motor 401 is fixed on the base 1 and is positioned between the upright post bracket 104 and the rear bracket 103; one end of the push-pull assembly is fixed at the output end of the second linear motor 401, the other end of the push-pull assembly is fixed on the force application disc 404, the spacing ring 405 is fixed at the middle position of the force application disc 404, the wire fixing structure is arranged at one side of the spacing ring 405 close to the second linear motor 401, the spacing ring 405 is sleeved on the rigid section of the continuous body sleeve 51 in a sliding manner, and the other end of the pulling rope 515 penetrates through the spacing ring 405 to be fixed on the wire fixing structure. The second linear motor 401 drives the push-pull assembly to move the force application disc 404, the spacer ring 405 and the wire fixing structure synchronously along the axial direction of the continuum sleeve 51 so as to realize traction of the traction rope 515, thereby driving the flexible section of the continuum sleeve 51 to bend.
Specifically, the push-pull assembly includes two push-pull plates 402 and two push-pull rods 403, one ends of the two push-pull plates 402 are fixed at the output end of the second linear motor 401, the other ends of the two push-pull plates 402 are respectively connected with the two push-pull rods 403, and the other ends of the two push-pull rods 403 are respectively connected with two ends of the force application disc 404. The second linear motor 401 pushes and pulls the two push-pull plates 402, so that the two push-pull plates 402 drive the two push-pull rods 403 to move synchronously, and the force application disc 404 drives the spacer ring 405 and the wire fixing structure to move synchronously along the axial direction of the continuum sleeve 51 under the push-pull action of the push-pull rods 403.
Further, the wire fixing structure includes a wire fixing ring 407 and a rope pressing block 406, the wire fixing ring 407 is fixed on the spacer ring 405 and is coaxially arranged with the spacer ring 405, the wire fixing ring 407 and the spacer ring 405 are both slidably sleeved on the rigid section of the continuous body sleeve 51, the rope pressing block 406 is located at one radial side of the wire fixing ring 407, the rope pressing block 406 is connected with the wire fixing ring 407 through a fastener (such as a screw), and one end of the pulling rope 515 is pressed between the rope pressing block 406 and the wire fixing ring 407. The tightness of the fastener between the rope pressing block 406 and the wire fixing ring 407 is adjusted to adjust the pressure between the rope pressing block 406 and the wire fixing ring 407.
Further, the bending driving mechanism 4 further includes a second reset bracket 408 and a second reset switch 409, the second reset bracket 408 is fixed at the rear end of the mover of the second linear motor 401, the second reset switch 409 is fixed at the rear end of the stator of the second linear motor 401, and the second reset switch 409 is connected with the controller of the second linear motor 401, when the second reset bracket 408 moves to the trigger point of the second reset switch 409 along with the mover of the second linear motor 401, the second reset switch 409 is triggered, thereby realizing zero reset of the second linear motor 401 to ensure the accurate start of the next operation.
Referring to fig. 1 and 6-8, the drug delivery mechanism 5 includes a continuum sleeve 51, a force sensing structure 52, a crimp tubing 53, a drug injection catheter 54, a drug injection needle tubing 55, and a flexible injection needle assembly 56. The flexible injection needle assembly 56 is arranged inside the continuum sleeve 51 in a penetrating way, the force sensing structure 52 is sleeved at the tail part of the flexible injection needle assembly 56, and the force sensing structure 52 is used for monitoring the puncture force of the needle end of the flexible injection needle assembly 56. The flexible injection needle assembly 56 communicates with the injection catheter 54 through the crimp tubing 53, and the injection catheter 54 communicates with the injection needle tubing 55. The medicine is injected into the medicine delivery mechanism 5 through the medicine injection needle tube 55, and flows into the flexible injection needle assembly 56 through the medicine injection tube 54 and the crimp tube 53 in order for injection.
The drug delivery mechanism 5 is arranged on the base along the length direction of the base 1, wherein the drug injection needle tube 55 is fixed on the rear bracket 103, the drug injection catheter 54 is a flexible tube made of PVC material, the drug injection catheter 54 is arranged by bypassing the upright post bracket 104, and the continuum sleeve 51 is arranged in the through hole of the front bracket 102 in a penetrating way. By fixing the compression ring 304 of the delivery driving mechanism 3 with the compression tube 53 of the drug delivery mechanism 5, the delivery driving mechanism 3 pushes the front end of the flexible injection needle assembly 56 to puncture by pushing the compression tube 53, and puncture power is transmitted to the drug delivery mechanism 5 by the first linear motor 301 through the pushing plate 302, the pushing clamping block 303 and the compression ring 304, so that delivery of the flexible injection needle assembly 56 is realized.
Referring to fig. 7 and 8, the continuum sleeve 51 further includes a sleeve skeleton 511, an extension tube 512, a sleeve transfer tube 513, and a sleeve 514, wherein one end of the sleeve skeleton 511 is sleeved at one end of the sleeve transfer tube 513 through the extension tube 512, and the sleeve 514 is sleeved at the other end of the sleeve transfer tube 513.
Wherein, one end of the cannula frame 511 away from the cannula transfer tube 513 is provided with a plurality of first grooves 5111, and a portion of the cannula frame 511 corresponding to the first grooves 5111 forms a flexible section of the continuous cannula 51, that is, a portion of the front end of the cannula frame 511 is provided with a plurality of first grooves 5111, so that the rigidity of the cannula frame 511 is changed, and the portion of the cannula frame 511 corresponding to the first grooves 5111 has a certain flexibility. Accordingly, the portion of cannula housing 511 that corresponds to the exterior of first recess 5111, as well as extension tube 512 and cannula transfer tube 513, form a rigid segment of continuum cannula 51.
At least one second groove 5112 is provided on the outer wall of the cannula holder 511, and the second groove 5112 extends from one end of the cannula holder 511 to the other end of the cannula holder 511 in the axial direction of the cannula holder 511. The sleeve transfer tube 513 is provided with a third groove 5131 corresponding to the second groove 5112, and the third groove 5131 extends along the axial direction of the sleeve transfer tube 513.
Wherein, the pulling rope 515 is embedded in one second groove 5112, one end of the pulling rope 515 is fixed at one end of the sleeve skeleton 511 far away from the sleeve transfer tube 513, the other end of the pulling rope 515 penetrates the extension tube 512 to extend into the sleeve transfer tube 513, and extends out of the sleeve transfer tube 513 via the corresponding third groove 5131 to be fixed at the action end of the bending driving mechanism 4. Specifically, the pulling rope 515 is fixed to the wire fixing structure of the bending drive mechanism 4.
The sleeve skeleton 511 may be a nickel-titanium alloy skeleton, and in the case of having a certain rigidity, the front end of the sleeve skeleton 511 is provided with a certain flexibility by providing a plurality of first grooves 5111 at the front end. Of course, other materials may be used for the sleeve skeleton 511, which is not limited herein.
In one embodiment, three second grooves 5112 are provided on the outer wall of the cannula frame 511, and the three second grooves 5112 are distributed at intervals along the circumference of the cannula frame 511, for example, the three second grooves 5112 are distributed at equal intervals of 120 ° along the circumference of the cannula frame 511. The continuum sleeve 51 further comprises two shape sensing optical fibers 516, the pulling rope 515 is embedded in the middle second groove 5112, the two shape sensing optical fibers 516 are respectively embedded in the other two second grooves 5112, and the shape sensing optical fibers 516 are used for analyzing the bending form of the continuum sleeve 51. The pulling force of the pulling rope 515 is transferred to the push-pull rods 403 on two sides by the two push-pull plates 402 connected with the second linear motor 401, and then transferred to the force application disc 404, the spacer ring 405, the wire fixing ring 407 and the rope pressing block 406 by the push-pull rods 403, so that the pulling and releasing of the pulling rope 515 are realized, and the continuous body (namely the flexible section) at the front end is pulled by the pulling rope 515 to realize upward bending.
Wherein, the two shape sensing optical fibers 516 can be FBG optical fibers, and the bending form of the continuum sleeve is monitored and calculated in real time by accurately calculating the reflection wavelength change of the grating in the optical fibers.
The cross section of the sleeve transfer tube 513 is two U-shapes buckled together, and the straight edges of the two sides are designed to restrict the force application disc to keep radial movement, and are connected with the rotary connecting rod to enable the rotary connecting rod to drive the continuous sleeve 51 to rotate.
Referring to fig. 9, the flexible needle assembly 56 includes an OCT imaging optical fiber 563, a needle cannula 562, and a flexible needle 561, the needle cannula 562 is sleeved with a flexible injection channel bonded to the flexible needle 561, and the needle cannula 562 exposes the needle tip of the flexible needle 561. The OCT imaging optical fiber 563 is disposed in the needle cannula 562, and one end of the OCT imaging optical fiber 563, which is close to the needle, exposes the needle cannula 562, and is used for imaging the needle and the surrounding environment, so that the puncture operation can be imaged, and the OCT imaging optical fiber 563 and the needle cannula 562 are fixed by pouring through the pouring filler 564.
The needle cannula 562 may be, but is not limited to, a nickel-titanium alloy cannula.
The force sensing structure 52 comprises a force sensing bracket 522, a force sensing optical fiber 523 and a force sensing framework 521, wherein the force sensing framework 521 is sleeved at the tail part of the flexible injection needle assembly 56, the two force sensing brackets 522 are respectively sleeved at two ends of the force sensing framework 521, and the force sensing optical fiber 523 is embedded on the two force sensing brackets 522. The puncture force of the needle is transmitted to the force sensing skeleton 521 through the flexible injection needle 561, and is sequentially transmitted to the force sensing bracket 522 and the force sensing optical fiber 523 by the force sensing skeleton 521, and the force sensing optical fiber 523 is used for analyzing the puncture force.
The force sensing fiber 523 may be an FBG fiber, but is not limited thereto.
Further, the drug delivery mechanism 5 further includes a transition tube 57, and the tail end of the flexible injection needle 561 is connected to the crimp tube 53 through the transition tube 57, and the other end of the crimp tube 53 is connected to the drug injection catheter 54.
The invention provides a flexible continuum vascular automatic puncture medicine injection device with three-dimensional degrees of freedom, which can adjust the position and the posture of the tail end of a continuum sleeve (namely, the end close to a needle head) through a rotary driving mechanism and a bending driving mechanism, and can change the puncture direction of a flexible injection needle assembly; and the flexible injection needle assembly is sent out from the continuum sleeve through the delivery driving mechanism to implement vascular puncture operation, automatic puncture is realized, simultaneously, the puncture force is monitored by utilizing the OCT optical fiber feedback image and the FBG optical fiber, accurate puncture of the blood vessel is ensured, and then, the medicine is injected into the medicine delivery mechanism and is injected through the medicine delivery mechanism. Breaks the limitation of the traditional manual operation and improves the accuracy and stability of retinal intravenous injection.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (15)
1. An automatic puncture and drug injection device for a flexible continuum blood vessel, which is characterized by comprising:
A base;
The drug delivery mechanism is arranged on the base and comprises a continuous sleeve and a flexible injection needle assembly, wherein the flexible injection needle assembly penetrates through the continuous sleeve, the continuous sleeve comprises a flexible section and a rigid section, a traction rope is further embedded in the continuous sleeve, and one end of the traction rope is fixed at the end part of the continuous sleeve, which is close to the flexible section;
The rotating driving mechanism is arranged on the base, and the action end of the rotating driving mechanism is connected with the rigid section and is used for driving the continuum sleeve to rotate;
the delivery driving mechanism is arranged on the base, is positioned on one side of the rigid section, which is far away from the flexible section, and is connected with the flexible injection needle assembly and used for driving the flexible injection needle assembly to move along the axial direction of the continuous body sleeve so that the needle end of the flexible injection needle assembly extends out of or into the continuous body sleeve;
The bending driving mechanism is arranged on the base, the action end of the bending driving mechanism is sleeved on the rigid section, the other end of the traction rope is fixed at the action end of the bending driving mechanism, and the bending driving mechanism bends the flexible section by traction of the traction rope.
2. The automatic puncture and drug injection device for a flexible continuum blood vessel according to claim 1, wherein the continuum sleeve further comprises a sleeve skeleton, an extension tube, a sleeve transfer tube and a shaft sleeve, one end of the sleeve skeleton is sleeved at one end of the sleeve transfer tube through the extension tube, and the shaft sleeve is sleeved at the other end of the sleeve transfer tube;
A plurality of first grooves are formed in one end, far away from the sleeve transfer tube, of the sleeve framework, and the part, corresponding to the first grooves, of the sleeve framework forms a flexible section of the continuous sleeve; the outer wall of the sleeve framework is provided with at least one second groove, and the second groove extends from one end of the sleeve framework to the other end of the sleeve framework along the axial direction of the sleeve framework; a third groove corresponding to the second groove is formed in the sleeve transfer tube, and the third groove extends along the axial direction of the sleeve transfer tube;
The traction rope is embedded in one second groove, one end of the traction rope is fixed at one end of the sleeve framework away from the sleeve transfer tube, and the other end of the traction rope penetrates through the extension tube to extend into the sleeve transfer tube and extends out of the sleeve transfer tube through the corresponding third groove to be fixed at the action end of the bending driving mechanism.
3. The automatic puncture and drug injection device for flexible continuum blood vessels according to claim 2, wherein three second grooves are arranged on the outer wall of the sleeve framework, the three second grooves are distributed at intervals along the circumferential direction of the sleeve framework, the continuum sleeve further comprises two shape sensing optical fibers, the two shape sensing optical fibers are respectively embedded in the other two second grooves, and the shape sensing optical fibers are used for analyzing the bending form of the continuum sleeve.
4. The automatic puncture and injection device for a flexible continuum blood vessel according to claim 1, wherein the drug delivery mechanism further comprises a force sensing structure, an injection catheter and an injection needle tube, the tail end of the flexible injection needle assembly is communicated with the injection needle tube through the injection catheter, the force sensing structure is sleeved at the tail end of the flexible injection needle assembly, and the force sensing structure is used for monitoring the puncture force of the needle end of the flexible injection needle assembly.
5. The flexible continuum vascular automatic penetration injection device of claim 4, wherein the flexible needle assembly comprises an OCT imaging fiber, a needle cannula, and a flexible needle, the needle cannula being sleeved over the flexible needle and exposing a tip of the flexible needle; the OCT imaging optical fiber is arranged in the injection needle sleeve, one end of the OCT imaging optical fiber, which is close to the needle, is exposed out of the injection needle sleeve and used for imaging the needle and the surrounding environment, and the OCT imaging optical fiber and the injection needle sleeve are fixed through filling by filling a filling body.
6. The automatic puncture and drug injection device for the flexible continuum blood vessel according to claim 5, wherein the force sensing structure comprises a force sensing bracket, a force sensing optical fiber and a force sensing framework, the force sensing framework is sleeved at the tail part of the flexible injection needle assembly, the two force sensing brackets are sleeved at two ends of the force sensing framework respectively, and the force sensing optical fiber is embedded on the two force sensing brackets;
The puncture force of the needle head is transmitted to the force sensing framework through the flexible injection needle and is sequentially transmitted to the force sensing bracket and the force sensing optical fiber through the force sensing framework, and the force sensing optical fiber is used for analyzing the puncture force.
7. The flexible continuum vessel automatic puncture drug delivery device according to claim 5, wherein said drug delivery mechanism further comprises a transition tube and a crimp tube, a tail end of said flexible injection needle being connected to said crimp tube through said transition tube, and the other end of said crimp tube being connected to said drug delivery catheter.
8. The automatic puncture and drug injection device for flexible continuum blood vessels according to claim 1, wherein the rotary driving mechanism comprises a rotary support, a rotary motor and a rotary connecting rod, the rotary motor is fixed on the base through the rotary support, one end of the rotary connecting rod is fixedly connected with an output shaft of the rotary motor, the other end of the rotary connecting rod is sleeved on a rigid section of the continuum sleeve, and the rotary motor drives the continuum sleeve to rotate through the rotary connecting rod.
9. The flexible continuum vessel automatic puncture drug injection device of claim 1, wherein the delivery drive mechanism comprises a first linear motor, a push plate, a push block and a clamp ring, wherein the first linear motor is fixed on the base, the push plate is fixed on an output end of the first linear motor, the clamp ring is fixed on one end of the push block, the other end of the push block is fixed on the push plate, the clamp ring is fixedly connected with the flexible injection needle assembly, and the first linear motor synchronously moves by pushing the push plate, the push block and the clamp ring to deliver a needle end of the flexible injection needle assembly out of the continuum cannula.
10. The flexible continuum vessel automatic puncture drug injection device of claim 9, wherein the delivery drive mechanism further comprises a first reset bracket and a first reset switch, the first reset bracket is fixed at the rear end of the mover of the first linear motor, the first reset switch is fixed at the rear end of the stator of the first linear motor, and the first reset switch is connected with the controller of the first linear motor, when the first reset bracket moves to the trigger point of the first reset switch along with the mover of the first linear motor, the first reset switch is triggered, thereby realizing zero reset of the first linear motor.
11. The automatic puncture and drug injection device for flexible continuous blood vessels according to claim 1, wherein the bending driving mechanism comprises a second linear motor, a push-pull assembly, a force application disc, a spacing ring and a wire fixing structure, wherein the second linear motor is fixed on the base, one end of the push-pull assembly is fixed at the output end of the second linear motor, the other end of the push-pull assembly is fixed on the force application disc, the spacing ring is fixed at the middle position of the force application disc, the wire fixing structure is arranged on one side, close to the second linear motor, of the spacing ring, the spacing ring is sleeved on a rigid section of the continuous casing in a sliding manner, and the other end of the pulling rope is fixed on the wire fixing structure through the spacing ring;
The second linear motor drives the push-pull assembly to enable the force application disc, the spacing ring and the wire fixing structure to move synchronously along the axial direction of the continuous sleeve so as to realize traction of the traction rope, thereby driving the flexible section to bend.
12. The automatic puncture and drug injection device for flexible continuum blood vessels according to claim 11, wherein the push-pull assembly comprises two push-pull plates and two push-pull rods, one ends of the two push-pull plates are fixed at the output end of the second linear motor, the other ends of the two push-pull plates are connected with the two push-pull rods respectively, and the other ends of the two push-pull rods are connected with two ends of the force application disc respectively.
13. The automatic puncture and drug injection device for a flexible continuous blood vessel according to claim 11, wherein the wire fixing structure comprises a wire fixing ring and a rope pressing block, the wire fixing ring is fixed on the spacer ring and is coaxially arranged with the spacer ring, the wire fixing ring and the spacer ring are both sleeved on the rigid section of the continuous body sleeve in a sliding mode, the rope pressing block is located on one radial side of the wire fixing ring, the rope pressing block is connected with the wire fixing ring through a fastener, and one end of the traction rope is pressed between the rope pressing block and the wire fixing ring.
14. The flexible continuum vessel automatic puncture drug injection device according to claim 11, wherein the bending drive mechanism further comprises a second reset bracket and a second reset switch, the second reset bracket is fixed at the rear end of the mover of the second linear motor, the second reset switch is fixed at the rear end of the stator of the second linear motor, and the second reset switch is connected with the controller of the second linear motor, when the second reset bracket moves to the trigger point of the second reset switch along with the mover of the second linear motor, the second reset switch is triggered, thereby realizing zero reset of the second linear motor.
15. The flexible continuum vascular automatic puncture and drug injection device of any one of claims 9-14, wherein said base comprises a base plate, a front support, a post support, a rear support, and a robotic mounting plate, said front support being disposed at a front end of said base plate for supporting said bend drive mechanism; the rear bracket is arranged at the rear end of the base plate and is used for supporting the drug delivery mechanism; the upright post support is arranged in the middle of the base plate and used for supporting the delivery driving mechanism; the mechanical arm mounting plate is arranged on the base plate and used for mounting the base on the mechanical arm.
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| CN202410573885.8A CN118141469B (en) | 2024-05-10 | 2024-05-10 | Automatic puncture medicine injection apparatus for flexible continuum blood vessel |
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| CN202410573885.8A CN118141469B (en) | 2024-05-10 | 2024-05-10 | Automatic puncture medicine injection apparatus for flexible continuum blood vessel |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170354791A1 (en) * | 2015-02-10 | 2017-12-14 | Gad Lewkonya | Safe auto-needle device |
| CN110368184A (en) * | 2019-08-08 | 2019-10-25 | 哈尔滨工业大学 | Retinal vessel medicine injecting device and its injecting method for ophthalmologic operation robot |
| CN113712666A (en) * | 2021-08-03 | 2021-11-30 | 复旦大学 | Flexible continuum surgical robot |
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- 2024-05-10 CN CN202410573885.8A patent/CN118141469B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170354791A1 (en) * | 2015-02-10 | 2017-12-14 | Gad Lewkonya | Safe auto-needle device |
| CN110368184A (en) * | 2019-08-08 | 2019-10-25 | 哈尔滨工业大学 | Retinal vessel medicine injecting device and its injecting method for ophthalmologic operation robot |
| CN113712666A (en) * | 2021-08-03 | 2021-11-30 | 复旦大学 | Flexible continuum surgical robot |
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