CN208096801U - A kind of active flexible needle of Wire driven robot - Google Patents
A kind of active flexible needle of Wire driven robot Download PDFInfo
- Publication number
- CN208096801U CN208096801U CN201721239049.8U CN201721239049U CN208096801U CN 208096801 U CN208096801 U CN 208096801U CN 201721239049 U CN201721239049 U CN 201721239049U CN 208096801 U CN208096801 U CN 208096801U
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- CN
- China
- Prior art keywords
- needle
- needle point
- flexible cable
- drive shaft
- flexible
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The utility model relates to a kind of active flexible needles of Wire driven robot, belong to the field of medical instrument technology, and composition includes：Needle point, drive shaft, flexible cable, pin shaft, interior needle, outer needle and driving wheel composition, the needle point are embedded in interior needle, are connected by pin shaft, drive shaft and needle point gluing, flexible cable and drive shaft are wound, and flexible cable is embedded in interior needle and is slidably connected, in outer needle, flexible cable is connect interior needle guard with driving wheel；The utility model is improved the precision of beveled tip corner using Wire driven robot control needle point direction, solves the problems, such as the control in flexible needle direction in injected organism tissue by the improvement to flexible needle needle point, the cooperation of flexible needle point and flexible cable.
Description
Technical field
The utility model relates to a kind of active flexible needles of Wire driven robot, belong to the field of medical instrument technology.
Background technique
Minimally invasive intervention medical treatment is the brand-new medical technology developed rapidly in recent years, is between surgery, internal medicine
Between emerging medical method, targeting puncture technique be most wide one of the medical procedure of application prospect.And traditional puncture operation
Using rigid needle, tip position can not effectively be controlled, due to needle point discontinuity and tissue when puncturing
Deformation etc. causes needle point to deviate predeterminated target, and puncture is caused to fail；Therefore, for traditional puncture needle the shortcomings that, proposes using soft
The active flexible needle of the active flexible needle technology of rope driving, Wire driven robot is cooperated using syringe needle and flexible cable, and bending rail may be implemented
Mark, evacuation nerve and other vital tissues, mention high control precision, and needle uses elongated interior needle and outer needle, can reduce tissue and cut
Mouthful, inadaptable sense is reduced, it being capable of fast quick-recovery.
Summary of the invention
The utility model proposes a kind of active flexible needle of Wire driven robot, there is flexible needle characteristic, and controlled by flexible cable
The puncture direction of needle mentions high control precision, and can accurately reach specified point, evacuation nerve and other vital tissues.
The technical solution of the utility model is：
A kind of active flexible needle of Wire driven robot, composition include：Needle point, drive shaft, flexible cable, pin shaft, interior needle, outer needle and
Driving wheel composition, it is characterised in that：The interior needle guard is mounted in outer pin inner chamber, drive shaft and needle point gluing, and needle point and interior needle are logical
Pin shaft connection is crossed, flexible cable is wound in drive shaft, is passed through interior needle groove, is slided in groove, and driving wheel draws Wire driven robot needle point
It swings.
Further, the needle point upper end is equipped with inclined surface, and lower end is set there are two thin-walled protrusion, and thin-walled protrusion is equipped with
Circular hole, drive shaft mucilage binding are concentric with circular hole in thin-walled protrusion between two thin-walleds protrusion.
Further, described interior needle one end is equipped with groove, is respectively equipped with circular hole on the cell wall of two sides, with needle point lower end two
Thin-walled projects through pin shaft connection, and interior needle outer wall two sides are equipped with groove.
Further, the outer needle is thin-walled hollow cylindrical body, has certain flexibility.
Further, the drive shaft is cylindrical body, is radially provided with circular through hole, and flexible cable passes through circular through hole, and the side a is soft
Rope passes through needle point and driving shaft clearance, and winding half-turn to the side b stretches out, and the side b flexible cable passes through needle point and driving shaft clearance, winds half-turn
It is stretched out to the side a.
The utility model has the beneficial effects that：
1. needle point, drive shaft and flexible cable cooperate, flexible cable can be drawn by driving wheel, flexible cable controls needle by drive shaft
Sharp swaying direction achievees the effect that evacuation nerve and other vital tissues；
2. needle is equipped with groove in, and flexible cable passes through groove and slides in groove, and interior needle guard is mounted in outer pin inner chamber, protects flexible cable
With interior needle；
3. drive shaft is cylindrical body, be radially provided with circular through hole, flexible cable passes through circular through hole, the side a flexible cable pass through needle point with
Shaft clearance is driven, winding half-turn to the side b stretches out, and the side b flexible cable passes through needle point and driving shaft clearance, and winding half-turn to the side a stretches out.
Detailed description of the invention
Attached drawing 1, the structural schematic diagram of the utility model；
Attached drawing 2, the needle point and drive shaft structural schematic diagram of the utility model, wherein A is needle point and drive shaft mucilage binding structure
Figure, B are needle point main view, and C is needle point left view, and D is drive shaft main view, and E is drive shaft left view；
Attached drawing 3, the flexible cable of the utility model, interior needle and outer needle schematic cross-section；
Attached drawing 4, the drive shaft and flexible cable connection schematic diagram of the utility model；
In figure：1, needle point, 2, drive shaft, 3, interior needle, 4, outer needle, 5, flexible cable, 6, driving wheel, 7, pin shaft.
Specific embodiment
The specific structure and embodiment of the following is further explained with reference to the attached drawings the utility model.
In conjunction with Fig. 1 to 4, the structure composition of the utility model includes：Needle point（1）, drive shaft（2）, interior needle（3）, outer needle
（4）, flexible cable（5）, driving wheel（6）And pin shaft（7）Composition.The interior needle（3）It is sleeved on outer needle（4）Inner cavity, drive shaft（2）With
Needle point（1）Gluing, needle point（1）With interior needle（3）Pass through pin shaft（7）Connection, flexible cable（5）Wind drive shaft（2）On, pass through interior needle
（3）Groove slides in groove, driving wheel（6）Draw Wire driven robot needle point（1）It swings.
The needle point（1）Upper end is equipped with inclined surface, and lower end is set there are two thin-walled protrusion, and thin-walled protrusion is equipped with circular hole,
Drive shaft（2）Mucilage binding is concentric with circular hole in thin-walled protrusion between two thin-walleds protrusion.
The interior needle（3）One end is equipped with groove, circular hole is respectively equipped on the cell wall of two sides, with needle point（1）Lower end is two thin
Wall projects through pin shaft connection, interior needle（3）Outer wall two sides are equipped with groove.
The outer needle（4）For thin-walled hollow cylindrical body, there is certain flexibility.
The drive shaft（2）For cylindrical body, it is radially provided with circular through hole, flexible cable（5）Across circular through hole, the side a flexible cable
Across needle point（1）With drive shaft（2）Gap, winding half-turn to the side b stretch out, and the side b flexible cable passes through needle point（1）With drive shaft（2）Between
Gap, winding half-turn to the side a stretch out.
The course of work of the utility model is as follows：
The utility model can be used as a kind of active flexible needle of Wire driven robot, may be implemented to evade nerve and its within the organization
His vital tissue；Driving wheel（6）Drive flexible cable（5）, flexible cable（5）In interior needle（3）Sliding in groove, and drive drive shaft（2）, soft
Rope（5）Across drive shaft（2）Circular through hole, the side a flexible cable（5）Across needle point（1）With drive shaft（2）Gap, winding half-turn to the side b
It stretches out, the side b flexible cable（5）Across needle point（1）With drive shaft（2）Gap, winding half-turn to the side a stretches out, due to drive shaft（2）Mucilage binding
In needle point（1）Between the thin-walled protrusion of lower end two, therefore traction drive axis can be passed through（2）, draw needle point（1）It swings, reaches control
Needle point processed（1）The effect in direction.
Claims (4)
1. a kind of active flexible needle of Wire driven robot, composition include：Needle point, drive shaft, flexible cable, pin shaft, interior needle, outer needle and drive
Driving wheel composition, it is characterised in that：The interior needle guard is mounted in outer pin inner chamber, drive shaft and needle point gluing, and needle point passes through with interior needle
Pin shaft connection, flexible cable are wound in drive shaft, are passed through interior needle groove, are slided in groove, and driving wheel draws Wire driven robot needle point pendulum
It is dynamic.
2. a kind of active flexible needle of Wire driven robot according to claim 1, which is characterized in that the needle point upper end is set
Have an inclined surface, lower end is set there are two thin-walled protrusion, and thin-walled protrusion is equipped with circular hole, drive shaft mucilage binding between two thin-walleds protrusion,
It is concentric with circular hole in thin-walled protrusion.
3. a kind of active flexible needle of Wire driven robot according to claim 1, which is characterized in that described interior needle one end is set
It is fluted, it is respectively equipped with circular hole on the cell wall of two sides, pin shaft is projected through with the thin-walled of needle point lower end two and connect, interior needle outer wall two sides
Equipped with groove, the outer needle is thin-walled hollow cylindrical body.
4. a kind of active flexible needle of Wire driven robot according to claim 1 or 2, which is characterized in that the drive shaft
For cylindrical body, it is radially provided with circular through hole, flexible cable passes through circular through hole, and the side a flexible cable passes through needle point and driving shaft clearance, winding half
The stretching of the side b is enclosed, the side b flexible cable passes through needle point and driving shaft clearance, and winding half-turn to the side a stretches out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721239049.8U CN208096801U (en) | 2017-09-26 | 2017-09-26 | A kind of active flexible needle of Wire driven robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721239049.8U CN208096801U (en) | 2017-09-26 | 2017-09-26 | A kind of active flexible needle of Wire driven robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208096801U true CN208096801U (en) | 2018-11-16 |
Family
ID=64130564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721239049.8U Expired - Fee Related CN208096801U (en) | 2017-09-26 | 2017-09-26 | A kind of active flexible needle of Wire driven robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208096801U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107550549A (en) * | 2017-09-26 | 2018-01-09 | 哈尔滨理工大学 | A kind of active flexible pin of Wire driven robot |
| CN111012452A (en) * | 2019-12-27 | 2020-04-17 | 哈尔滨理工大学 | Active flexible needle structure with high degree of freedom |
-
2017
- 2017-09-26 CN CN201721239049.8U patent/CN208096801U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107550549A (en) * | 2017-09-26 | 2018-01-09 | 哈尔滨理工大学 | A kind of active flexible pin of Wire driven robot |
| CN107550549B (en) * | 2017-09-26 | 2023-12-19 | 哈尔滨理工大学 | Active flexible needle driven by flexible cable |
| CN111012452A (en) * | 2019-12-27 | 2020-04-17 | 哈尔滨理工大学 | Active flexible needle structure with high degree of freedom |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181116 Termination date: 20200926 |