CN212939899U - Millimeter-level path-variable precise minimally invasive needle inserting system - Google Patents
Millimeter-level path-variable precise minimally invasive needle inserting system Download PDFInfo
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- CN212939899U CN212939899U CN202021678135.0U CN202021678135U CN212939899U CN 212939899 U CN212939899 U CN 212939899U CN 202021678135 U CN202021678135 U CN 202021678135U CN 212939899 U CN212939899 U CN 212939899U
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- needle
- millimeter
- minimally invasive
- stepping motor
- box body
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- 238000003780 insertion Methods 0.000 claims abstract description 9
- 230000037431 insertion Effects 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000004804 winding Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 6
- 206010028980 Neoplasm Diseases 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 201000011510 cancer Diseases 0.000 description 4
- 210000001165 lymph node Anatomy 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 206010027476 Metastases Diseases 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000001574 biopsy Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000009401 metastasis Effects 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 210000001428 peripheral nervous system Anatomy 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
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Abstract
The utility model discloses an accurate wicresoft of millimeter level change route needle inserting system, the wicresoft needle inserting system includes at least: the flexible needle is fixed on the side wall of the bottom side of the main box body; be equipped with first step motor and second step motor on the curb plate of main tank body both sides respectively, the axis of rotation of first step motor and second step motor meets with two reels that set up in the main tank body respectively, two reels with be equipped with a drive line between the most advanced eccentric orfice of flexible needle respectively, and the tie point of two drive lines and the most advanced eccentric orfice of flexible needle sets up relatively. Through the utility model discloses a become accurate wicresoft's needle insertion system in route has solved the wicresoft's needle insertion and has become the route difficulty, problem that accurate wicresoft's success rate is low.
Description
Technical Field
The utility model belongs to the technical field of intelligent medical equipment, mainly relate to the application of flexible equipment in intelligent medical treatment, this system belongs to intelligent medical treatment flexible robot system.
Background
In the process of minimally invasive surgery treatment on a patient, due to the symptoms of compression, injury, adhesion and the like of the fine nerves, minimally invasive of fine lesions is extremely difficult, and the surgery is difficult to be carried out by using the existing 5mm instrument with the ISO minimally invasive standard. The minimally invasive surgery for the peripheral nervous system is more complicated in type and difficult, the destructive injury to the human body is very serious by using the traditional rigid minimally invasive instrument, and the pain of a patient and the working difficulty of medical staff are greatly increased.
In order to reduce the operation risk, relieve the pain of the patient and reduce the working strength of medical staff, a millimeter-level variable-path precise minimally invasive needle inserting system which can increase the precision of minimally invasive operations and reduce the complexity of the operations so as to greatly increase the disease treatment rate in the minimally invasive process is urgently needed.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to solve the wicresoft and advance the needle and become the route difficulty, the serious problem that accurate wicresoft success rate is low, the utility model discloses the implementation provides the accurate wicresoft of path system of inserting is become to millimeter level.
The purpose of the utility model is realized through the following technical scheme:
the accurate wicresoft of millimeter level becomes route advances needle system, it includes at least to advance needle system to wicresoft: the flexible needle is fixed on the side wall of the bottom side of the main box body; be equipped with first step motor and second step motor on the curb plate of main tank body both sides respectively, the axis of rotation of first step motor and second step motor meets with two reels that set up in the main tank body respectively, two reels with be equipped with a drive line between the most advanced eccentric orfice of flexible needle respectively, and the tie point of two drive lines and the most advanced eccentric orfice of flexible needle sets up relatively.
According to a preferred embodiment, two guide wheels are further arranged in the main box body, the guide wheels are arranged between the reel and the flexible needle, and the transmission line penetrates into the flexible needle through the guide wheels.
According to a preferred embodiment, the drive line is not in contact with the end wall of the flexible needle.
According to a preferred embodiment, the winding groove of the guide wheel is arranged tangentially to the axis of the bore of the flexible needle tip.
According to a preferred embodiment, said guide wheels are fixed to said main box respectively by means of studs of equal length.
According to a preferred embodiment, the minimally invasive needle insertion system further comprises: the base of the main box body is fixed on the stepping motor guide rail sliding table; and the stepping motor guide rail sliding table is arranged on the L-shaped bracket.
According to a preferred embodiment, the base of the main box body is connected with the stepping motor guide rail sliding table through screws.
According to a preferred embodiment, the minimally invasive needle inserting system further comprises a flange plate, and the L-shaped bracket is fixed on the flange plate.
The main scheme and the further selection schemes of the utility model can be freely combined to form a plurality of schemes, which are the schemes that can be adopted and claimed by the utility model; and the utility model discloses also can the independent assortment between (each non-conflict selection) selection and between other choices. The technical solutions to be protected by the present invention, which are various combinations that can be known to those skilled in the art based on the prior art and the common general knowledge after understanding the present invention, are not exhaustive herein.
The utility model has the advantages that: cross the utility model discloses a become accurate wicresoft of route and advance needle system's structural design, the wicresoft that can solve people's urgent need is superior to the accurate wicresoft of 3mm crooked route and equips a commonality technological research and development difficult problem betterly. The demonstration and the application of the method can solve the key problems of convenient removal of a tiny focus about 3mm, biopsy of the tiny focus, cancer metastasis treatment, small lymph nodes, front tip lymph nodes and the like, and save a plurality of cancer patients.
Drawings
Fig. 1 is a schematic structural view of a variable path precision minimally invasive needle insertion system according to the present invention;
the device comprises a flange plate 1, a 2-L-shaped support, a stepping motor guide rail sliding table 3, a main box body 4, a side plate 5, a first stepping motor 6, a second stepping motor 7, a reel 8, a guide wheel 9, a transmission line 10, a flexible pin 11 and an equal-length stud bolt 12.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can also be implemented or applied through other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that, in order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described below, and it is obvious that the described embodiments are some, but not all embodiments of the present invention.
Thus, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the position or positional relationship that the utility model is usually placed when using, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Additionally, the utility model discloses it is pointed out that, in the utility model, if do not write out structure, connection relation, positional relationship, power source relation etc. that concretely relates to very much, then the utility model relates to a structure, connection relation, positional relationship, power source relation etc. are technical personnel in the field on prior art's basis, can not learn through creative work.
Referring to fig. 1, the utility model discloses a millimeter-scale variable path precision minimally invasive needle insertion system,
preferably, the minimally invasive needle insertion system comprises at least: the device comprises a flange plate 1, an L-shaped support 2, a stepping motor guide rail sliding table 3, a main box body 4 and a flexible needle 11.
Preferably, the L-shaped bracket 2 is fixed on the flange plate 1. The stepping motor guide rail sliding table 3 is arranged on the L-shaped bracket 2.
Preferably, the base of the main box 4 is fixed on the stepping motor guide rail sliding table 3. Further, the base of the main box body 4 is connected with the stepping motor guide rail sliding table 3 through screws.
Preferably, the flexible needle 11 is fixed on the side wall of the bottom side of the main casing 4. The micro-wound needle inserting is driven by the stepping motor guide rail sliding table 3, specifically, the stepping motor guide rail sliding table 3 drives the main box body 4, so that the main box body 4 drives the micro-wound needle system to perform linear feeding.
Preferably, a first stepping motor 6 and a second stepping motor 7 are respectively arranged on the side plates 5 at the two sides of the main box body 4. The rotating shafts of the first stepping motor 6 and the second stepping motor 7 are respectively connected to two reels 8 provided in the main body 4. And a transmission line 10 is respectively arranged between the two reels 8 and the eccentric hole at the tip end of the flexible needle 11. And the connection points of the two transmission lines 10 and the eccentric hole at the tip of the flexible needle 11 are arranged oppositely.
The two stepping motors perform bending and feeding drive of the flexible needle 11 through the two reels 8 and the drive wire 10, respectively. The method specifically comprises the following steps: by controlling the rotation direction (forward rotation or reverse rotation) and the deflection angle (i.e., the rotation angle of the rotating shaft) of the rotating shaft of the first stepping motor 6 or the second stepping motor 7, the precise retraction and release of the transmission line 10 on the reel 8 can be realized, and the tip of the flexible needle 11 is driven to bend under the action of the eccentric force, so that the path-variable motion of the flexible needle 11 is realized.
Meanwhile, the two transmission lines 10 are arranged opposite to the connection point of the eccentric hole at the tip of the flexible needle 11. A bending movement of the flexible needle 11 in two different directions can be achieved. Thereby, the flexible needle 11 is facilitated to perform a variable path movement in different directions.
Preferably, two guide wheels 9 are further arranged in the main box body 4, the guide wheels 9 are arranged between the reel 8 and the flexible needle 11, and the transmission line 10 penetrates into the flexible needle 11 through the guide wheels 9. And the winding groove of the guide wheel 9 is tangential to the axis of the hole body at the tail end of the flexible needle 11.
Further, the driving wire 10 is not connected to the end needle wall of the flexible needle 11.
That is, one end of the driving wire 10 is wound around the reel 8, and then guided by the guide wheel 9 to penetrate into the flexible needle 11, and then connected to the eccentric hole of the needle tip of the flexible needle 11. In addition, the purpose of the guide wheel 9 is to prevent the transmission line 10 from contacting with the wall of the tail end of the flexible needle 11, so that the problem that the line body is damaged due to the fact that the transmission line 10 is continuously contacted with the tail end opening of the flexible needle 11 in the using process is solved.
Preferably, the guide wheels 9 are fixed on the main box 4 by equal-length stud bolts 12. The equal-length stud bolts 12 penetrate through one surface of the main box body 4 and are fixed through the locknuts, and the mounting positions of the equal-length stud bolts can be adjusted up and down within the size range allowed by the notches. On one side of the two studs 12 of equal length, a guide wheel 9 of the drive line 10 is respectively mounted, which plays a role in guiding and tensioning the drive line 10 during retraction or release. The guide wheel 9 is fixed on the equal-length stud bolts 12 through locknuts, and fine adjustment of the guide wheel 9 in the left-right direction can be achieved by rotating the locknuts.
Therefore, through the utility model discloses a become accurate wicresoft of route and advance needle system's structural design, the wicresoft that can solve people's urgent need is superior to the accurate wicresoft of 3mm crooked route and equips a commonality technological research and development difficult problem betterly. The demonstration and the application of the method can solve the key problems of convenient removal of a tiny focus about 3mm, biopsy of the tiny focus, cancer metastasis treatment, small lymph nodes, front tip lymph nodes and the like, and save a plurality of cancer patients. In addition, the flexible operation mechanical arm is bent, adjusted in posture and accurately positioned, and can safely and efficiently cure patients.
The aforesaid the utility model discloses basic embodiment and each further alternative can the independent assortment in order to form a plurality of embodiments, is the utility model discloses can adopt and claim the embodiment of protection. In the scheme of the utility model, each selection example can be combined with any other basic examples and selection examples at will. Numerous combinations will be known to those skilled in the art.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. The accurate wicresoft of millimeter level becomes route needle insertion system, characterized in that, the wicresoft needle insertion system includes at least: the flexible needle is fixed on the side wall of the bottom side of the main box body;
the side plates at two sides of the main box body are respectively provided with a first stepping motor and a second stepping motor, the rotating shafts of the first stepping motor and the second stepping motor are respectively connected with two reels arranged in the main box body,
and a transmission line is respectively arranged between the two reels and the tip eccentric hole of the flexible needle, and the connection points of the two transmission lines and the tip eccentric hole of the flexible needle are oppositely arranged.
2. The millimeter-scale variable path precise minimally invasive needle inserting system according to claim 1, wherein two guide wheels are further arranged in the main box body,
the leading wheel set up in between reel and the flexible needle, the transmission line passes through the leading wheel in the flexible needle.
3. The millimeter-scale variable path precision minimally invasive needle insertion system according to claim 2, wherein the drive wire is not connected to a distal needle wall of the flexible needle.
4. The precise minimally invasive needle inserting system with millimeter-scale variable paths according to claim 2, wherein the winding groove of the guide wheel is arranged tangentially to the axis of the hole body at the tail end of the flexible needle.
5. The millimeter-scale variable path precision minimally invasive needle inserting system according to claim 2, wherein the guide wheels are respectively fixed on the main box body through equal-length stud bolts.
6. The millimeter-scale variable path precision minimally invasive needle access system of claim 1, further comprising: an L-shaped bracket and a stepping motor guide rail sliding table,
the base of the main box body is fixed on the stepping motor guide rail sliding table;
and the stepping motor guide rail sliding table is arranged on the L-shaped bracket.
7. The accurate minimally invasive needle inserting system with variable paths in millimeter level according to claim 6, wherein a base of the main box body is connected with the guide rail sliding table of the stepping motor through screws.
8. The millimeter-scale variable path precision minimally invasive needle access system of claim 7, further comprising a flange,
the L-shaped bracket is fixed on the flange plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021678135.0U CN212939899U (en) | 2020-08-12 | 2020-08-12 | Millimeter-level path-variable precise minimally invasive needle inserting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021678135.0U CN212939899U (en) | 2020-08-12 | 2020-08-12 | Millimeter-level path-variable precise minimally invasive needle inserting system |
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| Publication Number | Publication Date |
|---|---|
| CN212939899U true CN212939899U (en) | 2021-04-13 |
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| CN202021678135.0U Expired - Fee Related CN212939899U (en) | 2020-08-12 | 2020-08-12 | Millimeter-level path-variable precise minimally invasive needle inserting system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114833824A (en) * | 2022-04-14 | 2022-08-02 | 北京亿康泰医疗科技有限公司 | Minimally invasive needle insertion robot control system and method |
-
2020
- 2020-08-12 CN CN202021678135.0U patent/CN212939899U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114833824A (en) * | 2022-04-14 | 2022-08-02 | 北京亿康泰医疗科技有限公司 | Minimally invasive needle insertion robot control system and method |
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| GR01 | Patent grant | ||
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| 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: 20210413 |