CN219374859U - Puncture needle guiding device and puncture operation robot - Google Patents
Puncture needle guiding device and puncture operation robot Download PDFInfo
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- CN219374859U CN219374859U CN202320626667.7U CN202320626667U CN219374859U CN 219374859 U CN219374859 U CN 219374859U CN 202320626667 U CN202320626667 U CN 202320626667U CN 219374859 U CN219374859 U CN 219374859U
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- puncture
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- 230000007246 mechanism Effects 0.000 abstract description 9
- 230000005540 biological transmission Effects 0.000 abstract description 7
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Abstract
The utility model relates to the technical field of medical instruments, in particular to a puncture needle guiding device and a puncture operation robot. The puncture needle guiding device comprises a first ball shell, a puncture needle mounting structure for mounting a puncture needle is formed on the first ball shell, and a first spherical surface is arranged on at least the inner side of the first ball shell; a second ball housing having a second spherical surface that mates with the first spherical surface inside the first ball housing; and the first magnetic device is arranged on one of the first ball shell and the second ball shell, and the driving coil is arranged on the other one of the first ball shell and the second ball shell, and under the cooperation driving of the first magnetic device and the driving coil, the first ball shell and the second ball shell slide along the extending direction of the first spherical surface and the second spherical surface, so that the whole device does not need a motor, a transmission mechanism and other parts, the whole structure is simpler, and the volume and the cost of the puncture needle guiding device are reduced.
Description
Technical Field
The utility model relates to the technical field of medical instruments, in particular to a puncture needle guiding device and a puncture operation robot.
Background
Currently, in performing a puncture operation, a puncture needle is required to perform the puncture operation. The puncture needle guiding device plays a role in restraining the puncture angle, and can effectively improve the puncture precision of percutaneous puncture operation by means of the puncture needle guiding device.
In the prior art, a multi-degree-of-freedom serial or parallel mechanical arm is used for holding the puncture needle and adjusting the position and the posture of the puncture needle. The active driving mode and the passive mode are adopted according to whether the active driving mode is adopted, the active puncture needle guiding device adjusts the position and the posture of the puncture needle through the electric, pneumatic driving and transmission mechanism, but the whole device has complex structure, large volume and high cost, the passive puncture needle guiding device is a purely mechanical device, the position and the posture of the puncture needle need to be manually adjusted to the set position and locked, the operation precision is low, and the clinical application is inconvenient.
Disclosure of Invention
The utility model mainly aims to provide a puncture needle guiding device and a puncture operation robot, which are used for solving the problem that the active puncture needle guiding device in the prior art adjusts the pose of a puncture needle through an electric, pneumatic driving and transmission mechanism, and the whole device has a complex structure.
To achieve the above object, the present utility model provides a puncture needle guide device comprising:
a first ball housing, on which a puncture needle mounting structure for mounting a puncture needle is formed, and which is provided with a first spherical surface at least at an inner side thereof;
a second ball housing having a second spherical surface that mates with the first spherical surface inside the first ball housing; and
the first magnetic device is arranged on one of the first ball shell and the second ball shell, and the driving coil is arranged on the other one of the first ball shell and the second ball shell, and the first ball shell and the second ball shell slide along the extending direction of the first spherical surface and the second spherical surface under the driving of the first magnetic device and the driving coil.
Further, the device further comprises a third ball housing, wherein the third ball housing is arranged on the outer side of the first ball housing and is provided with a third spherical surface matched with the first spherical surface on the outer side of the first ball housing.
Further, the first ball shell, the second ball shell and the third ball shell are all half ball shells, and the half ball shells share the center of sphere.
Further, the first ball housing and the third ball housing are fixedly connected, and a containing gap for containing the second ball housing is formed between the first ball housing and the third ball housing.
Further, the first ball shell and the third ball shell are fixedly connected through a limiting buckle.
Further, the first magnetic means is disposed on the second ball housing and the lancet guiding means further comprises a second magnetic means disposed on the third ball housing.
Further, the first magnetic device and the second magnetic device are both exciting coils.
Further, the first magnetic device and the second magnetic device are correspondingly arranged on the first ball shell and the second ball shell and form a Helmholtz coil.
Further, the puncture needle mounting structure is a puncture needle guide post arranged on the first ball shell, the puncture needle is nested in the puncture needle guide post, and the axial lead of the puncture needle guide post passes through the spherical center of the first ball shell.
Further, an avoidance groove for avoiding the puncture needle mounting structure is formed in the second ball shell.
The embodiment also provides a puncture operation robot, which comprises a puncture needle and a puncture needle guiding device, wherein the puncture needle guiding device is the puncture needle guiding device.
The technical scheme of the utility model has the following advantages:
1. in the puncture needle guiding device and the puncture surgical robot provided by the utility model, the first magnetic device generates the magnetic field, and the first ball shell and the second ball shell are driven to slide along the extending directions of the first spherical surface and the second spherical surface by controlling the current in the driving coil, so that the gesture of the puncture needle arranged on the puncture needle mounting structure can be adjusted, the puncture angle is restrained, and compared with the prior art that the gesture of the puncture needle is adjusted through the electric and pneumatic driving and transmission mechanisms, the whole device does not need a motor, a transmission mechanism and other parts, the whole structure is simpler, and the volume and the cost of the puncture needle guiding device are reduced.
2. According to the puncture needle guiding device and the puncture surgical robot, the ball center of the guiding device coincides with the puncture needle inlet point on the body surface of the patient, so that the puncture needle rotates around the replacement body surface needle inlet point, further, transverse tearing of human tissues is avoided, and safety of the patient in the surgical process is improved.
3. In the puncture needle guiding device and the puncture surgical robot provided by the utility model, the puncture needle guiding device adopts the constraint between the spherical shell structure and the spherical surface to meet the rotation mode of the puncture needle around the needle inlet point, and compared with the mode of controlling the mechanical arm to clamp the puncture needle to rotate and guide around the needle inlet point on the body surface and the mode of guiding the RCM mechanism to perform needle inlet, the puncture needle guiding device has the advantages of simpler and more stable integral structure and higher accuracy.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art. In the drawings:
FIG. 1 is a schematic perspective view of a lancet guide according to an embodiment of the present utility model.
Fig. 2 is a schematic perspective view of the lancet guide of fig. 1 in another orientation.
FIG. 3 is a schematic cross-sectional view of the lancet guide of FIG. 1.
Wherein, the reference numerals in the drawings are as follows:
10. a first ball housing; 11. a puncture needle guide post; 13. a first spherical surface; 17. a driving coil;
20. a second ball housing; 21. limiting buckle; 23. a first magnetic device; 25. a second spherical surface; 27. an avoidance groove;
30. a third ball housing; 31. a second magnetic device; 33. a third spherical surface;
90. a puncture needle.
Detailed Description
The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1 to 3, the puncture needle guide device in the present embodiment includes: a first ball housing 10 on which a puncture needle mounting structure for mounting a puncture needle 90 is formed, and the first ball housing 10 is provided at an inner side thereof with a first spherical surface 13; a second ball housing 20 having a second spherical surface 25 fitted with the first spherical surface 13 inside the first ball housing 10; and a driving coil 17 is arranged on the first ball housing 10, a first magnetic device 23 is arranged on the second ball housing 20, and the first ball housing 10 and the second ball housing 20 slide along the extending direction of the first spherical surface 13 and the second spherical surface 25 under the cooperation driving of the first magnetic device 23 and the driving coil 17.
Further, by adopting the puncture needle guiding device in this embodiment, the first magnetic device 23 generates a magnetic field, and the first ball housing 10 and the second ball housing 20 are driven to slide along the extending directions of the first spherical surface 13 and the second spherical surface 25 by controlling the current in the driving coil 17, so that the gesture of the puncture needle 90 mounted on the puncture needle mounting structure can be adjusted, the puncture angle is restrained, and compared with the prior art, the puncture needle guiding device adjusts the gesture of the puncture needle 90 by an electric driving and transmission mechanism, the whole device does not need a motor, a transmission mechanism and other components, the whole structure is simpler, and the volume and the cost of the puncture needle guiding device are reduced.
In a variant of this embodiment, the first magnetic means 23 and the driving coil 17 can be replaced, in particular the first magnetic means 23 being arranged on the first spherical shell and the driving coil 17 being arranged on the second spherical shell, the first spherical shell 10 and the second spherical shell 20 being likewise drivable to slide along the extension direction of the first spherical surface 13 and the second spherical surface 25.
With further reference to fig. 3, the puncture needle guiding device in the present embodiment further includes a third ball housing 30, where the third ball housing 30 is disposed on the outer side of the first ball housing 10 and has a third spherical surface 33 that mates with the first spherical surface 13 on the outer side of the first ball housing 10, so that the angle adjustment of the puncture needle 90 is ensured to be stable due to the restriction of the third spherical surface 33 when the first ball housing 10 slides.
The second ball housing 20 in this embodiment is provided with an avoidance groove 27 for avoiding the puncture needle mounting structure, so that interference of the second ball housing 20 can be avoided when the first ball housing 10 moves.
In this embodiment, the first ball housing 10, the second ball housing 20 and the third ball housing 30 are all hemispherical shells, and the hemispherical shells share a center, so that the needle insertion point of the puncture needle 90 coincides with the center. In clinical use, after the puncture needle insertion point of the body surface of the patient is determined, the puncture needle guide device is only required to be fixed on the body surface of the patient, the sphere center of the guide device is overlapped with the puncture needle insertion point of the body surface of the patient, the puncture needle 90 is inserted into the puncture needle guide post 11, the starting device can be used, the device can adjust and maintain the puncture angle around the puncture needle insertion point of the body surface of the patient, and finally, the puncture needle 90 is inserted into the patient manually. Because the sphere center of the guiding device is overlapped with the puncture needle inlet point on the body surface of the patient, the puncture needle rotates around the replacement body surface needle inlet point, so that the human tissue is prevented from being transversely torn, and the safety of the patient in the operation process is improved. Meanwhile, the puncture needle guiding device adopts a spherical shell structure and constraint between the spherical surfaces to meet the requirement that the puncture needle rotates around the needle inlet point, and is simpler and more stable in overall structure and higher in accuracy relative to a mode that the mechanical arm is controlled to clamp the puncture needle to rotate and guide around the needle inlet point on the body surface and a mode that the RCM mechanism performs needle inlet guiding.
The first magnetic means 23 in this embodiment is arranged on the second ball housing 20 and the lancet guiding means further comprises second magnetic means 31 arranged on the third ball housing 30. Specifically, the first magnetic device 23 and the second magnetic device 31 are each exciting coils, and a magnetic field is generated by passing a current through the exciting coils to apply electromagnetic force to the driving coils 17.
The first magnetic device 23 and the second magnetic device 31 in the present embodiment are preferably disposed on the first ball housing 10 and the second ball housing 20, respectively, and form a helmholtz coil, and a uniform magnetic field along the axial direction of the coil can be generated within the helmholtz coil.
In this embodiment, the first magnetic means 23 and the second magnetic means 31 are four groups, and are distributed at 90 degrees apart in the circumferential direction of the first ball housing 10 and the second ball housing 20.
Referring further to fig. 3, in this embodiment, the first ball housing 10 and the third ball housing 30 are fixedly connected, and a receiving gap for receiving the second ball housing 20 is formed between the first ball housing 10 and the third ball housing 30, and the second ball housing 20 moves in the receiving gap, so that the second ball housing 20 can be prevented from being separated, and the reliability of the puncture needle 90 in the moving process is ensured. In this embodiment, the first ball housing 10 and the third ball housing 30 are specifically fixedly connected through a buckle limiting buckle 21.
With further reference to fig. 1, the puncture needle mounting structure in this embodiment is a puncture needle guide post 11 provided on a first ball housing 10, a puncture needle 90 is nested in the puncture needle guide post 11, and the axis of the puncture needle guide post 11 passes through the center of sphere of the first ball housing 10.
The present embodiment also provides a puncture robot, which includes the puncture needle 90 and the puncture needle guide device, wherein the puncture needle guide device is the puncture needle guide device described above, and further has advantages of the puncture needle guide device, and the puncture robot in the present embodiment should also have advantages.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the utility model.
Claims (10)
1. A lancet guide comprising:
a first ball housing (10) on which a puncture needle mounting structure for mounting a puncture needle (90) is formed, the first ball housing (10) being provided with a first spherical surface (13) at least on the inner side thereof;
a second ball housing (20) having a second spherical surface (25) that mates with the first spherical surface (13) inside the first ball housing (10); and
the magnetic device comprises a first magnetic device (23) arranged on one of the first ball housing (10) and the second ball housing (20), and a driving coil (17) arranged on the other of the first ball housing (10) and the second ball housing (20), wherein the first ball housing (10) and the second ball housing (20) slide along the extending direction of the first spherical surface (13) and the second spherical surface (25) under the matched driving of the first magnetic device (23) and the driving coil (17).
2. The puncture needle guide device according to claim 1, further comprising a third ball housing (30), the third ball housing (30) being arranged outside the first ball housing (10) and having a third spherical surface (33) cooperating with the first spherical surface (13) outside the first ball housing (10).
3. The needle guide of claim 2, wherein the first ball housing (10), the second ball housing (20), and the third ball housing (30) are hemispherical shells and the hemispherical shells are concentric.
4. The puncture needle guide device according to claim 2, characterized in that the first ball housing (10) and the third ball housing (30) are fixedly connected and a receiving gap for receiving the second ball housing (20) is formed between the first ball housing (10) and the third ball housing (30).
5. The puncture needle guide device according to claim 4, characterized in that the first ball housing (10) and the third ball housing (30) are fixedly connected by a limit catch (21).
6. The needle guide according to claim 2, characterized in that the first magnetic means (23) are arranged on the second ball housing (20), the needle guide further comprising second magnetic means (31) arranged on the third ball housing (30).
7. The puncture needle guide device according to claim 6, characterized in that the first magnetic means (23) and the second magnetic means (31) are both excitation coils.
8. The puncture needle guide device according to any one of claims 1 to 7, characterized in that the puncture needle mounting structure is a puncture needle guide post (11) provided on the first ball housing (10), the puncture needle (90) is nested in the puncture needle guide post (11), and an axial line of the puncture needle guide post (11) passes through a center of sphere of the first ball housing (10).
9. The puncture needle guide device according to any one of claims 1 to 7, characterized in that the second ball housing (20) is provided with a avoidance groove (27) for avoiding the puncture needle mounting structure.
10. A puncture surgical robot comprising a puncture needle (90) and a puncture needle guide, characterized in that the puncture needle guide is as claimed in any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320626667.7U CN219374859U (en) | 2023-03-28 | 2023-03-28 | Puncture needle guiding device and puncture operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320626667.7U CN219374859U (en) | 2023-03-28 | 2023-03-28 | Puncture needle guiding device and puncture operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219374859U true CN219374859U (en) | 2023-07-21 |
Family
ID=87187287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320626667.7U Active CN219374859U (en) | 2023-03-28 | 2023-03-28 | Puncture needle guiding device and puncture operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219374859U (en) |
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2023
- 2023-03-28 CN CN202320626667.7U patent/CN219374859U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 100192 Room 308, floor 3, building 2, Tiandi Linfeng, No. 1, yongtaizhuang North Road, Haidian District, Beijing Patentee after: True Health (Guangdong Hengqin) Medical Technology Co.,Ltd. Country or region after: China Address before: 100192 Room 308, floor 3, building 2, Tiandi Linfeng, No. 1, yongtaizhuang North Road, Haidian District, Beijing Patentee before: ZHENJIANKANG (BEIJING) MEDICAL TECHNOLOGY Co.,Ltd. Country or region before: China |