CN219397569U - Limiting structure for needle insertion of puncture needle and puncture needle clamping device - Google Patents

Abstract

The application discloses limit structure and pjncture needle clamping apparatus for pjncture needle advances needle includes: the first limiting block is used for being detachably connected with a first clamping jaw for clamping the puncture needle, and the second limiting block is used for being detachably connected with a second clamping jaw for clamping the puncture needle; the second limiting block is provided with a bearing plate at one end far away from the second clamping jaw, the bearing plate is used for supporting a needle body of the puncture needle when the puncture needle is released, and a needle penetrating groove for the needle body to penetrate is formed in the second limiting block; the first limiting block is provided with a limiting plate at one end far away from the first clamping jaw, and the limiting plate moves along with the first clamping jaw in the clamping process and is surrounded by the end part of the limiting plate and the needle threading groove to form a through hole for the needle body to pass through. The present application addresses the problem of lack of support structure after release of the lancet in the related art, which is prone to bending and disengagement.

Description

Limiting structure for needle insertion of puncture needle and puncture needle clamping device

Technical Field

The application relates to the technical field of puncture equipment, in particular to a limiting structure for a puncture needle to enter a needle and a puncture needle clamping device.

Background

The robot puncture can effectively improve the stability and the accuracy of the puncture operation, and the robot can stably clamp the puncture needle and keep the puncture position and the puncture angle.

The robot holds the puncture needle by the end effector and performs the puncture needle insertion operation, and the end effector needs to have the functions of holding the puncture needle and inserting the puncture needle. In addition, the end effector also provides for quick release of the needle: when the patient moves, the puncture needle is quickly released to avoid injury to the patient; after the puncture is completed, the puncture needle is released, and the puncture needle and the patient perform CT scanning together to verify whether the puncture is in place.

The related art lancing apparatuses require holding a needle handle portion and a needle body portion of a lancet, and perform a needle insertion operation by pushing the needle handle portion of the lancet, and typically release the needle body portion first upon release. At present, the needle body of the puncture needle cannot be supported after the puncture needle is released according to the clamping and releasing structure of the needle body part, so that the needle body can be bent due to the self flexible structure, and the needle body is easy to break away under the action of self gravity.

Disclosure of Invention

The present application provides a limiting structure for a puncture needle to be inserted into a needle, so as to solve the problem that the puncture needle in the related art lacks a supporting structure after being released and is easy to bend and separate.

To achieve the above object, the present application provides a limit structure for needle insertion of a puncture needle, comprising: the first limiting block is used for being detachably connected with a first clamping jaw for clamping the puncture needle, and the second limiting block is used for being detachably connected with a second clamping jaw for clamping the puncture needle;

the second limiting block is provided with a bearing plate at one end far away from the second clamping jaw, the bearing plate is used for supporting a needle body of the puncture needle when the puncture needle is released, and a needle penetrating groove for the needle body to penetrate is formed in the second limiting block;

the first limiting block is provided with a limiting plate at one end far away from the first clamping jaw, and the limiting plate moves along with the first clamping jaw in the clamping process and is surrounded by the end part of the limiting plate and the needle threading groove to form a through hole for the needle body to pass through.

Further, the bearing plate is provided with a baffle plate at one end far away from the puncture needle groove, and the baffle plate is perpendicular to the axial direction of the puncture needle.

Further, the tip of first stopper is provided with convex connecting block, the tip of second stopper also is provided with convex connecting block, the connecting block of first stopper is used for pegging graft the cooperation with first clamping jaw, the connecting block of second stopper is used for pegging graft the cooperation with the second clamping jaw.

Further, the support plate is inclined toward the needle withdrawal direction of the puncture needle.

Further, the opening width of the needle threading groove is gradually increased from inside to outside.

Further, in the clamping process, the limiting plate is contacted with the bearing plate and slides relatively.

Further, an arc-shaped groove matched with the needle body of the puncture needle is formed in one end, facing the needle threading groove, of the limiting plate, and the needle threading groove is also formed into an arc-shaped groove.

According to another aspect of the present application, there is provided a lancet holding apparatus comprising the above-described limit structure for lancet needle insertion, and a base plate and a lancet holding jaw; wherein,,

the puncture needle clamping jaw comprises a first clamping jaw and a second clamping jaw which are arranged at the end part of the substrate, and the first clamping jaw and the second clamping jaw are hinged to the substrate;

the base plate is provided with a linear motor and a push rod, one end of the push rod is connected with the output end of the linear motor, the other end of the push rod is hinged with a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are distributed on two sides of the push rod, the first connecting rod is hinged with the first clamping jaw, and the second connecting rod is hinged with the second clamping jaw;

the first limiting block is connected with the first clamping jaw, and the second limiting block is connected with the second clamping jaw.

In this application embodiment, when using, the lower extreme grafting of first stopper is fixed on first clamping jaw, and the lower extreme grafting of second stopper is fixed on the second clamping jaw, is provided with the carrier board at the one end that keeps away from the second clamping jaw at the second stopper, and the carrier board is used for supporting the needle body of pjncture needle when releasing the pjncture needle, has seted up the needle through groove that is used for the needle body to pass on the second stopper. When in a released state, the needle body of the puncture needle and the bearing plate are in a vertically corresponding relationship, so that the bearing plate can support the puncture needle. The first limiting block and the second limiting block are close to each other in the clamping process, the puncture needle moves to the needle threading groove from the supporting plate on the second limiting block, meanwhile, the limiting plate on the first limiting block moves to the supporting plate and gradually approaches to the needle threading groove, after the clamping position is reached, the end part of the limiting plate and the needle threading groove enclose a through hole through which the needle body passes, the puncture needle is guaranteed to pass smoothly, and the limiting function is also achieved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the application and to provide a further understanding of the application with regard to the other features, objects and advantages of the application. The drawings of the illustrative embodiments of the present application and their descriptions are for the purpose of illustrating the present application and are not to be construed as unduly limiting the present application. In the drawings:

FIG. 1 is a schematic elevational view of a release state according to an embodiment of the present application;

FIG. 2 is a schematic rear view of a release configuration according to an embodiment of the present application;

FIG. 3 is a schematic elevational view of a clamped state according to an embodiment of the present application;

FIG. 4 is a schematic rear view of a clamping state according to an embodiment of the present application;

FIG. 5 is a schematic illustration of an axially measured structure in a clamped state according to an embodiment of the present application;

FIG. 6 is a schematic view of a structure of a substrate according to an embodiment of the present application;

FIG. 7 is a schematic structural view of a first stopper and a second stopper according to an embodiment of the present application;

FIG. 8 is a schematic top view of a first stopper and a second stopper according to an embodiment of the present application;

FIG. 9 is a schematic view of an exploded configuration of a driving roller and a driven roller according to an embodiment of the present application;

FIG. 10 is a schematic view of the mounting structure of the first stopper and the second stopper according to an embodiment of the present application;

FIG. 11 is a schematic view of the structure of the housing according to an embodiment of the present application;

FIG. 12 is a schematic view of an assembled structure of a housing and a motion platform according to an embodiment of the present application;

FIG. 13 is a schematic view of an assembled structure of a housing and a motion platform according to an embodiment of the present application;

the device comprises a substrate 1, a sliding groove 101, a linear output mechanism 2, a linear motor 21, a push rod 22, a rotary driving assembly 3, a driving bevel gear 31, a driven bevel gear 32, a rotary motor 33, a first clamping jaw 4, a second clamping jaw 5, a spring 6, a first connecting rod 7, a second connecting rod 8, a second limiting block 9, a supporting plate 91, a baffle 92, a needle penetrating groove 93, a through hole 94, a driven roller 10, a puncture needle 11, a driving roller 12, a puncture needle fixing clamp 13, a groove 14, a guiding groove 15, a first limiting block 16, a limiting plate 161, a housing 17, a clamping groove 18, a first boss 19, a moving platform 20, roller rubber 23, a roller pin shaft 24, a transmission shaft 25, a second boss 26, an opening 27 and a tail end structure 28.

Detailed Description

In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein.

In the present application, the terms "upper", "lower", "inner", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings. These terms are used primarily to better describe the present application and its embodiments and are not intended to limit the indicated device, element or component to a particular orientation or to be constructed and operated in a particular orientation.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "disposed," "configured," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In addition, the term "plurality" shall mean two as well as more than two.

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

The robot holds the puncture needle by the end effector and performs the puncture needle insertion operation, and the end effector needs to have the functions of holding the puncture needle and inserting the puncture needle. In addition, the end effector also provides for quick release of the needle: when the patient moves, the puncture needle is quickly released to avoid injury to the patient; after the puncture is completed, the puncture needle is released, and the puncture needle and the patient perform CT scanning together to verify whether the puncture is in place.

Most of the existing schemes are manual needle threading, the puncture needles are required to be manually clamped and released, the operation is complex and time-consuming, the puncture needles cannot be rapidly released, meanwhile, a doctor needs to enter a CT room for many times, the time is delayed, and the doctor cannot receive radiation.

To solve the above technical problems, as shown in fig. 1 to 4, an embodiment of the present application provides an automatic puncturing device for a robotic puncturing operation, including: the puncture needle comprises a base plate 1, a puncture needle fixing clamp 13, a puncture needle clamping jaw and a needle inlet assembly; wherein,,

the puncture needle fixing clamp 13 is used for fixing a needle handle part of the puncture needle 11, and the puncture needle fixing clamp 13 is clamped on the base plate 1 and is in sliding connection with the base plate 1;

the puncture needle clamping jaw is used as a puncture needle clamping device and comprises a first clamping jaw 4 and a second clamping jaw 5, wherein the first clamping jaw 4 and the second clamping jaw 5 are movably arranged on the substrate 1; the needle feeding assembly comprises a driving roller 12 and a driven roller 10, the driving roller 12 is rotatably arranged on the first clamping jaw 4, the driven roller 10 is rotatably arranged on the second clamping jaw 5,

the first clamping jaw 4 and the second clamping jaw 5 can be driven to approach each other and clamp the puncture needle 11 by the driving roller 12 and the driven roller 10, or driven to move away from each other and release the puncture needle 11;

the first clamping jaw 4 is provided with a rotary driving assembly 3, the rotary driving assembly 3 is used for driving the driving roller 12 to rotate, the driving roller 12 can be driven to synchronously rotate by driving the driven roller 10, and the puncture needle 11 is driven to linearly move.

In this embodiment, the automatic lancing device is mainly composed of a base plate 1, a lancet holder 13, a lancet jaw, and a lancet feeding assembly. The base plate 1 may be provided as a mounting base of each member in a long-strip-shaped plate-like structure, and the puncture needle holder 13 may be mounted on the base plate 1 so as to be linearly slidable along the base plate 1 while fixing the needle handle portion of the puncture needle 11 when the puncture needle holder 13 is operated in the device.

During the insertion of the puncture needle 11, the puncture needle 11 linearly moves on the substrate 1 in synchronization with the puncture needle holder 13. Thus, the connection structure of the lancet holder 13 with the base plate 1 will affect the stability of the insertion of the lancet 11. In this embodiment, in order to enable the puncture needle 11 to stably insert the puncture needle, the two sides of the substrate 1 are provided with the sliding grooves 101, the two sides of the puncture needle fixing clamp 13 are clamped in the sliding grooves 101 and are slidably connected with the sliding grooves 101, and the puncture needle fixing clamp 13 can only linearly move along the opening direction of the sliding grooves 101 and cannot deviate under the action of the sliding grooves 101 at the two sides of the substrate 1, so that the puncture needle 11 mounted on the puncture needle fixing clamp 13 can also linearly move along the opening direction of the sliding grooves 101.

Since the needle holder 13 is in direct contact with the needle 11, it is necessary to install a new needle holder 13 at each puncture or to sterilize the original needle holder 13 in order to avoid contamination. Therefore, in order to facilitate replacement of the puncture needle fixing clamp 13, as shown in fig. 2 or fig. 4, in this embodiment, the upper end of the chute 101 is provided with a through structure, and when replacement is required, the puncture needle fixing clamp 13 can be manually slid upward along the chute 101, so that it is separated from the upper end of the chute 101 from the substrate 1 to complete the detachment. The puncture needle holder 13 moves down along the chute 101 during the needle insertion of the puncture needle 11. In order to prevent the puncture needle fixing clamp 13 from being separated from the chute 101 in the moving process, the lower end of the chute 101 is of a closed structure, and the closed position is used as the limit of the maximum lower stroke of the puncture needle fixing clamp 13 to prevent the puncture needle 11 from moving beyond the stroke.

The sliding grooves 101 arranged on the two sides of the base plate 1 can be used as sliding rails of the puncture needle fixing clamp 13, and can also guide and limit the sliding of the puncture needle fixing clamp 13 to a certain extent. The guiding and limiting effects are determined by the matching precision of the sliding grooves 101 on the two sides and the puncture needle fixing clamp 13, and the processing difficulty and the processing cost are high because the precision of the sliding grooves 101 on the two sides are required to meet the requirements. For this purpose, as shown in fig. 2, 4, 5 and 6, a guiding groove 15 is formed on the base plate 1, and the guiding groove 15 is located between the sliding grooves 101 on both sides and is located in the middle of the base plate 1. The puncture needle fixing clamp 13 is provided with a protrusion matched with the guide groove 15, and the guide of the puncture needle fixing clamp 13 in the linear movement process is realized through the matching of the guide groove 15 and the protrusion. The guide slot 15 can be formed into an arc slot, the same protrusions are also arranged into arc protrusions matched with the arc slot, and the arc protrusions can have a certain length, so that the contact area with the guide slot 15 is increased, and the movement stability is further improved.

In order to enable the puncture needle fixing clamp 13 to better clamp and fix the puncture needle 11, the puncture needle fixing clamp 13 is provided with a groove 14 for accommodating a needle handle part, the outline of the groove 14 can be matched with that of the needle handle part, and a groove can be formed at the lower end of the groove 14 along the radial direction of the puncture needle 11, so that the puncture needle 11 can translate into the groove 14 or be separated from the groove 14 along the radial direction. The width of the radial slot should match the diameter of the needle body portion of the lancet 11.

The first clamping jaw 4 and the second clamping jaw 5 are movably arranged on the substrate 1, the first clamping jaw 4 and the second clamping jaw 5 are oppositely arranged, and can be driven to be close to or far away from each other, and the specific movement process can be rotary movement or linear movement. When a rotary motion is adopted, as shown in fig. 1 and 3, the first clamping jaw 4 and the second clamping jaw 5 need to be hinged with the substrate 1 through a rotating shaft, and corresponding driving equipment can drive the first clamping jaw 4 and the second clamping jaw 5 to synchronously rotate around a hinge point to achieve mutual approaching or separating. When linear motion is adopted, the first clamping jaw 4 and the second clamping jaw 5 need to be in sliding connection with the substrate 1, and corresponding driving equipment can drive the first clamping jaw 4 and the second clamping jaw 5 to synchronously linearly move to achieve mutual approaching or separating.

The first clamping jaw 4 and the second clamping jaw 5 serve as active clamping parts of the puncture needle 11 in the automatic puncture device, and the structure of the puncture needle 11 is clamped and released by the rotation movement of the first clamping jaw 4 and the second clamping jaw 5 in the aspect of required installation space and operation stability. Specifically, as shown in fig. 1 and 3, the first clamping jaw 4 and the second clamping jaw 5 are hinged on the base plate 1, a linear output mechanism 2 is arranged on the base plate 1, the output end of the linear output mechanism 2 is hinged with a first connecting rod 7 and a second connecting rod 8, the first connecting rod 7 is hinged with the first clamping jaw 4, and the second connecting rod 8 is hinged with the second clamping jaw 5.

In the present embodiment, the linear output mechanism 2 may be configured to realize linear reciprocating motion, and may be configured to be a cylinder, a linear motor 21, or the like. For the convenience of electric control, the linear motor 21 and the push rod 22 are combined to form the linear output mechanism 2 in the embodiment, the linear motor 21 is fixed on the base plate 1 to drive the push rod 22 to linearly move, the first ends of the first connecting rod 7 and the second connecting rod 8 can be hinged on two sides of the push rod 22, meanwhile, the second end of the first connecting rod 7 is hinged on the inner side of the first clamping jaw 4, and the second end of the second connecting rod 8 is hinged on the inner side of the second clamping jaw 5. When the linear motor 21 drives the push rod 22 to extend outwards, the push rod 22 pushes the first connecting rod 7 and the second connecting rod 8 to open, so that the first clamping jaw 4 and the second clamping jaw 5 are driven to rotate in directions away from each other. When the linear motor 21 drives the push rod 22 to retract, the push rod 22 pulls the first link 7 and the second link 8 to contract, thereby driving the first jaw 4 and the second jaw 5 to rotate in directions approaching each other.

In order to enable the first clamping jaw 4 and the second clamping jaw 5 to apply a sufficient clamping force to the puncture needle 11 during clamping, a return spring 6 is connected between the first clamping jaw 4 and the second clamping jaw 5 in the embodiment, the return spring 6 pulls the first clamping jaw 4 and the second clamping jaw 5 by elastic force in a clamping state, and the first clamping jaw 4 and the second clamping jaw 5 pull the return spring 6 to extend in a releasing state. In order to facilitate installation of the return spring 6, in this embodiment, connecting posts are arranged on the side surfaces of the first clamping jaw 4 and the second clamping jaw 5, and two ends of the return spring 6 are respectively sleeved on the connecting posts of the first clamping jaw 4 and the connecting posts of the second clamping jaw 5.

The automatic clamping and releasing of the puncture needle 11 can be realized through the cooperation of the first clamping jaw 4 and the second clamping jaw 5, and the automatic needle feeding of the puncture needle 11 is also required to be realized on the basis. To this end, the present embodiment provides a needle insertion assembly in combination with the structure of the first jaw 4 and the second jaw 5.

Specifically, as shown in fig. 1 and 2, the needle feeding assembly mainly comprises a driving roller 12, a driven roller 10 and a rotation driving assembly 3 for driving the driving roller 12 to rotate, wherein the driving roller 12 is rotatably arranged on the first clamping jaw 4, the driven roller 10 is rotatably arranged on the second clamping jaw 5, and the driving roller 12 and the driven roller 10 can be roller structures with rubber surfaces. During the clamping process, the first clamping jaw 4 and the second clamping jaw 5 are driven to approach each other, the driving roller 12 and the driven roller 10 are also approached at the moment, the driving roller 12 and the driven roller 10 are used for directly contacting the needle body of the puncture needle 11 and clamping the puncture needle 11, the needle body of the puncture needle 11 is positioned between the driving roller 12 and the driven roller 10 at the moment, and the driving roller 12 and the driven roller 10 are contacted.

The mode of adopting two gyro wheels to rotate and advance the needle is than the mode that adopts sharp module to advance the needle can effectually reduce the occupation space who advances needle part.

When a needle is required to be inserted, the driving roller 12 is driven to rotate in a fixed shaft mode through the rotary driving assembly 3, and the driving roller 12 drives the driven roller 10 to rotate through friction force, so that the clamped puncture needle 11 moves linearly to complete the needle insertion operation. The drive roller 12 is rotatable clockwise as well as counterclockwise, and when needle insertion is accomplished with clockwise rotation, needle retraction may be accomplished by counterclockwise rotation in some cases.

Because the needle feeding assembly is installed on the first clamping jaw 4, the needle feeding assembly is driven to synchronously move by the action of the first clamping jaw 4, so that the needle feeding assembly can not generate additional acting force on the puncture needle 11 when the puncture needle 11 is released, and the use safety is improved. The function of the rotary driving assembly 3 in the needle inserting assembly is to drive the driving roller 12 to rotate in a fixed shaft, for convenience in control, as shown in fig. 1, in this embodiment, the rotary driving assembly 3 includes a rotary motor 33 disposed on the first clamping jaw 4, and the axis of the rotary motor 33 is perpendicular to the axis of the driving roller 12, that is, the rotary motor 33 is disposed along the length direction of the first clamping jaw 4, so that the center of gravity of the first clamping jaw 4 cannot deviate in the horizontal direction, and therefore, dislocation of the first clamping jaw 4 and the second clamping jaw 5 in the horizontal direction in the moving process is avoided.

The rotating motor 33 arranged in the above manner cannot directly drive the driving roller 12 to rotate, so that an additional transmission member needs to be arranged to adjust the transmission direction to drive the driving roller 12. For this purpose, as shown in fig. 1, the output end of the rotary motor 33 is provided with a driving bevel gear 31, the driving roller 12 is connected with a driven bevel gear 32, the driven bevel gear 32 is meshed with the driving bevel gear 31, and the rotary motor 33 drives the bevel gear to rotate, thereby driving the driven bevel gear 32 to rotate, and further changing the driving direction and driving the driving roller 12 to rotate.

The needle insertion assembly in this embodiment can calculate the penetration depth of the puncture needle 11 by monitoring the rotation number of the rotating motor 33, the reduction ratio of the reduction gearbox and the radius of the rubber roller, and can detect the penetration force change in the penetration process by monitoring the power supply current change of the rotating motor 33 in the needle insertion process.

Since the driving roller 12 needs to be capable of rotating on the first clamping jaw 4 in a fixed axis manner, and the driven roller 10 needs to rotate on the second clamping jaw 5 in a fixed axis manner, in order to facilitate the installation of the driving roller 12 and the driven roller 10, in this embodiment, the end portions of the first clamping jaw 4 and the second clamping jaw 5 are provided with installation holes, the driving roller 12 is connected with the installation holes on the first clamping jaw 4 through the transmission shaft 25, and the driven roller 10 is connected with the installation holes on the second clamping jaw 5 through the transmission shaft 25.

Since the driving roller 12 and the driven roller 10 are in direct contact with the puncture needle 11 during use, replacement as a consumable is also required. For this reason, the structures of the driving roller 12 and the driven roller 10 are further improved in this embodiment.

Specifically, as shown in fig. 9, the driving roller 12 and the driven roller 10 have the same structure and each include a roller pin 24 and a roller rubber 23, the roller pin 24 is detachably sleeved on a corresponding transmission shaft 25, and the roller pin 24 can synchronously rotate the transmission shaft 25. The roller pin shaft 24 is a rigid piece, in particular a metal or plastic piece, so that the transmission strength is ensured, the roller rubber 23 is detachably sleeved on the roller pin shaft 24, the roller rubber 23 can be soft silica gel, the transmission friction between the two rollers is ensured, the roller can provide enough puncture force for the puncture needle 11, and meanwhile, the roller rubber 23 with different hardness can be replaced to ensure enough puncture needle 11 force; the driven bevel gear 32 is connected to the drive shaft 25 on the first jaw 4.

In order to facilitate the linkage and disassembly of the roller pin shaft 24 and the transmission shaft 25, the embodiment is provided with a convex strip extending radially along the outer peripheral surface of the transmission shaft 25, a through groove matched with the convex strip is formed in an inner hole of the roller pin shaft 24, and the roller pin shaft 24 is connected with the transmission shaft 25 through the cooperation of the through groove and the convex strip. The convex strips can be arranged in two symmetrical ways, and the through grooves are also arranged in two symmetrical ways.

Since the needle insertion of the puncture needle 11 is realized by the driving roller 12 and the driven roller 10 by friction force in the present embodiment, there may be a situation that the driving roller 12 and the driven roller 10 slip during the actual use, at this time, the driving roller 12 still rotates and the driven roller 10 cannot synchronously rotate, so that the needle insertion cannot be performed. If the needle insertion information is judged by monitoring the rotation information of the active roller 12, it is inaccurate. To this end, the needle insertion assembly in this embodiment further comprises an encoder connected to the drive shaft 25 on the second jaw 5 for monitoring the rotation information of the driven roller 10.

Since the driven roller 10 is rotated by the driving of the driving roller 12, needle insertion information of the puncture needle 11 can be accurately obtained by monitoring the rotation information of the driven roller 10.

When the automatic puncture device is used for clamping, the needle handle part of the puncture needle is clamped on the puncture needle fixing clamp, the first clamping jaw and the second clamping jaw are controlled to be close to each other, the driving roller and the driven roller clamp the needle body part of the puncture needle, the driving roller is controlled to rotate to drive the driven roller to rotate by friction force, the clamped puncture needle moves linearly and drives the puncture needle fixing clamp to slide on the substrate linearly to realize automatic clamping and automatic needle feeding of the puncture needle, the first clamping jaw and the second clamping jaw are controlled to be far away from each other during release, the driving roller and the driven roller are separated from the puncture needle to finish release, the technical effects of automatic clamping, release and needle feeding of the puncture needle are realized, meanwhile, the puncture depth can be recorded in real time by using a roller mode, the puncture force can also be detected, and the problems that in the related technology, the operation is complex and time-consuming, the puncture needle is required to be manually clamped and released in the puncture needle operation, and the puncture needle cannot be released quickly are solved.

During the process, the linear movement of the puncture needle 11 needs to be guided, meanwhile, the driving roller 12 and the driven roller 10 can be directly separated from the puncture needle 11 when the puncture needle 11 is released, only the needle handle part of the puncture needle 11 is clamped by the puncture needle fixing clamp 13, so that the needle body part of the puncture needle 11 can generate a certain bending amplitude due to the flexible structure, and the puncture needle 11 is also easy to be directly separated from the puncture needle fixing clamp 13 during the release because the puncture needle fixing clamp 13 can not apply the active clamping force to the puncture needle 11.

To solve the two problems described above at the same time, as shown in fig. 1 to 10, the present embodiment provides a stopper structure for needle insertion of a puncture needle, which includes a first stopper 16 and a second stopper 9. Specifically, a first limiting block 16 is arranged on the first clamping jaw 4, and a second limiting block 9 is arranged on the second clamping jaw 5. In the clamped state, the first stopper 16 and the second stopper 9 together form a through hole 94 through which the puncture needle 11 passes, and the puncture needle 11 is guided by the through hole 94. The puncture needle 11 is supported by the second limiting block 9 in the release state, so that the puncture needle 11 can be supported, and the puncture needle 11 can be prevented from bending and falling off.

Specifically, as shown in fig. 7 and 10, in this embodiment, the first limiting block 16 and the second limiting block 9 are both configured in an inverted L-shaped structure, the lower end of the first limiting block 16 is inserted and fixed on the first clamping jaw 4, the lower end of the second limiting block 9 is inserted and fixed on the second clamping jaw 5, a supporting plate 91 is disposed at one end of the second limiting block 9 far away from the second clamping jaw 5, the supporting plate 91 is used for supporting the needle body of the puncture needle 11 when the puncture needle 11 is released, and a needle penetrating slot 93 for the needle body to penetrate is formed in the second limiting block 9. When in the released state, the needle body of the puncture needle 11 is in a vertically corresponding relationship with the supporting plate 91, so that the supporting plate 91 can support the puncture needle 11. In the clamping process, the first limiting block 16 and the second limiting block 9 are close to each other, the puncture needle 11 moves from the bearing plate 91 to the puncture needle groove 93 on the second limiting block 9, meanwhile, the limiting plate 161 on the first limiting block 16 moves to the bearing plate 91 and gradually approaches to the puncture needle groove 93, after the clamping position is reached, the end part of the limiting plate 161 and the puncture needle groove 93 enclose into a through hole 94 for the needle body to pass through, the puncture needle 11 is ensured to pass through smoothly, and the limiting effect is also achieved.

The tip of first stopper 16 is provided with convex connecting block, and the tip of second stopper 9 also is provided with convex connecting block, and the connecting block of first stopper 16 is used for pegging graft the cooperation with first clamping jaw 4, and the connecting block of second stopper 9 is used for pegging graft the cooperation with second clamping jaw 5.

To facilitate the abutting of the needle threading groove 93 with the limiting plate 161 during the clamping process, the opening width of the needle threading groove 93 in the present embodiment gradually increases from inside to outside. The limiting plate 161 contacts the bearing plate and slides relatively. In order to enable the through hole 94 surrounded by the limiting plate 161 and the needle threading groove 93 to better limit and guide the puncture needle 11, one end of the limiting plate 161, which faces the needle threading groove 93, is provided with an arc-shaped groove matched with the needle body of the puncture needle 11, and the needle threading groove 93 is also provided with an arc-shaped groove. The carrier plate 91 is provided with a stopper 92 at one end far from the needle insertion groove, the stopper 92 is perpendicular to the axial direction of the puncture needle 11, and the puncture needle 11 at the time of release is regulated by the stopper 92.

Because the first clamping jaw 4 and the second clamping jaw 5 are both in a rotating motion during the clamping and releasing process, as shown in fig. 8, in order to enable the first limiting block 16 and the second limiting block 9 to be better matched, the supporting plate 91 may have a certain inclination angle, and the specific supporting plate 91 is inclined towards the needle withdrawing direction of the puncture needle, and meanwhile, the inclined supporting plate 91 also avoids the interference of the baffle 92 and the limiting plate 161.

Since the first stopper 16 and the second stopper 9 are also members in direct contact with the puncture needle 11, they are also required to be used as consumable materials in order to avoid contamination. For this reason, in the present embodiment, the first limiting block 16 is detachably connected to the first clamping jaw 4, and the second limiting block 9 is also detachably connected to the second clamping jaw 5.

The automatic puncture device needs to cooperate with the motion platform 20 to act to adapt to the requirements of puncture needles 11 at different positions when in use. The motion platform 20 may be a multi-degree-of-freedom mechanical arm structure, and when in use, the automatic puncturing device needs to be connected to the tail end of the motion platform 20.

To facilitate the connection and disconnection of the automatic puncturing device to the motion platform 20, as shown in fig. 11 to 13, the embodiment further comprises a housing 17 and a terminal structure 28, wherein the terminal structure 28 is used for connecting to the motion platform 20;

the base plate 1 is fixedly arranged on the outer cover 17, a clamping groove 18 is formed in the back face of the outer cover 17, a first boss 19 is arranged at the bottom of the outer cover 17, second bosses 26 matched with the clamping groove 18 in a sliding clamping manner are arranged on two sides of the tail end structure 28, and an opening 27 in butt joint with the first boss 19 is formed in the lower end of the tail end structure 28.

Specifically, the outer cover 17 is surrounded by a bottom plate and three side plates, and the base plate 1 is fixedly connected with the three side plates as a top plate of the outer cover 17. The space surrounded by the three side plates can be used as the accommodation space of the first clamping jaw 4, the second clamping jaw 5, the linear motor 21 and the rotary motor 33, so that the whole structure is compact. The back of dustcoat 17 is provided with draw-in groove 18, and draw-in groove 18 can be the U type groove, and the bottom of dustcoat 17 is provided with first boss 19, and draw-in groove 18 is used for with the second boss 26 joint on the terminal structure 28, first boss 19 is used for with the trompil butt joint of terminal structure 28, carries out spacingly to piercing depth by the trompil.

The automatic puncture device is arranged on the tail end structure of the moving platform 20 in a sliding way, and a structure (namely a second boss 26) matched with the clamping groove 18 on the outer cover 17 is designed on the tail end structure 28 of the moving platform 20; the end structure 28 connected to the moving platform 20 is also provided with a cylindrical opening, the bottom of the outer cover 17 is provided with a cylindrical first boss 19, and when the automatic puncturing device slides downwards, the boss 19 at the bottom of the outer cover 17 is inserted into the opening 27 on the end structure 28, so that the limiting effect is never achieved, and the automatic puncturing device and the moving platform 20 are quickly installed; when the automatic puncture device is disassembled, the automatic puncture device is lifted in the opposite direction, and can be separated from the moving platform 20 device, so that the automatic puncture device is disassembled.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modifications, equivalent substitutions, improvements, or the like, which are within the spirit and principles of the present application, are intended to be included within the scope of the present application.

Claims (8)

1. A spacing structure for needle insertion of a puncture needle, comprising: the first limiting block is used for being detachably connected with a first clamping jaw for clamping the puncture needle, and the second limiting block is used for being detachably connected with a second clamping jaw for clamping the puncture needle;

the second limiting block is provided with a bearing plate at one end far away from the second clamping jaw, the bearing plate is used for supporting a needle body of the puncture needle when the puncture needle is released, and a needle penetrating groove for the needle body to penetrate is formed in the second limiting block;

the first limiting block is provided with a limiting plate at one end far away from the first clamping jaw, and the limiting plate moves along with the first clamping jaw in the clamping process and is surrounded by the end part of the limiting plate and the needle threading groove to form a through hole for the needle body to pass through.

2. The spacing structure for needle insertion of a puncture needle according to claim 1, wherein: the bearing plate is provided with a baffle at one end far away from the puncture needle groove, and the baffle is perpendicular to the axial direction of the puncture needle.

3. The spacing structure for needle insertion of a puncture needle according to claim 2, wherein: the end of the first limiting block is provided with a convex connecting block, the end of the second limiting block is also provided with a convex connecting block, the connecting block of the first limiting block is used for being in plug-in fit with the first clamping jaw, and the connecting block of the second limiting block is used for being in plug-in fit with the second clamping jaw.

4. A spacing structure for the needle insertion of a puncture needle as set forth in claim 3, wherein: the supporting plate is inclined towards the needle withdrawing direction of the puncture needle.

5. The spacing structure for needle insertion of a puncture needle according to claim 1, wherein: the opening width of the needle threading groove is gradually increased from inside to outside.

6. The spacing structure for needle insertion of a puncture needle as set forth in claim 5, wherein: in the clamping process, the limiting plate is contacted with the bearing plate and slides relatively.

7. The spacing structure for needle insertion of a puncture needle as set forth in claim 6, wherein: the limiting plate is towards one end of the needle threading groove is provided with an arc-shaped groove matched with the needle body of the puncture needle, and the needle threading groove is also provided with an arc-shaped groove.

8. A lancet holding device comprising a limit structure for lancet needle insertion as claimed in any one of claims 1 to 7, a base plate and a lancet jaw; wherein,,

the puncture needle clamping jaw comprises a first clamping jaw and a second clamping jaw which are arranged at the end part of the substrate, and the first clamping jaw and the second clamping jaw are hinged to the substrate;

the base plate is provided with a linear motor and a push rod, one end of the push rod is connected with the output end of the linear motor, the other end of the push rod is hinged with a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are distributed on two sides of the push rod, the first connecting rod is hinged with the first clamping jaw, and the second connecting rod is hinged with the second clamping jaw;

the first limiting block is connected with the first clamping jaw, and the second limiting block is connected with the second clamping jaw.