WO2020135758A1 - 一种柔性穿刺针装置 - Google Patents

一种柔性穿刺针装置 Download PDF

Info

Publication number
WO2020135758A1
WO2020135758A1 PCT/CN2019/129327 CN2019129327W WO2020135758A1 WO 2020135758 A1 WO2020135758 A1 WO 2020135758A1 CN 2019129327 W CN2019129327 W CN 2019129327W WO 2020135758 A1 WO2020135758 A1 WO 2020135758A1
Authority
WO
WIPO (PCT)
Prior art keywords
puncture needle
pair
tube
sleeve
support plate
Prior art date
Application number
PCT/CN2019/129327
Other languages
English (en)
French (fr)
Inventor
徐凯
陈煜阳
Original Assignee
北京术锐技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京术锐技术有限公司 filed Critical 北京术锐技术有限公司
Priority to US17/292,563 priority Critical patent/US12016590B2/en
Priority to EP19903781.3A priority patent/EP3903703A4/en
Publication of WO2020135758A1 publication Critical patent/WO2020135758A1/zh

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3401—Puncturing needles for the peridural or subarachnoid space or the plexus, e.g. for anaesthesia
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3478—Endoscopic needles, e.g. for infusion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B2017/3454—Details of tips
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B2017/348—Means for supporting the trocar against the body or retaining the trocar inside the body

Definitions

  • the invention relates to the technical field of medical instruments, in particular to a flexible puncture needle device.
  • the puncture needle is an instrument used for percutaneous puncture interventional surgery. Compared with other surgical methods, the puncture surgery can directly reach the patient's site and avoid exposing the internal tissues and organs. It is easy to operate and is a minimally invasive diagnosis and treatment method. .
  • puncture needles on the market such as Seldinger needles and Chiba needles
  • Common puncture needles on the market are mostly slender rigid structures.
  • a slender rigid puncture needle cannot flexibly circumvent obstacles such as certain important organs or tissues of the human body, so its puncture process is difficult to control accurately.
  • the puncture needle itself is deformed, the puncture needle is easy to deviate from the target, the precise positioning of the puncture target is difficult, and it is necessary to use other medical imaging technologies for auxiliary positioning.
  • the purpose of the present invention is to provide a flexible puncture needle device to solve the problem that the puncture needle cannot circumvent obstacles and accurately locate the target during the puncture process.
  • the present invention provides a flexible puncture needle device.
  • the flexible puncture needle device includes a puncture needle.
  • the puncture needle includes an outer sleeve and a central tube.
  • the outer sleeve includes a puncture needle and a plurality of bending nodes.
  • the puncture A needle tip is provided at the front end of the needle, a pair of grooves or a pair of protrusions are provided at the rear end of the puncture needle, and a pair of protrusions and a pair of grooves are respectively provided at both ends of the turning section;
  • a pair of protrusions or a pair of grooves at one end of the structure is engaged with a pair of grooves or a pair of protrusions at the rear end of the needle of the puncture needle to form a needle turning joint, and two adjacent turning bends
  • the protrusion and the groove are engaged with each other to form a turning joint, and the needle turning joint and the plurality of turning joints are sequentially engaged with each other from head to tail to form a tip with the puncture needle
  • the outer tube of the tube body can be turned axially; the central tube is inserted into the outer tube from the distal end of the puncture needle of the outer tube to form the central tube empty part and the central tube insertion part of the outer tube, the center The hollow portion
  • the flat shapes of the protrusions and the grooves are circular arcs with an arc length greater than a semicircle and the same size.
  • the end surfaces of the protrusion and the groove are arc surfaces or inclined surfaces, and the protrusion and the groove are engaged with each other by the arc surface or the inclined surface of the end portion to form the adjacent turning node.
  • a movable seam is left at the fitting place between the bottom of the protrusion and the top of the groove.
  • the line connecting the center points of the pair of protrusions and the line connecting the center points of the pair of grooves are perpendicular to each other; the extension of the two symmetrical side end surfaces of each protrusion of the pair of protrusions The intersection of the planes is the central axis of the turning node.
  • the needle tip is a sloped surface needle tip.
  • the flexible puncture needle further includes a transmission mechanism, the transmission mechanism has a transmission module built in, the transmission module includes a transmission motor, a coupling, a screw, a nut, a nut sleeve and a guide rod, the transmission motor
  • the output shaft is fixedly connected to the screw rod through the coupling; the nut is sleeved on the screw rod; the nut sleeve is fixedly sleeved on the nut; the nut sleeve is provided with a guide hole, The nut sleeve is movably sleeved on the guide rod through the guide hole; the central tube is fixedly connected with the nut sleeve.
  • the transmission mechanism further includes a support frame
  • the support frame includes a front support plate, a guide rod fixing plate, a middle support plate, a rear support plate, and four support rods
  • the middle support plate is provided with at least four Perforation, the central part of the four support rods respectively penetrates and is fixed to the perforation of the middle support plate, and both ends of the four support rods are vertically fixed to the front support plate and the rear support plate, respectively;
  • the guide rod fixing plate is provided between the front support plate and the middle support plate, the guide rod fixing plate is provided with a guide hole, and the middle of the guide rod passes through the guide of the guide rod fixing plate Holes, the two ends of the guide rod are vertically fixed to the front support plate and the middle support plate; the center tube passes through the front support plate and the guide rod fixing plate and the The nut sleeve is fixedly connected.
  • the transmission mechanism further includes a connector for connecting the puncture needle and the transmission mechanism;
  • the connector includes a base, a base fixing plate, an elastic sleeve, a compression cover sleeve and a bracket, the The base is fixed to the port at the far end of the puncture needle of the overtube, the front end of the bracket is small and the rear end is large, the rear end of the bracket is fixedly connected to the front support plate, and the base fixing plate abuts The outer end of the base is fixed inside the front end of the bracket; the front end of the compression cover sleeve is small and the rear end is large, the compression cover sleeve is sleeved on the outside of the outer sleeve, and the compression The rear side of the cover sleeve surrounds the base and its front end abuts the outer end of the base, the rear end of the compression cover sleeve is fixed to the front end of the bracket; the compression cover sleeve and the base
  • An elastic kit is
  • a center tube guide sleeve is provided on the outer side of the center tube between the base and the nut sleeve, and both ends of the center tube guide sleeve are respectively fixed to the base fixing plate and the Guide rod fixing plate.
  • the flexible puncture needle device disclosed by the present invention includes a double-layer structure of an outer sleeve and a central tube.
  • the outer sleeve is a multi-segment rigid structure, which is connected by a simple vertically staggered bending joint, which can achieve 360 degrees to the side At the same time, it can freely bend and ensure that it can transmit axial force and torque.
  • the inner layer is a super-elastic center tube with a large elastic deformation range.
  • the flexible puncture needle disclosed by the invention utilizes the lateral force in the puncture process to realize passive bending of the puncture needle, and changing the position of the central tube inside the outer sleeve can realize the adjustment of the bending rigidity of the puncture needle: when the length of the central tube in the outer sleeve is large When the rigidity of the puncture needle is large, the turning angle is small. When the length of the central tube in the outer sleeve is small, the rigidity of the puncture needle is small, the turning angle is large. The bending angle of the hollow part of the central tube changes with the length of the hollow part of the central tube, thereby adjusting the angle of the needle and the turning direction, so that the needle body turns directionally.
  • the puncture needle device according to the present invention can be applied to percutaneous puncture interventional surgery, and can adjust the turning angle and turning direction during the puncture process.
  • the puncture needle device can be integrated into a surgical robot system, combined with medical imaging feedback, Provides a flexible and accurate solution for percutaneous puncture surgery.
  • FIG. 1 is a schematic diagram of the overall structure of a flexible puncture needle device provided by the present invention.
  • FIG. 2(a) is a schematic view of the structure of the central tube inserted into the outer sleeve provided by the present invention
  • FIG. 2(b) is an enlarged view of the structure of the central tube part inserted into the outer sleeve provided by the present invention
  • FIG. 2(c) is an enlarged view of the structure in which the central tube provided by the present invention is all inserted into the outer sleeve;
  • 3(a) is a schematic structural view of a puncture needle provided by the present invention.
  • FIG. 3(b) is a schematic structural view of a turning node provided by the present invention.
  • FIG. 3(c) is a schematic structural view of the straight joint provided by the present invention.
  • 3(d) is a schematic structural view of the bending joint provided by the present invention when it is bent;
  • Fig. 4(a) is a schematic plan view of the unfolding turning section provided by the present invention.
  • 4(b) is a schematic diagram of the orientation of the arc surface of the protrusion or groove provided by the present invention.
  • 4(c) is a schematic diagram of the intersection of the tangent of the arc surfaces of the protrusions and grooves provided by the present invention and the central axis of the outer sleeve;
  • 5(a) is a schematic structural view of a side view of the flexible puncture needle of the present invention.
  • FIG. 5(b) is a schematic structural diagram of another side view of the flexible puncture needle of the present invention.
  • FIG. 6 is a schematic structural view of the connector provided by the present invention.
  • This embodiment 1 provides a flexible puncture needle device.
  • the structure of the flexible puncture needle device provided in this embodiment 1 will be described in detail below.
  • the flexible puncture needle device includes a puncture needle 10 and a transmission mechanism 20.
  • the transmission mechanism 20 includes a transmission module 21 and a support frame 22.
  • the puncture needle 10 includes an outer sleeve 11 and a center tube 13, and the outer sleeve 11 includes a puncture needle 111 and a plurality of turning nodes 112.
  • a pair of protrusions 1121 and a pair of grooves 1122 are provided at both ends of the turning node 112, and a needle tip and a pair of grooves 1122 are respectively provided at both ends of the puncture needle 111;
  • a pair of protrusions 1121 are engaged with a pair of grooves 1122 of the puncture needle 111 to form a needle turning joint, and two adjacent turning nodes 112 are engaged with each other through the protrusions 1121 and the grooves 1122 to form a turning joint ,
  • the needle turning joint and the plurality of turning joints are nested in sequence from head to tail to form an outer sleeve 11 with a puncture needle 111 and a tube body capable of turning axially.
  • the central tube 13 is inserted into the outer tube 11 from the distal end of the puncture needle 111 of the outer tube 11 to form the central tube empty portion 114 and the central tube insertion portion 115 of the outer tube 11, the central tube empty portion 114 has a strong bending ability, the central tube 13 During the forward or backward movement of the outer tube 11 along the axis of the outer tube 11, the bendable angle of the central tube empty portion 114 increases as the length of the central tube empty portion 114 increases.
  • the puncture needle 10 is inserted into human tissue, the puncture needle 111 cuts through the tissue material. Under the action of the lateral force, the central tube vacant portion 114 undergoes a large lateral bend, and will also drive the center during the advancement process The tube insertion portion 115 bends in the same way, and the puncture finally forms a curved trajectory.
  • the center point line of a pair of protrusions 1121 and the center point line of a pair of grooves 1122 are perpendicular to each other; two of each protrusion 1121 in a pair of protrusions 1121
  • the intersection of the extension surfaces of the symmetrical side end surfaces is the central axis of the turning node 112.
  • the protrusion 1121 and the groove 1122 expand The plane shapes of are designed as arcs with arc length greater than semi-circle and equal size.
  • the end surfaces of the protrusion 1121 and the groove 1122 in the thickness direction are arc surfaces or inclined surfaces.
  • the outer surface of the protrusion 1121 is inclined inward, and the inner surface of the groove 1122 is inclined outward.
  • the tangent lines of the end arc surfaces of the protrusion 1121 and the groove 1122 perpendicularly intersect the central axis of the outer sleeve 11, and the protrusion 1121 and the groove
  • the turning joint formed by the engagement of the end arc face 1122 is the engagement tube wall between the adjacent outer sleeves 11; when the outer end face of the protrusion 1121 and the inner end face of the groove 1122 are inclined surfaces, the protrusion The inclined surface of the outer end of 1121 inclined inwardly coincides with the inclined surface of the inner end of the groove 1122 inclined outward to form an integrated turning joint.
  • the surface contact between the protrusion 1121 and the groove 1122 through the side wall can ensure that the turning nodes 112 can transmit the force along the central axis direction and the torque around the central axis direction without disjointing It can ensure that the bending node 112 formed by the mating engagement of the protrusion 1121 and the groove 1122 can smoothly bend, so that the entire outer sleeve 11 can be bent in any direction.
  • the needle tip is a slope surface needle tip, that is, the needle tip design slope surface.
  • the center tube 13 is made of a nickel-titanium superelastic alloy material, and its Young's modulus is about 60 GPa, so as to achieve a large range of elastic deformation.
  • the transmission module 21 includes a transmission motor, a coupling 215, a screw 211, a nut 212, a nut sleeve 213, and a guide rod 214,
  • the output shaft of the transmission motor is fixedly connected to the screw 211 through the coupling 215;
  • the nut 212 is sleeved on the screw 211;
  • the nut sleeve 213 is fixedly sleeved on the nut 212;
  • the nut sleeve 213 is provided with a guide hole, and the nut sleeve 213 is movably sleeved on the guide rod 214 through the guide hole;
  • the central tube 13 is fixedly connected to the nut sleeve 213.
  • the transmission motor is installed on the outer side of the rear support plate 225
  • the coupling 215 is disposed on the inner side of the rear support plate 225 and interposed between the rear support plate 225 and the middle support plate 224.
  • the support frame 22 includes a front support plate 222, a guide rod fixing plate 223, a middle support plate 224, a rear support plate 225, and four support rods 216.
  • the middle support plate 224 is provided with at least four perforations and four support rods The middle part of 216 passes through and is fixed to the perforation of the middle support plate 224, and the two ends of the four support rods 216 are fixed vertically to the front support plate 222 and the rear support plate 225, respectively;
  • the guide rod fixing plate 223 is provided between the front support plate 222 and the middle support plate 224.
  • the guide rod fixing plate 223 is provided with a guide hole.
  • the middle of the guide rod 214 passes through the guide hole of the guide rod fixing plate 223. Both ends are vertically fixed on the front support plate 222 and the middle support plate 224;
  • the center tube 13 passes through the front support plate 222 and the guide rod fixing plate 223 in order from front to back and is fixedly connected to the nut sleeve 213.
  • the transmission mechanism 20 further includes a connector for connecting the puncture needle 10 and the transmission mechanism 20;
  • the connector includes a base 12, a base fixing plate 221, an elastic kit 226, a compression cover 227, and a bracket 228.
  • the base 12 is fixed to the port at the far end of the puncture needle 111 of the outer sleeve 11, the front end of the bracket 228 is small and the rear end is large, the rear end of the bracket 228 is fixedly connected to the front support plate 222, and the base fixing plate 221 abuts against the base 12
  • the outer end is fixed inside the front end of the bracket 228; the front end of the compression cover 227 is small and the rear end is large.
  • the compression cover 227 is sleeved on the outside of the outer sleeve 11 and the rear side of the compression cover 227 surrounds the base 12 Moreover, the front end thereof abuts the outer end of the base 12, and the rear end of the compression cover 227 is fixed to the front end of the bracket 228; an elastic kit 226 is provided between the compression cover 227 and the base 12.
  • a center tube guide sleeve 229 is sleeved on the outer side of the center tube 13 between the base 12 and the nut sleeve 213, and both ends of the center tube guide sleeve 229 are fixed to the base fixing plate 221 and the guide rod fixing plate 223, respectively.
  • a flexible puncture needle device disclosed by the present invention includes a double-layer structure of an outer sleeve and a central tube.
  • the outer sleeve is a multi-segment rigid structure, which is connected by a simple vertically staggered bending joint, which can achieve various orientations. The angle can be freely bent while ensuring that it can transmit axial force and torque.
  • the inner layer is a super-elastic center tube with a large elastic deformation range.
  • the flexible puncture needle disclosed by the invention utilizes the lateral force in the puncture process to realize passive bending of the puncture needle, and changing the position of the central tube inside the outer sleeve can adjust the bending rigidity of the puncture needle.
  • the axial rotation of the puncture needle can change the direction of the lateral force received by the needle, thereby achieving passive bending of the needle body. Therefore, according to the invention, the needle body can be bent to adjust the angle of the needle.
  • the invention is equipped with a transmission mechanism, and the transmission mechanism is fixedly connected with the flexible puncture needle.
  • the flexible puncture needle can rotate with the transmission mechanism and feed integrally.
  • the transmission mechanism can drive the central tube in the flexible puncture needle to move forward or toward the inside of the flexible puncture needle After the movement, so that the rigidity of the flexible puncture needle changes with the length of the central tube in the outer sleeve.

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Pathology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Anesthesiology (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)

Abstract

一种柔性穿刺针装置。柔性穿刺针包括穿刺针(10)，穿刺针(10)包括外套管(11)和中心管(13)，外套管(11)包括穿刺针针头(111)和多个弯转构节(112)，穿刺针针头(111)前端设置有针尖，穿刺针针头(111)后端设置有一对凹槽(1122)或一对凸起(1121)，弯转构节(112)的两端分别设置有一对凸起(1121)和一对凹槽(1122)。弯转构节(112)的一端的一对凸起(1121)或一对凹槽(1122)卡合于穿刺针针头(111)后端的一对凹槽(1122)或一对凸起(1121)形成针头弯转关节，两个相邻的弯转构节(112)通过凸起(1121)与凹槽(1122)相互卡合形成一个弯转关节，针头弯转关节与多个弯转关节从头至尾依次相互卡合形成一个尖端设有穿刺针针头(111)且管身能轴向转弯的外套管(11)。中心管(13)从外套管(11)的穿刺针针头(111)远离端插入外套管(11)内形成外套管(11)的中心管空置部(114)和中心管插入部(115)，中心管空置部(114)能弯曲，中心管(13)在外套管(11)内沿外套管(11)的轴线向前或向后运动过程中，中心管空置部(114)的弯曲角度随中心管空置部(114)的长度变化而变化。

Description

一种柔性穿刺针装置 技术领域
本发明涉及医疗器械技术领域，具体涉及一种柔性穿刺针装置。
背景技术
穿刺针是用于经皮穿刺介入手术的器械，相比于其他手术方式，穿刺手术可直接到达病患部位而避免将内部组织器官暴露在外，操作简便，是一种微创式诊断和治疗方式。
市场上常见的穿刺针，如Seldinger针、Chiba针等多为细长的刚性结构。这类细长的刚性穿刺针在实际穿刺过程中，由于无法灵活地绕开人体的某些重要器官或组织等障碍物，其穿刺过程难以精确控制。同时，穿刺针自身存在形变，穿刺针容易偏离目标，其穿刺的目标精确定位较为困难，需要利用其它医疗成像技术进行辅助定位。
发明内容
本发明的目的在于提供一种柔性穿刺针装置，用以解决现在穿刺针在穿刺过程不能绕开障碍物和目标精确定位的问题。
本发明提供一种柔性穿刺针装置，所述柔性穿刺针装置包括穿刺针，所述穿刺针包括外套管和中心管，所述外套管包括穿刺针针头和多个弯转构节，所述穿刺针针头前端设置有针尖，所述穿刺针针头后端设置有一对凹槽或一对凸起，所述弯转构节的两端分别设置有一对凸起和一对凹槽；所述弯转构节的一端的一对凸起或一对凹槽卡合于所述穿刺针针头后端的一对凹槽或一对凸起形成针头弯转关节，两个相邻的所述弯转构节通过所述凸起与所述凹槽相互卡合形成一个弯转关节，所述针头弯转关节与多个所述弯转关节从头至尾依次相互卡合形成一个尖端设有所述穿刺针针头且管身能轴向转弯的外套管；所述中心管从所述外套管的穿刺针针头远离端插入所述外套管内形成所述外套管的中心管空置部和中心管插入部，所述中心管空置部能弯曲，所述中心管在所述外套管内沿外套管的轴线向前或向后运动过程中，所述中心管空置部的弯曲角度随所述中心管空置部的长度变化而变化。
优选地，所述凸起和所述凹槽展开的平面形状均为弧长大于半圆的圆弧面且大小相等。
优选地，所述凸起与所述凹槽的端面为弧面或斜面，所述凸起与所述凹槽通过端部的弧面或斜面对接卡合形成相邻所述弯转构节。
优选地，所述凸起的底部与所述凹槽的顶部的嵌合处留有活动缝。
优选地，一对所述凸起的中心点连线和一对所述凹槽的中心点连线相互垂直；所述一对凸起中每一个凸起的两个相对称的侧端面的延伸面的交线为所述弯转构节的中心轴线。
优选地，所述针尖为斜坡面针尖。
优选地，所述柔性穿刺针还包括传动机构，所述传动机构内置有传动模组，所述传动模组包括传动电机、联轴器、螺杆、螺母、螺母套和导向杆，所述传动电机的输出轴通过所述联轴器与所述螺杆固定连接；所述螺母套设于所述螺杆上；所述螺母套固定套设于所述螺母上；所述螺母套上开设有导向孔，所述螺母套通过该导向孔活动套设于所述导向杆上；所述中心管与所述螺母套固定连接。
优选地，所述传动机构还包括支撑框架，所述支撑框架包括前支撑板、导向杆固定板、中支撑板、后支撑板和四根支撑杆，所述中支撑板上设有至少四个穿孔，四根所述支撑杆的中部分别穿过且固定于所述中支撑板的穿孔，四根所述支撑杆的两端均分别垂直固定于所述前支撑板和所述后支撑板；所述导向杆固定板设置于所述前支撑板和所述中支撑板之间，所述导向杆固定板上设置有导向孔，所述导向杆的中部穿过所述导向杆固定板的导向孔，所述导向杆的两端垂直固定于所述前支撑板和所述中支撑板上；所述中心管从前至后依次穿过所述前支撑板和所述导向杆固定板与所述螺母套固定连接。
优选地，所述传动机构还包括用于连接所述穿刺针和所述传动机构的连接头；所述连接头包括基座、基座固定板、弹性套件、压紧盖套和支架，所述基座固定于所述外套管的穿刺针针头远离端的端口，所述支架的前端小、后端大，所述支架的后端固定连接于所述前支撑板，所述基座固定板抵靠所述基座的外端且固定于所述支架前端的内部；所述压紧盖套的前端小、后端大，所述压紧盖套套在所述外套管的外侧，且所述压紧盖套后部侧面包围所述基座且其前端抵靠所述基座的外端，所述压紧盖套的后端固定于所述支架的前端；所述压紧盖套与所述基座之间设置有弹性套件。
优选地，所述基座与所述螺母套之间的所述中心管的外侧套设有中心管导向套，所 述中心管导向套的两端分别固定于所述基座固定板和所述导向杆固定板。
本发明的有益效果是：
本发明公开的柔性穿刺针装置包括有外套管和中心管双层结构，外层套管为多段刚性构节，其通过一种简单的垂直交错的弯转关节相连，可以实现朝侧向360度自由弯曲的同时保证自身能够传递轴向力和扭矩，内层为超弹性中心管，具有较大的弹性形变范围。本发明公开的柔性穿刺针利用穿刺过程中的侧向力实现穿刺针的被动弯转，改变外套管内部的中心管位置可实现穿刺针的弯转刚度调节：当中心管在外套管内的长度大时，穿刺针刚度较大，则弯转角度较小，当中心管在外套管内的长度小时，穿刺针刚度较小，则弯转角度较大。中心管空置部的弯曲角度随中心管空置部的长度变化而变化，进而实现针头角度和弯转方向的调节，以致针体定向弯转。本发明涉及的穿刺针装置可应用于经皮穿刺介入手术，能够在穿刺的过程中实现弯转角度及弯转方向的调节，该穿刺针装置可集成到手术机器人系统中，结合医学成像反馈，为经皮穿刺手术提供了灵活、精确的解决方案。
附图说明
图1是本发明提供的柔性穿刺针装置的整体结构示意图；
图2(a)是本发明提供的中心管插入至外套管的结构示意图；
图2(b)是本发明提供的中心管部分插入至外套管的结构放大图；
图2(c)是本发明提供的中心管全部插入至外套管的结构放大图；
图3(a)是本发明提供的穿刺针针头的结构示意图；
图3(b)是本发明提供的弯转构节的结构示意图；
图3(c)是本发明提供的弯转关节笔直状态时的结构示意图；
图3(d)是本发明提供的弯转关节弯曲状态时的结构示意图；
图4(a)是本发明提供的弯转构节的展开平面示意图；
图4(b)是本发明提供的凸起或凹槽的弧面的朝向示意图；
图4(c)是本发明提供的凸起与凹槽的端部弧面的切线与外套管中心轴相交示意图；
图5(a)是本发明的柔性穿刺针的一种侧视状态的结构示意图；
图5(b)是本发明的柔性穿刺针的另一种侧视状态的结构示意图；
图6是本发明提供的连接头的结构示意图。
具体实施方式
实施例1
本实施例1提供一种柔性穿刺针装置，下面对本实施例1提供的柔性穿刺针装置的结构进行详细描述。
参考图1，该柔性穿刺针装置包括穿刺针10和传动机构20，传动机构20包括传动模组21和支撑框架22。
参考图2，穿刺针10包括外套管11和中心管13，外套管11包括穿刺针针头111和多个弯转构节112。
参考图3，弯转构节112的两端分别设置有一对凸起1121和一对凹槽1122，穿刺针针头111的两端分别设置有针尖和一对凹槽1122；弯转构节112的一对凸起1121卡合于穿刺针针头111的一对凹槽1122形成针头弯转关节，两个相邻的弯转构节112通过凸起1121与凹槽1122相互卡合形成一个弯转关节，针头弯转关节与多个弯转关节从头至尾依次相互嵌套形成一个尖端设有穿刺针针头111且管身能轴向转弯的外套管11。中心管13从外套管11的穿刺针针头111远离端插入外套管11内形成外套管11的中心管空置部114和中心管插入部115，中心管空置部114具有较强的弯曲能力，中心管13在外套管11内沿外套管11的轴线向前或向后运动过程中，中心管空置部114的可弯曲角度随中心管空置部114的长度增大而增大。当穿刺针10插入人体组织时，穿刺针针头111切开组织材料，在侧向力的作用下，中心管空置部114发生较大的侧向弯转，并在前进的过程中也将带动中心管插入部115发生同样的弯转，穿刺最终形成一个弯曲的轨迹。
为了使外套管实现各个方向的灵活弯转，一对凸起1121的中心点连线和一对凹槽1122的中心点连线相互垂直；一对凸起1121中每一个凸起1121的两个相对称的侧端面的延伸面的交线为弯转构节112的中心轴线。
为了增强凸起与凹槽的契合度，达到凸起1121与凹槽1122卡合后既不能脱节又不 能使弯转关节失去自由弯转的效果，参考图4，凸起1121和凹槽1122展开的平面形状均设计为弧长大于半圆的圆弧面且大小相等。凸起1121与凹槽1122在厚度方向上的端面为弧面或斜面，凸起1121的外端弧面或斜面朝内倾斜，凹槽1122的内端弧面或斜面朝外倾斜。当凸起1121的外端面和凹槽1122的内端面均为弧面时，凸起1121和凹槽1122的端部弧面的切线与外套管11的中心轴垂直相交，凸起1121与凹槽1122通过端部弧面对接卡合形成的弯转关节为相邻外套管11之间的卡合管壁；当凸起1121的外端面和凹槽1122的内端面均为斜面时，凸起1121的外端朝内倾斜的斜面与凹槽1122的内端朝外倾斜的斜面正好卡合形成一体的弯转关节。如此，凸起1121和凹槽1122之间通过侧壁的形面接触，能够保证弯转构节112相互之间能传递沿其中心轴方向的力以及绕其中心轴方向的扭矩而不会脱节，能保证凸起1121和凹槽1122对接嵌合形成的弯转构节112能顺滑地弯转，使整个外套管11可以朝任意方向弯曲。
进一步地，凸起1121的底部与凹槽1122的顶部设计留缝隙，即卡合管壁中的凸起1121的底部与凹槽1122的顶部的嵌合处留有活动缝，使它们形成的弯转关节可以在一定范围内自由地弯转，当达到某个极限弯转角度时，缝隙闭合从而不能继续弯转。
为方便针尖插入并提供弯转的侧向力，针尖为斜坡面针尖，即针尖设计斜坡面。
优选地，中心管13采用镍钛超弹性合金材料，其杨氏模量约为60GPa，以实现较大范围的弹性形变。
参考图5，传动模组21包括传动电机、联轴器215、螺杆211、螺母212、螺母套213和导向杆214，
传动电机的输出轴通过联轴器215与螺杆211固定连接；
螺母212套设于螺杆211上；
螺母套213固定套设于螺母212上；
螺母套213上开设有导向孔，螺母套213通过该导向孔活动套设于导向杆214上；
中心管13与螺母套213固定连接。
具体地，传动电机安装于后支撑板225的外侧面，联轴器215设置于后支撑板225的内侧置于后支撑板225与中支撑板224之间。
进一步地，支撑框架22包括前支撑板222、导向杆固定板223、中支撑板224、后支撑板225和四根支撑杆216，中支撑板224上设有至少四个穿孔，四根支撑杆216的 中部分别穿过且固定于中支撑板224的穿孔，四根支撑杆216的两端均分别垂直固定于前支撑板222和后支撑板225；
导向杆固定板223设置于前支撑板222和中支撑板224之间，导向杆固定板223上设置有导向孔，导向杆214的中部穿过导向杆固定板223的导向孔，导向杆214的两端垂直固定于前支撑板222和中支撑板224上；
中心管13从前至后依次穿过前支撑板222和导向杆固定板223与螺母套213固定连接。
参考图6，传动机构20还包括用于连接穿刺针10和传动机构20的连接头；连接头包括基座12、基座固定板221、弹性套件226、压紧盖套227和支架228，基座12固定于外套管11的穿刺针针头111远离端的端口，支架228的前端小、后端大，支架228的后端固定连接于前支撑板222，基座固定板221抵靠基座12的外端且固定于支架228前端的内部；压紧盖套227的前端小、后端大，压紧盖套227套在外套管11的外侧，且压紧盖套227后部侧面包围基座12且其前端抵靠基座12的外端，压紧盖套227的后端固定于支架228的前端；压紧盖套227与基座12之间设置有弹性套件226。
进一步地，基座12与螺母套213之间的中心管13的外侧套设有中心管导向套229，中心管导向套229的两端分别固定于基座固定板221和导向杆固定板223。
本发明公开的一种柔性穿刺针装置，包括有外套管和中心管双层结构，外层套管为多段刚性构节，其通过一种简单的垂直交错的弯转关节相连，可以实现朝向各个角度自由弯曲的同时保证自身能够传递轴向力和扭矩，内层为超弹性中心管，具有较大的弹性形变范围。本发明公开的柔性穿刺针利用穿刺过程中的侧向力实现穿刺针的被动弯转，改变外套管内部的中心管位置可实现穿刺针的弯转刚度调节。当中心管在外套管内的长度大时，穿刺针刚度较大，则弯转角度较小；当中心管在外套管内的长度小时，穿刺针刚度较小，则弯转角度较大。同时，轴向旋转穿刺针可以改变针头受到的侧向力方向，进而实现针体被动弯转。因此本发明能进行针体弯转实施针头角度调节。
此外，本发明配置有传动机构，且传动机构与柔性穿刺针固定联接，柔性穿刺针可随传动机构旋转且整体进给，传动机构可以驱动柔性穿孔针内的中心管在其内部向前或向后运动，以使柔性穿刺针的刚度随中心管在外套管内的长度的变化而变化。
本发明仅以上述实施例进行说明，各部件的结构、设置位置及其连接都是可以有所变化的。在本发明技术方案的基础上，凡根据本发明原理对个别部件进行的改进或等同 变换，均不应排除在本发明的保护范围之外。

Claims (10)

  1. 一种柔性穿刺针装置，其特征在于，所述柔性穿刺针包括穿刺针(10)，
    所述穿刺针(10)包括外套管(11)和中心管(13)，
    所述外套管(11)包括穿刺针针头(111)和多个弯转构节(112)，
    所述穿刺针针头(111)前端设置有针尖，所述穿刺针针头(111)后端设置有一对凹槽(1122)或一对凸起(1121)，所述弯转构节(112)的两端分别设置有一对凸起(1121)和一对凹槽(1122)；
    所述弯转构节(112)的一端的一对凸起(1121)或一对凹槽(1122)卡合于所述穿刺针针头(111)后端的一对凹槽(1122)或一对凸起(1121)形成针头弯转关节，两个相邻的所述弯转构节(112)通过所述凸起(1121)与所述凹槽(1122)相互卡合形成一个弯转关节，所述针头弯转关节与多个所述弯转关节从头至尾依次相互卡合形成一个尖端设有所述穿刺针针头(111)且管身能轴向转弯的外套管(11)；
    所述中心管(13)从所述外套管(11)的穿刺针针头(111)远离端插入所述外套管(11)内形成所述外套管(11)的中心管空置部(114)和中心管插入部(115)，
    所述中心管空置部(114)能弯曲，所述中心管(13)在所述外套管(11)内沿外套管(11)的轴线向前或向后运动过程中，所述中心管空置部(114)的弯曲角度随所述中心管空置部(114)的长度变化而变化。
  2. 如权利要求1所述的柔性穿刺针装置，其特征在于，
    所述凸起(1121)和所述凹槽(1122)展开的平面形状均为弧长大于半圆的圆弧面且大小相等。
  3. 如权利要求1所述的柔性穿刺针装置，其特征在于，
    所述凸起(1121)与所述凹槽(1122)的端面为弧面或斜面，所述凸起(1121)与所述凹槽(1122)通过端部的弧面或斜面对接卡合形成相邻所述弯转构节(112)。
  4. 如权利要求1所述的柔性穿刺针装置，其特征在于，
    所述凸起(1121)的底部与所述凹槽(1122)的顶部的嵌合处留有活动缝。
  5. 如权利要求1所述的柔性穿刺针装置，其特征在于，
    一对所述凸起(1121)的中心点连线和一对所述凹槽(1122)的中心点连线相互垂 直；
    所述一对凸起(1121)中每一个凸起(1121)的两个相对称的侧端面的延伸面的交线为所述弯转构节(112)的中心轴线。
  6. 如权利要求1所述的柔性穿刺针装置，其特征在于，
    所述针尖为斜坡面针尖。
  7. 如权利要求1所述的柔性穿刺针装置，其特征在于，
    所述柔性穿刺针还包括传动机构(20)，所述传动机构(20)内置有传动模组(21)，
    所述传动模组(21)包括传动电机、联轴器(215)、螺杆(211)、螺母(212)、螺母套(213)和导向杆(214)，
    所述传动电机的输出轴通过所述联轴器(215)与所述螺杆(211)固定连接；
    所述螺母(212)套设于所述螺杆(211)上；
    所述螺母套(213)固定套设于所述螺母(212)上；
    所述螺母套(213)上开设有导向孔，所述螺母套(213)通过该导向孔活动套设于所述导向杆(214)上；
    所述中心管(13)与所述螺母套(213)固定连接。
  8. 如权利要求1所述的柔性穿刺针装置，其特征在于，
    所述传动机构(20)还包括支撑框架(22)，
    所述支撑框架(22)包括前支撑板(222)、导向杆固定板(223)、中支撑板(224)、后支撑板(225)和四根支撑杆(216)，所述中支撑板(224)上设有至少四个穿孔，四根所述支撑杆(216)的中部分别穿过且固定于所述中支撑板(224)的穿孔，四根所述支撑杆(216)的两端均分别垂直固定于所述前支撑板(222)和所述后支撑板(225)；
    所述导向杆固定板(223)设置于所述前支撑板(222)和所述中支撑板(224)之间，所述导向杆固定板(223)上设置有导向孔，所述导向杆(214)的中部穿过所述导向杆固定板(223)的导向孔，所述导向杆(214)的两端垂直固定于所述前支撑板(222)和所述中支撑板(224)上；
    所述中心管(13)从前至后依次穿过所述前支撑板(222)和所述导向杆固定板(223)与所述螺母套(213)固定连接。
  9. 如权利要求1所述的柔性穿刺针装置，其特征在于，
    所述传动机构(20)还包括用于连接所述穿刺针(10)和所述传动机构(20)的连接头；
    所述连接头包括基座(12)、基座固定板(221)、弹性套件(226)、压紧盖套(227)和支架(228)，
    所述基座(12)固定于所述外套管(11)的穿刺针针头(111)远离端的端口，
    所述支架(228)的前端小、后端大，所述支架(228)的后端固定连接于所述前支撑板(222)，所述基座固定板(221)抵靠所述基座(12)的外端且固定于所述支架(228)前端的内部；
    所述压紧盖套(227)的前端小、后端大，所述压紧盖套(227)套在所述外套管(11)的外侧，且所述压紧盖套(227)后部侧面包围所述基座(12)且其前端抵靠所述基座(12)的外端，所述压紧盖套(227)的后端固定于所述支架(228)的前端；
    所述压紧盖套(227)与所述基座(12)之间设置有弹性套件(226)。
  10. 如权利要求1所述的柔性穿刺针装置，其特征在于，
    所述基座(12)与所述螺母套(213)之间的所述中心管(13)的外侧套设有中心管导向套(229)，所述中心管导向套(229)的两端分别固定于所述基座固定板(221)和所述导向杆固定板(223)。
PCT/CN2019/129327 2018-12-28 2019-12-27 一种柔性穿刺针装置 WO2020135758A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US17/292,563 US12016590B2 (en) 2018-12-28 2019-12-27 Flexible puncture needle device
EP19903781.3A EP3903703A4 (en) 2018-12-28 2019-12-27 FLEXIBLE PUNCTURE NEEDLE DEVICE

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811619620.8A CN109498126B (zh) 2018-12-28 2018-12-28 一种柔性穿刺针装置
CN201811619620.8 2018-12-28

Publications (1)

Publication Number Publication Date
WO2020135758A1 true WO2020135758A1 (zh) 2020-07-02

Family

ID=65756491

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/129327 WO2020135758A1 (zh) 2018-12-28 2019-12-27 一种柔性穿刺针装置

Country Status (4)

Country Link
US (1) US12016590B2 (zh)
EP (1) EP3903703A4 (zh)
CN (1) CN109498126B (zh)
WO (1) WO2020135758A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114469286A (zh) * 2022-04-02 2022-05-13 真健康（北京）医疗科技有限公司 小型化穿刺机器人

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109498126B (zh) 2018-12-28 2020-10-27 北京术锐技术有限公司 一种柔性穿刺针装置
JP2022553541A (ja) * 2019-10-24 2022-12-23 ヤンセン バイオテツク，インコーポレーテツド 操縦可能な針
CN111297450B (zh) * 2020-03-04 2021-03-23 杭州市第三人民医院 基于3d打印的泌尿外科经皮穿刺针结构
CN113520537B (zh) * 2020-04-22 2023-04-11 麦德莱(苏州)医疗科技有限公司 手术用穿刺器
WO2022037075A1 (zh) * 2020-08-21 2022-02-24 北京术锐技术有限公司 连接适配器、连接组件和手术机器人系统

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101632572A (zh) * 2009-08-26 2010-01-27 哈尔滨工业大学 具有力感知功能的多关节内窥镜弯曲机构
US20100094269A1 (en) * 2008-09-26 2010-04-15 Relievant Medsystems, Inc. Systems and methods for navigating an instrument through bone
CN104394785A (zh) * 2012-04-17 2015-03-04 印第安维尔斯医疗公司 可转向的腔内穿孔器
CN104602615A (zh) * 2013-03-13 2015-05-06 斯波瑞申有限公司 用于微创输送治疗物质的装置
CN105120932A (zh) * 2013-04-08 2015-12-02 奥林巴斯株式会社 穿刺针
WO2018160401A1 (en) * 2017-02-28 2018-09-07 Boston Scientific Scimed, Inc. Articulating needles
CN109498126A (zh) * 2018-12-28 2019-03-22 北京术锐技术有限公司 一种柔性穿刺针装置

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6059739A (en) * 1998-05-29 2000-05-09 Medtronic, Inc. Method and apparatus for deflecting a catheter or lead
US20060064101A1 (en) * 2004-02-12 2006-03-23 Arthrocare Corporation Bone access system
US20090281498A1 (en) 2006-04-19 2009-11-12 Acosta Pablo G Devices, system and methods for minimally invasive abdominal surgical procedures
US8376865B2 (en) * 2006-06-20 2013-02-19 Cardiacmd, Inc. Torque shaft and torque shaft drive
US20100056862A1 (en) * 2008-09-03 2010-03-04 Ethicon Endo-Surgery, Inc. Access needle for natural orifice translumenal endoscopic surgery
GB0920938D0 (en) 2009-11-30 2010-01-13 Imp Innovations Ltd Steerable probes
CA2824058A1 (en) * 2011-01-10 2012-07-19 Spotlight Technology Partners Llc Apparatus and methods for accessing and treating a body cavity, lumen, or ostium
US20120265210A1 (en) 2011-04-15 2012-10-18 Alexander Grinberg Vertebroplasty Curved Needle
CN204600593U (zh) * 2015-03-18 2015-09-02 马克 一种定向蛇形穿刺骨锥
US20160361088A1 (en) * 2015-06-12 2016-12-15 Covidien Lp Catheter with pre-formed geometry for body lumen access
CN106175850B (zh) * 2016-08-31 2019-03-19 北京术锐技术有限公司 一种直线驱动机构驱动的柔性手术工具系统

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100094269A1 (en) * 2008-09-26 2010-04-15 Relievant Medsystems, Inc. Systems and methods for navigating an instrument through bone
CN101632572A (zh) * 2009-08-26 2010-01-27 哈尔滨工业大学 具有力感知功能的多关节内窥镜弯曲机构
CN104394785A (zh) * 2012-04-17 2015-03-04 印第安维尔斯医疗公司 可转向的腔内穿孔器
CN104602615A (zh) * 2013-03-13 2015-05-06 斯波瑞申有限公司 用于微创输送治疗物质的装置
CN105120932A (zh) * 2013-04-08 2015-12-02 奥林巴斯株式会社 穿刺针
WO2018160401A1 (en) * 2017-02-28 2018-09-07 Boston Scientific Scimed, Inc. Articulating needles
CN109498126A (zh) * 2018-12-28 2019-03-22 北京术锐技术有限公司 一种柔性穿刺针装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3903703A4 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114469286A (zh) * 2022-04-02 2022-05-13 真健康（北京）医疗科技有限公司 小型化穿刺机器人
CN114469286B (zh) * 2022-04-02 2022-07-01 真健康（北京）医疗科技有限公司 小型化穿刺机器人

Also Published As

Publication number Publication date
CN109498126B (zh) 2020-10-27
EP3903703A1 (en) 2021-11-03
EP3903703A4 (en) 2022-02-09
US12016590B2 (en) 2024-06-25
CN109498126A (zh) 2019-03-22
US20220000518A1 (en) 2022-01-06

Similar Documents

Publication Publication Date Title
WO2020135758A1 (zh) 一种柔性穿刺针装置
US10029073B2 (en) Steerable assembly for surgical catheter
US20190150966A1 (en) Magnetic introducer systems and methods
JP5550682B2 (ja) バイオセンシング及び外科的処置のための能動的カニューレ
JP5111612B2 (ja) 小口径腹腔鏡手術装置
US8858528B2 (en) Articulating cannula access device
JP4680917B2 (ja) 外科手術機器および診断器具の遠隔操作のための関節機構
US20080255420A1 (en) Surgical instrument
JP4805248B2 (ja) 右冠動脈のための操縦可能なカテーテル
US20110207999A1 (en) Torque transmission device having control wire
US20120197239A1 (en) Endoscopic medical device with articulating joints
US20110098678A1 (en) Manipulators employing multiple deformable elongate members
US20170325841A1 (en) Insertion Tube with Deflectable Tip
KR102347945B1 (ko) 관절운동과 회전운동이 가능한 미세 수술기구
JP2010527653A (ja) トルクに強い連接する中空デバイス
EP2257231A1 (en) Method and system for cannula positioning
US20150032117A1 (en) Tube insertion device having end effector capable of changing direction
US11504501B2 (en) Steerable medical instrument
Song et al. A novel continuum overtube with improved triangulation for flexible robotic endoscopy
JPH07213618A (ja) 医療器具
RU2408308C1 (ru) Устройство для эндоскопической катетеризации деформированных протоковых структур
JP7502580B2 (ja) 低侵襲性手術機器
TWI540993B (zh) 磁控內視鏡系統及其磁控裝置
WO2024140080A1 (zh) 一种可调弯输送鞘
US20230121140A1 (en) Flexible manipulator

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19903781

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2019903781

Country of ref document: EP

Effective date: 20210728