WO2024037356A1 - 穿刺导引机构和穿刺针支撑鞘系统 - Google Patents

穿刺导引机构和穿刺针支撑鞘系统 Download PDF

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Publication number
WO2024037356A1
WO2024037356A1 PCT/CN2023/111216 CN2023111216W WO2024037356A1 WO 2024037356 A1 WO2024037356 A1 WO 2024037356A1 CN 2023111216 W CN2023111216 W CN 2023111216W WO 2024037356 A1 WO2024037356 A1 WO 2024037356A1
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WO
WIPO (PCT)
Prior art keywords
puncture
guide mechanism
support sheath
needle
puncture needle
Prior art date
Application number
PCT/CN2023/111216
Other languages
English (en)
French (fr)
Inventor
段海龙
邵萌
赵磊
刘华根
李小明
Original Assignee
生一科技(北京)有限公司
清大生一(厦门)医疗科技有限公司
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Application filed by 生一科技(北京)有限公司, 清大生一(厦门)医疗科技有限公司 filed Critical 生一科技(北京)有限公司
Publication of WO2024037356A1 publication Critical patent/WO2024037356A1/zh

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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
    • A61B17/3403—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
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • 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
    • A61B2017/3405—Needle locating or guiding means using mechanical guide means
    • A61B2017/3407—Needle locating or guiding means using mechanical guide means including a base for support on the body
    • 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
    • A61B2017/3405—Needle locating or guiding means using mechanical guide means
    • A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
    • 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
    • A61B2017/3443—Cannulas with means for adjusting the length of a cannula
    • 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
    • A61B2017/3492—Means for supporting the trocar against the body or retaining the trocar inside the body against the outside of the body

Definitions

  • the present invention relates to the technical field of interventional therapy, and specifically to a puncture guide mechanism and puncture needle support sheath system.
  • Puncture is a diagnostic and treatment technology that inserts a puncture needle into the body cavity to extract secretions for testing, injects gas or contrast agent into the body cavity for contrast examination, injects drugs into the body cavity, or tissue biopsy or radiofrequency ablation.
  • the control end generally fixes the tail of the puncture needle and cannot move it.
  • the puncture needle is a slender rod, which is prone to bending moment deformation or instability, affecting the progress of the operation. Therefore, how to design and ensure the stability of the puncture needle is an issue worthy of study.
  • the purpose of the present invention is to provide a puncture guide mechanism and puncture needle support sheath system to ensure the stable operation of the puncture needle to accurately and efficiently complete surgical puncture.
  • a puncture guide mechanism which includes:
  • a puncture seat formed with a needle hole for inserting a puncture needle
  • a support sheath including a length-adjustable main support sheath segment extending from the puncture seat;
  • a puncture lumen for accommodating the puncture needle is formed in the main support sheath section.
  • the support sheath includes two support sheath chains.
  • the support sheath chains are formed with a plurality of engagement units spaced apart along the chain length direction. The portions between the engagement units of the two support sheath chains are Engage to form the main support sheath segment.
  • the support sheath further includes two bifurcated sheath sections bifurcated at the ends of the main support sheath section, and the two bifurcated sheath sections are located in the puncture base and are respectively arranged in radial ends of the pinhole.
  • the support sheath chain includes a plurality of chain links pivotally connected end to end, and the engaging unit is formed on each of the chain links;
  • the support sheath chain includes a flexible belt and a plurality of chain links, and a plurality of the chain links are spacedly arranged on the flexible belt; or, the support sheath chain is an integrally formed structure and includes a plurality of chain links. Chain links and connecting straps connected between adjacent said chain links.
  • the engagement unit includes:
  • Meshing teeth are arranged on the meshing base plate and extend along the length direction of the chain link;
  • the meshing teeth are curved and extend around to form meshing protrusions and meshing recesses.
  • the puncture guide mechanism further includes a chest patch located at an end of the main support sheath section.
  • the puncture seat is a three-way tube and includes a hollow straight tube and two hollow side tubes bifurcated along the ends of the hollow straight tube, and the hole axis of the needle hole is consistent with the hollow side tube.
  • the pipe axes of straight pipes coincide.
  • an included angle between the two hollow side tubes is formed, and the included angle between the side tubes is not greater than 180 degrees; and/or
  • the diameter of the hollow side tube is smaller than the diameter of the hollow straight tube.
  • the puncture seat further includes a base, on which is provided the puncture seat arranged along the direction of the hole axis and an open needle seat for placing the puncture needle,
  • the open needle seat is connected with the needle hole.
  • a puncture needle support sheath system which includes:
  • the puncture guide mechanism is the above-mentioned puncture guide mechanism
  • the puncture guide mechanism is installed on the operating end of the robotic arm.
  • the present invention provides a puncture guide mechanism and a puncture needle support sheath system.
  • the puncture guide mechanism adopts a combination of a puncture seat and a support sheath, wherein the puncture needle can be installed through the puncture seat, thus limiting and forming
  • the installation path of the puncture needle is simplified to facilitate precise control of the puncture needle.
  • the puncture lumen can be formed through the main support sheath segment, so that the puncture needle can be wrapped to support the puncture needle and provide a certain resistance to bending torque. More importantly, the length of the main support sheath section can be adjusted, that is, the length of the puncture lumen that extends from the puncture seat and wraps the puncture needle is adjustable. In this way, it can be adjusted according to the real-time length of the puncture needle to achieve stable control of the puncture needle. , to ensure the smooth progress of puncture treatment.
  • Figure 1 is a schematic structural diagram of a puncture guide mechanism provided by a specific embodiment of the present invention.
  • Figure 2 is a schematic diagram of the partial structure of Figure 1 from different perspectives, showing the support sheath;
  • Figure 3 is a partial structural diagram of Figure 2 from different perspectives, showing the chain links;
  • Figure 4 is a schematic structural diagram of a puncture needle support sheath system provided by a specific embodiment of the present invention.
  • Figure 5 is a partial structural schematic diagram of the puncture guide mechanism provided by the specific embodiment of the present invention, showing the main support sheath section and the bifurcated sheath section;
  • Figure 6 is a partial structural diagram of Figure 1, showing the puncture seat
  • Figure 7 is a partially enlarged cross-sectional view of A-A ⁇ in Figure 1 from different viewing angles, showing the puncture seat, main support sheath section and bifurcated sheath section;
  • Figure 8 is a schematic structural diagram of a support sheath chain provided by a specific embodiment of the present invention, showing the flexible belt and chain links;
  • Figure 9 is a schematic structural diagram of the puncture guide mechanism provided by a specific embodiment of the present invention, showing the support sheath braking assembly;
  • Figure 10 is a schematic structural diagram of a support sheath chain provided by a specific embodiment of the present invention, showing an integrally formed connecting belt and chain link.
  • Puncture seat 200. Support sheath; 300. Robotic arm; 110. Hollow straight tube; 120. Hollow side tube; 130. Base; 210. Main support sheath section; 220. Bifurcated sheath section; 1. Puncture needle ; 2. Pinhole; 3. Puncture lumen; 4. Engagement unit; 5. Chain link; 6. Engagement base plate; 7. Engagement protrusion; 8. Chest patch; 9. Open needle seat; 10. Engagement depression ; 11. Flexible belt; 12. Dial wheel; 13. Limiting groove; 14. Connecting belt; L. Chain length direction; ⁇ . Side tube angle.
  • Puncture is a diagnostic and treatment technology that inserts a puncture needle into the body cavity to extract secretions for testing, injects gas or contrast agent into the body cavity for contrast examination, injects drugs into the body cavity, or tissue biopsy or radiofrequency ablation.
  • the control end generally fixes the tail of the puncture needle and cannot move it.
  • the puncture needle is a slender rod, which is prone to bending moment deformation or instability, affecting the progress of the operation.
  • Conventional puncture surgeries are done manually. Since the puncture needle is long, it is a slender needle with a length of about 150mm and a diameter of about 2mm.
  • the person holds the puncture needle. The position moves toward the tail of the puncture needle little by little. because Therefore, how to design and ensure the stability of the puncture needle is an issue worthy of study.
  • the present invention invents a puncture guide mechanism that provides a supporting bending moment to the puncture needle when a puncture operation is performed on a remote control control end, thereby helping the completion of the remote puncture operation.
  • the present invention provides a puncture guide mechanism.
  • the puncture guide mechanism includes: a puncture seat 100 and a support sheath 200;
  • the puncture base 100 is formed with a needle hole 2 for inserting the puncture needle 1;
  • the support sheath 200 includes a length-adjustable main support sheath section 210 extending from the puncture seat 100;
  • the main support sheath section 210 has a puncture inner cavity 3 for accommodating the puncture needle 1 .
  • the puncture needle 1 can be installed through the puncture base 100, thus limiting and forming the installation path of the puncture needle 1, which facilitates precise control of the puncture needle 1, and the puncture lumen 3 can be formed through the main support sheath section 210, so that the puncture lumen 3 can be formed. Wrap the puncture needle 1 to support the puncture needle 1 and provide a certain resistance to bending torque. More importantly, the length of the main support sheath section 210 can be adjusted, that is, the length of the puncture lumen 3 extending from the puncture seat 100 and surrounding the puncture needle 1 is adjustable. In this way, it can be adjusted according to the real-time length of the puncture needle 1 to achieve The stable control of puncture needle 1 ensures the smooth progress of puncture treatment.
  • the puncture needle 1 includes a puncture end and a seat end.
  • the puncture seat 100 can be a tubular structure.
  • the inner cavity formed in this way can accommodate the support sheath 200 and the puncture needle 1. It can be a straight tube structure.
  • the support sheath 200 at the base end can adjust the length of the main support sheath section 210.
  • the support sheath 200 may be composed of multiple sheath straps that can be spliced or meshed with each other, wherein the multiple sheath straps are spliced or meshed to form the main support sheath segment 210, and at this time, the unspliced or meshed portions of the sheath straps are in the form of In this way, the length of the main support sheath section 210 can be quickly adjusted according to the length of the puncture needle 1 .
  • the support sheath 200 can be made of a material with a certain degree of flexibility.
  • flexibility can also be interpreted as flexibility, which is a characteristic of an object relative to rigidity. Flexibility refers to a physical property in which an object deforms after being subjected to force and cannot return to its original shape after the force is lost. In this way, the unjoined or engaged parts of the support sheath can form a certain bend to facilitate operation.
  • the number of support sheaths may be two, three, four or more.
  • Each sheath strap can have two sets of edges at its end in the width direction that can be spliced or engaged with other sheath straps.
  • the three sheath straps are arranged in parallel.
  • one of the first sheath straps has The set of edges can be spliced or meshed with a set of edges of the second sheath strap, and the other set of edges of the second sheath strap can be spliced or meshed with a set of edges of the third sheath strap.
  • the other set of edges of the sheath strip is spliced or engaged with the other set of edges of the first sheath strip, so that the puncture lumen 3 is formed around them.
  • the support sheath 200 includes two support sheath chains, and the support sheath chains are formed with along chains.
  • a plurality of meshing units 4 are spaced apart in the longitudinal direction L, and the meshing units 4 of the two supporting sheath chains are partially meshed to form the main supporting sheath section 210 .
  • the engagement units 4 of the two support sheath chains can be spliced to form the main support sheath section 210 in a surrounding arrangement.
  • the puncture lumen 3 formed can The puncture needle 1 is well wrapped to prevent the puncture needle 1 from bending during movement and ensure the smooth progress of the puncture treatment.
  • the engagement of the two supporting sheath chains is similar to the structure of a zipper, which is simple in structure, convenient and easy to obtain.
  • the support sheath 200 further includes two bifurcated sheath sections 220 bifurcated at the ends of the main support sheath section 210.
  • the two bifurcated sheath sections 220 are located in the puncture base 100 and are located separately. at both radial ends of pinhole 2.
  • the support sheath 200 includes a main support sheath section 210 and a bifurcated sheath section 220, as shown in Figure 7, wherein the bifurcated sheath section 220 is located at the seat end of the puncture needle 1, that is, A V-shaped insertion opening is formed on the bifurcated sheath section 220 so that the puncture needle 1 can be inserted into the puncture lumen 3 quickly and accurately.
  • the meshing unit 4 can cover part of the strips in the chain length direction L of the support sheath chain, so that no matter the meshing unit 4 in the chain length direction L is fully meshed, or the meshing unit 4 is partially meshed
  • the engagement can be formed as a support sheath with a certain bifurcated sheath section 220, so that the length of the puncture lumen 3 can be adjusted conveniently according to the length or position of the puncture needle 1.
  • the support sheath chain includes a plurality of chain links 5 that are pivotally connected end to end, and an engaging unit 4 is formed on each link 5; in one embodiment, as shown in Figure 2,
  • Each chain link 5 is made of rigid material, such as medical plastic, which is lightweight, cheap, and easy to obtain.
  • the corresponding plurality of chain links 5 are pivotally connected in turn and have a certain degree of pivoting freedom.
  • the support sheath 200 made of multiple chain links 5 has both a certain degree of flexibility and a certain degree of rigidity. It can not only provide better and stable support to the puncture needle 1, but also be able to adapt to certain requirements required by the puncture needle 1.
  • the curvature also facilitates the adjustment of the engagement or disengagement of the engagement unit 4 in the support sheath 200. It should be noted that the flexibility of the support sheath 200 does not affect the support of the catheter.
  • the support sheath chain includes a flexible belt 11 and a plurality of chain links 5, and the plurality of chain links 5 are arranged at intervals on the flexible belt 11; or the support sheath chain is an integrally formed structure and includes a plurality of chain links 5 and is connected to adjacent chain links. 5 connecting strips 14.
  • the flexible belt 11 is a flexible belt-like structure with a certain degree of toughness and strength.
  • the chain link 5 can be fitted and fixed on the flexible belt 11 , where the flexible belt 11 can be understood as The cloth part and chain link 5 in the zipper can be understood as the zipper tooth part in the zipper.
  • the supporting sheath chain is "flexible” and can be freely Change the shape of the chain.
  • the support sheath chain is an integrally formed chain-like structure, in which connecting belts 14 are provided between adjacent chain links 5, so that there are With a certain degree of freedom of movement, the chain shape can be freely changed.
  • the meshing unit 4 includes: a vertically arranged meshing base plate 6; and meshing teeth, which are arranged on the meshing base plate 6 and extend along the pitch length direction L of the chain link 5; wherein the meshing teeth are curved. and extends around to form an engaging protruding portion 7 and an engaging recessed portion 10 .
  • the structures of the engaged meshing units 4 are the same, in which the two engaged chain links 5 are arranged in opposite directions in the pitch length direction L, so that the two chains
  • the meshing teeth of one of the segments 5 can just mesh with the meshing teeth of the other, that is, the meshing protruding portion 7 of one of the two supporting sheath chains can be inserted into the meshing recessed portion 10 of the other.
  • a spliced circular structure is formed, specifically the meshed chain links 5 as shown in Figure 2.
  • the product structure is simple and easy to process.
  • the puncture guide mechanism further includes a chest patch 8 located at the end of the main support sheath section 210 .
  • the main support sheath section 210 can be positioned at the patient's position to be punctured through a chest patch. It is convenient to guide the puncture needle 1 into the patient's position to be punctured.
  • the puncture seat 100 is a three-way tube and includes a hollow straight tube 110 and two hollow side tubes 120 bifurcated along the ends of the hollow straight tube 110.
  • the hole of the needle hole 2 The axis coincides with the tube axis of the hollow straight tube 110 . As shown in Figure 1,
  • the intersection of the hollow side tube 120 and the hollow straight tube 110 in the puncture seat 100 is similar to a zipper in a zipper structure, which can help guide the two support sheaths 200 to engage or separate.
  • the puncture seat 100 can limit the movement path of the support sheath 200
  • the hollow straight tube 110 can accommodate the main support sheath section 210
  • the hollow side tube 120 can accommodate the two bifurcated sheath sections 220 .
  • a part of the support sheath 200 is always accommodated in the hollow side tube 120 in the form of a bifurcated sheath section 220, and a part is always accommodated in the hollow straight tube 110 in the form of a main support sheath section 210.
  • a side tube angle ⁇ is formed between the two hollow side tubes 120, and the side tube angle ⁇ is not greater than 180 degrees, as shown in Figure 1 and Figure 6, where the side tube angle ⁇ is not greater than 180 degrees.
  • the included angle ⁇ causes the two bifurcated sheath sections 220 to bend slightly sideways relative to the main support sheath section 210, which conforms to the structural characteristics of the support sheath 200 and avoids excessive side bending angles affecting the main support sheath section 210. Length adjustment; and/or
  • the diameter of the hollow side tube 120 is smaller than the diameter of the hollow straight tube 110, as shown in FIG.
  • the diameter or width of the bifurcated sheath section 220 is adapted to avoid the problem of rollover of the bifurcated sheath section 220 in the hollow side tube 120 and ensure the precise docking of the meshing unit 4 .
  • the puncture seat 100 further includes a base 130, and the base 130 is provided with a hole axis along the hole axis.
  • the puncture seat 100 is arranged in the direction of the line and the open needle seat 9 for placing the puncture needle 1.
  • the open needle seat 9 is connected with the needle hole 2, so that the puncture needle 1 can be inserted into the needle hole 2 from the open needle seat 9.
  • the puncture base 100 needs to support and fix the support sheath 200 and the puncture needle 1 . Therefore, the hollow straight tube 110 and the hollow side tube can be installed through the base 130 120.
  • the puncture needle 1 can be placed through the open needle seat 9. In this way, the support sheath 200 and the puncture needle 1 have a better supporting effect and are easy to operate.
  • the puncture guide mechanism also includes a support sheath brake assembly for fixing the support sheath chain.
  • the support sheath brake assembly includes: a dial wheel 12.
  • a limiting groove 13 is formed on the chain link 5.
  • a circumferential groove is formed on the dial wheel 12.
  • a plurality of thumbwheel limiting teeth are distributed and can be inserted into the limiting groove 13 .
  • the limiting groove 13 formed on the chain link 5 is adapted to the dial limiting teeth on the dial 12. As the position of the supporting sheath chain moves, the dial 12 can rotate and make part of the dial The limiting teeth can be inserted into the limiting groove 13 .
  • Other specific structures of the support bar braking assembly are state-of-the-art in the art and will not be described in detail here.
  • the present invention also provides a puncture needle support sheath system.
  • the puncture needle support sheath system includes:
  • the robotic arm 300; and the puncture guide mechanism are the above-mentioned puncture guide mechanisms; wherein the puncture guide mechanism is installed on the operating end of the robotic arm 300.
  • the mechanical arm 300 can drive the movement of the puncture guide mechanism, and the puncture guide mechanism can guide and support the puncture operation of the puncture needle 1 .
  • the support sheath 200 mainly exists in the form of the main support sheath section 210.
  • the main support sheath section 210 extends from the hollow straight tube 110, and the bifurcated sheath section 220 is located in the hollow side tube. 120, at this time, the chest patch 8 located at the end of the main support sheath section 210 is placed on the patient's chest. Then insert the puncture needle 1 into the needle hole 2.
  • the puncture needle 1 As the puncture needle 1 is gradually inserted, the puncture needle 1 that has not been inserted temporarily is still wrapped by the puncture lumen 3, which still gives the uninserted Puncture needle 1 provides support and anti-bending effect.
  • the length of the uninserted puncture needle 1 gradually decreases, and the main support sheath section 210 enters the hollow side tube 120 through the hollow straight tube 110, and then the engaged meshing units 4 are separated and A bifurcated sheath segment 220 is formed.

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Abstract

本发明公开了一种穿刺导引机构和穿刺针支撑鞘系统，所述穿刺导引机构包括：穿刺座(100)，形成有用于插装穿刺针(1)的针孔(2)；和支撑鞘(200)，包括从所述穿刺座(100)内伸出的长度可调的主支撑鞘段(210)；其中，所述主支撑鞘段(210)内形成有用于容置所述穿刺针(1)的穿刺内腔(3)。通过穿刺座能够安装穿刺针，便于精准操控穿刺针，通过主支撑鞘段能够形成穿刺内腔，能够包裹穿刺针以对穿刺针进行支撑，提供一定的抗弯扭矩作用。主支撑鞘段的长度能够伴随穿刺动作根据穿刺针长度进行适应，即能够根据穿刺针的实时长度进行实时调节，实现穿刺针的稳定操控，保证穿刺治疗的顺利进行。

Description

穿刺导引机构和穿刺针支撑鞘系统 技术领域
本发明涉及介入治疗技术领域，具体地涉及一种穿刺导引机构和穿刺针支撑鞘系统。
背景技术
穿刺，是将穿刺针刺入体腔抽取分泌物做化验，向体腔注入气体或造影剂做造影检查，向体腔内注入药物，或者组织活检或者射频消融等的一种诊疗技术。但是远程遥控操作穿刺手术时，操纵端一般固定住穿刺针的尾部而不能移动，这时的穿刺针是一个细长杆，很容易发生弯矩变形或者失稳，影响手术的进行。因此，如何设计保证穿刺针的稳定性是值得研究的问题。
发明内容
本发明的目的是提供一种穿刺导引机构和穿刺针支撑鞘系统，保证穿刺针的稳定运行以准确高效地完成手术穿刺。
为了实现上述目的，本发明提供一种穿刺导引机构，所述穿刺导引机构包括：
穿刺座，形成有用于插装穿刺针的针孔；和
支撑鞘，包括从所述穿刺座内伸出的长度可调的主支撑鞘段；
其中，所述主支撑鞘段内形成有用于容置所述穿刺针的穿刺内腔。
在一些实施例中，所述支撑鞘包括两条支撑鞘链，所述支撑鞘链上形成有沿链长方向间隔布置的多个啮合单元，两条所述支撑鞘链的啮合单元之间部分啮合以形成为所述主支撑鞘段。
在一些实施例中，所述支撑鞘还包括在所述主支撑鞘段的端部分叉而成的两个分叉鞘段，两个所述分叉鞘段位于所述穿刺座内并分设于所述针孔的径向两端。
在一些实施例中，所述支撑鞘链包括首尾依次枢转相连的多个链节，每个所述链节上均形成有所述啮合单元；
在一些实施例中，所述支撑鞘链包括柔性带和多个链节，多个所述链节间隔布置于所述柔性带上；或，所述支撑鞘链为一体成型结构并包括多个链节以及连接于相邻所述链节之间的连接带。
在一些实施例中，所述啮合单元包括：
竖向布置的啮合基板；以及
啮合齿，布置于所述啮合基板上并沿所述链节的节长方向伸出；
其中，所述啮合齿呈曲线形并延伸环绕以形成啮合凸起部和啮合凹陷部。
在一些实施例中，所述穿刺导引机构还包括位于所述主支撑鞘段的端部的胸贴。
在一些实施例中，所述穿刺座为三通管并包括中空直管以及沿所述中空直管的端部分叉而成的两个中空侧管，所述针孔的孔轴线与所述中空直管的管轴线相重合。
在一些实施例中，两个所述中空侧管之间形成有侧管夹角，所述侧管夹角不大于180度；和/或
所述中空侧管的管径小于所述中空直管的管径。
在一些实施例中，所述穿刺座还包括基座，所述基座上设置有沿所述孔轴线的方向布置的所述穿刺座以及用于放置所述穿刺针的开口针座，所述开口针座与所述针孔相连通。
另外，本发明还提供了一种穿刺针支撑鞘系统，所述穿刺针支撑鞘系统包括：
机械臂；和
穿刺导引机构，为上述的穿刺导引机构；
其中，所述穿刺引导机构安装于所述机械臂的操作端上。
通过上述技术方案，本发明提供的穿刺导引机构和穿刺针支撑鞘系统，该穿刺导引机构采用穿刺座和支撑鞘的组合方式，其中，通过穿刺座能够安装穿刺针，这样，限制并形成了穿刺针的安装路径，便于精准操控穿刺针，通过主支撑鞘段能够形成穿刺内腔，这样，能够包裹穿刺针以对穿刺针进行支撑，一定的抗弯扭矩作用。更重要的是主支撑鞘段的长度能够调节，即自穿刺座伸出的包裹穿刺针的穿刺内腔的长度可调，这样，能够根据穿刺针的实时长度进行调节，实现穿刺针的稳定操控，保证穿刺治疗的顺利进行。
本发明的其它特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
图1是本发明具体实施方式提供的穿刺导引机构的结构示意图；
图2是图1的不同视角下的局部结构示意图，展示了支撑鞘；
图3是图2的不同视角下的局部结构示意图，展示了链节；
图4是本发明具体实施方式提供的穿刺针支撑鞘系统的结构示意图；
图5是本发明具体实施方式提供的穿刺导引机构的局部结构示意图，展示了主支撑鞘段和分叉鞘段；
图6是图1的局部结构示意图，展示了穿刺座；
图7为图1不同视角下的A-A`处的局部放大剖面示意图，展示了穿刺座，主支撑鞘段和分叉鞘段；
图8为本发明具体实施方式提供的支撑鞘链的结构示意图，展示了柔性带和链节；
图9是本发明具体实施方式提供的穿刺导引机构的结构示意图，展示了支撑鞘制动组件；
图10为本发明具体实施方式提供的支撑鞘链的结构示意图，展示了一体成型的连接带和链节。
附图标记说明
100.穿刺座；200.支撑鞘；300.机械臂；110.中空直管；120.中空侧管；130.基座；210.主支撑鞘段；220.分叉鞘段；1.穿刺针；2.针孔；3.穿刺内腔；4.啮合单元；5.链节；6.啮合基板；7.啮合凸起部；8.胸贴；9.开口针座；10.啮合凹陷部；11.柔性带；12.拨轮；13.限位槽；14.连接带；L.链长方向；α.侧管夹角。
具体实施方式
以下结合附图对本发明的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明，并不用于限制本发明。
需要说明的是，在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。
下面将参考附图并结合实施例来详细说明本发明。
穿刺，是将穿刺针刺入体腔抽取分泌物做化验，向体腔注入气体或造影剂做造影检查，向体腔内注入药物，或者组织活检或者射频消融等的一种诊疗技术。但是远程遥控操作穿刺手术时，操纵端一般固定住穿刺针的尾部而不能移动，这时的穿刺针是一个细长杆，很容易发生弯矩变形或者失稳，影响手术的进行。常规的穿刺手术都是由人工完成，由于穿刺针较长，是一根长度为150mm左右，直径为2mm左右的细长针，人工操作时，随着插入穿刺针动作的执行，人手握穿刺针的位置一点点向穿刺针尾部移动。因 此，如何设计保证穿刺针的稳定性是值得研究的问题。
本发明，就是发明一种穿刺导引机构，使在遥控操纵端执行穿刺手术时，其给与穿刺针提供支撑弯矩，帮助遥控穿刺手术的完成。为此，参考图1至图10所示，本发明提供了一种穿刺导引机构，穿刺导引机构包括：穿刺座100和支撑鞘200；
具体地，穿刺座100，形成有用于插装穿刺针1的针孔2；和
支撑鞘200，包括从穿刺座100内伸出的长度可调的主支撑鞘段210；
其中，主支撑鞘段210内形成有用于容置穿刺针1的穿刺内腔3。
可以理解为，通过穿刺座100能够安装穿刺针1，这样，限制并形成了穿刺针1的安装路径，便于精准操控穿刺针1，通过主支撑鞘段210能够形成穿刺内腔3，这样，能够包裹穿刺针1以对穿刺针1进行支撑，一定的抗弯扭矩作用。更重要的是主支撑鞘段210的长度能够调节，即自穿刺座100伸出的包裹穿刺针1的穿刺内腔3的长度可调，这样，能够根据穿刺针1的实时长度进行调节，实现穿刺针1的稳定操控，保证穿刺治疗的顺利进行。
可选地，穿刺针1包括穿刺端以及座端，对于穿刺座100可以为管状结构，这样形成的内腔能够容纳支撑鞘200以及穿刺针1，其可以为直管结构，通过拉动位于穿刺针1座端的支撑鞘200能够调节主支撑鞘段210的长度。
可选地，对于支撑鞘200可以由多个能够相互拼接或者啮合的鞘带构成，其中多个鞘带拼接或者啮合后形成主支撑鞘段210，此时鞘带中未拼接或者啮合的部分呈分叉状，这样，能够根据穿刺针1的长度快速调节主支撑鞘段210的长度。
可选地，对于支撑鞘200，可以为具有一定柔性的材料，首先需要说明的是，柔性也可解释为挠性，是相对刚性而言的一种物体特性。挠性是指物体受力后变形，作用力失去之后物体自身不能恢复原来形状的一种物理性质。这样，支撑鞘的未拼接或者啮合的部分可以形成一定的弯曲，方便操作。
可选地，对于支撑鞘的个数，可以为两个、三个、四个或者更多。例如三个鞘带，每个鞘带在其条宽方向的端部可以具有两组能够与其他鞘带相拼接或者啮合的边部，三条鞘带平行布置，此时第一条鞘带的一组边部能够与第二条鞘带的一组边部相拼接或啮合，第二条鞘带的另一组边部能够与第三条鞘带的一组边部相拼接或啮合，第三条鞘带的另一组边部与第一条鞘带的另一组边部相拼接或啮合，这样，围绕以形成穿刺内腔3。
具体地，在一些实施例中，支撑鞘200包括两条支撑鞘链，支撑鞘链上形成有沿链 长方向L间隔布置的多个啮合单元4，两条支撑鞘链的啮合单元4之间部分啮合以形成为主支撑鞘段210。如图1、图2和图5所示，可以理解为，通过两条支撑鞘链的啮合单元4能够拼接以形成围绕布置的状态的主支撑鞘段210，这样，形成的穿刺内腔3能够很好的包裹穿刺针1，防止穿刺针1移动过程中发生弯曲，保证穿刺治疗的顺利进行。此外需要说明的是，对于两条支撑鞘链的啮合类似与拉链的结构，结构简单，方便易得。
进一步地，在一种实施例中，支撑鞘200还包括在主支撑鞘段210的端部分叉而成的两个分叉鞘段220，两个分叉鞘段220位于穿刺座100内并分设于针孔2的径向两端。如图2所示，可以理解为，该支撑鞘200包括主支撑鞘段210以及分叉鞘段220，如图7所示，其中，分叉鞘段220位于该穿刺针1的座端，即在该分叉鞘段220上形成V形的插入口，使得穿刺针1能够快速精准地插入至穿刺内腔3内。
进一步地，在一种实施例中，对于啮合单元4可以覆盖该支撑鞘链的链长方向L的部分条段，这样，无论其链长方向L的啮合单元4完全啮合，还是啮合单元4部分啮合，都可以形成为具有一定分叉鞘段220的支撑鞘，这样，方便根据穿刺针1的长度或位置调节穿刺内腔3的腔管长度。
对于支撑鞘链的具体结构，支撑鞘链包括首尾依次枢转相连的多个链节5，每个链节5上均形成有啮合单元4；在一种实施例中，如图2所示，每个链节5均为刚性材料，例如医用塑料，质轻价廉且方便易得。相应的多个链节5依次枢转相连，并具有一定的枢转自由度。这样，多个链节5做成的支撑鞘200既具有一定的柔性，又具有一定的刚性，既能够对穿刺针1产生较好的稳定的支撑，又能够适配穿刺针1需要的一定的弯曲度，同时方便对支撑鞘200中啮合单元4的啮合或分离的调节。须知该支撑鞘200的柔性并不影响对导管的支撑。
支撑鞘链包括柔性带11和多个链节5，多个链节5间隔布置于柔性带11上；或，支撑鞘链为一体成型结构并包括多个链节5以及连接于相邻链节5之间的连接带14。在一种实施例中，如图8所示，柔性带11为柔性的带状结构，有一定韧性和强度，链节5可以贴合固定在柔性带11上，其中，柔性带11可以理解为拉链中的布条部，链节5可以理解为拉链中的拉链齿部，这样，使得多个链节5之间形成一定的活动自由度，即支撑鞘链是“柔性的”，其可以自由的改变链状的形态。在另一种实施例中，如图10所示，支撑鞘链为一体成型的链条状结构，其中相邻的链节5之间设置有连接带14，使得相邻的链节5之间具有一定的活动自由度，可以自由地改变链状的形态。
在一种实施例中，啮合单元4包括：竖向布置的啮合基板6；以及啮合齿，布置于啮合基板6上并沿链节5的节长方向L伸出；其中，啮合齿呈曲线形并延伸环绕以形成啮合凸起部7和啮合凹陷部10。如图2和图3所示，可以理解为，相啮合的啮合单元4的结构相同，其中，在节长方向L上，相啮合的两个链节5反向布置，这样，使得两个链节5中的一者的啮合齿刚好能够与另一者的啮合齿相啮合，即两条支撑鞘链中的一者的啮合凸起部7能够插入至另一者的啮合凹陷部10内，这样，形成拼接的圆形结构，具体如图2中相啮合的链节5，产品结构简单，方便加工。
进一步地，在一种实施例中，穿刺导引机构还包括位于主支撑鞘段210的端部的胸贴8。如图1所示，其中，通过胸贴能够将主支撑鞘段210定位在患者的待穿刺位置。便于引导穿刺针1进入患者的待穿刺位置。
对于穿刺座100，在一种实施例中，穿刺座100为三通管并包括中空直管110以及沿中空直管110的端部分叉而成的两个中空侧管120，针孔2的孔轴线与中空直管110的管轴线相重合。如图1所示，
可以理解为，该穿刺座100中的中空侧管120与中空直管110的交汇处类似于拉链结构中的拉锁，能够帮助引导两条支撑鞘200啮合或分开。具体地，通过穿刺座100能够限制支撑鞘200的运动路径，中空直管110能够容置主支撑鞘段210，通过中空侧管120能够容置两个分叉鞘段220。其中，支撑鞘200的一部分始终以分叉鞘段220的形式容置在中空侧管120内，且一部分始终以主支撑鞘段210的形式容置在中空直管110内，当需要增长主支撑鞘段210的长度时，只需拉动主支撑鞘段210使得分叉鞘段220进入中空直管110内即可，反之则反向操作。
进一步地，在一种实施例中，两个中空侧管120之间形成有侧管夹角α，侧管夹角α不大于180度，如图1所示和图6所示，其中侧管夹角α使得两个分叉鞘段220相对于主支撑鞘段210仅轻轻侧弯，即符合支撑鞘200的结构特点，又能够避免侧弯夹角过大而影响主支撑鞘段210的长度调节；和/或
在另一种实施例中，中空侧管120的管径小于中空直管110的管径，如图1所示，这样，能够尽量缩小穿刺座100的体积，实现并与主支撑鞘段210和分叉鞘段220的直径或宽度相适配，避免分叉鞘段220在中空侧管120内出现侧翻的问题，保证啮合单元4的精准对接。
进一步地，在一种实施例中，穿刺座100还包括基座130，基座130上设置有沿孔轴 线的方向布置的穿刺座100以及用于放置穿刺针1的开口针座9，开口针座9与针孔2相连通，使得穿刺针1能够自开口针座9插入至针孔2中。如图1所示，可以理解为，对于穿刺座100既需要对支撑鞘200进行支撑固定，有需要对穿刺针1进行支撑固定，因此，通过基座130能够安装中空直管110以及中空侧管120，进一步，通过开口针座9能够放置穿刺针1，这样，对支撑鞘200以及穿刺针1均具有较好的支撑作用，且方便操作。
此外，穿刺导引机构还包括用于固定支撑鞘链的支撑鞘制动组件，支撑鞘制动组件包括：拨轮12，链节5上形成有限位槽13，拨轮12上形成有周向分布的能够插装入所限位槽13的多个拨轮限位齿。如图9所示，链节5上形成的限位槽13与拨轮12上的拨轮限位齿相适配，随着支撑鞘链的位置移动，拨轮12能够旋转并使得部分拨轮限位齿能够插装入限位槽13内。对于支撑条制动组件的其他具体结构，为本领域的现有技术，在此不做具体说明。
另外，本发明还提供了一种穿刺针支撑鞘系统，穿刺针支撑鞘系统包括：
机械臂300；和穿刺导引机构，为上述的穿刺导引机构；其中，穿刺引导机构安装于机械臂300的操作端上。如图4所示，通过机械臂300能够驱动穿刺引导机构的移动，通过穿刺引导机构能够引导并支撑穿刺针1的穿刺操作。
具体地，在实际操作过程中，初期，其支撑鞘200以主要以主支撑鞘段210的形式存在，主支撑鞘段210自中空直管110内伸出，分叉鞘段220位于中空侧管120内，此时将位于主支撑鞘段210的端部的胸贴8贴合在患者胸腔部位。然后将穿刺针1插入至针孔2内，在进行穿刺手术时，随着穿刺针1的逐渐插入，暂时没有插入的穿刺针1仍然由穿刺内腔3包裹着，其仍给与未插入的穿刺针1提供了支撑和抗弯距效果。随着穿刺针1的进一步深入，未插入的穿刺针1的长度逐渐减小，主支撑鞘段210经过穿中空直管110进入中空侧管120内，随之将相啮合的啮合单元4分开并形成分叉鞘段220。
需要特别说明的是，根据本发明实施例中的穿刺导引机构和穿刺针支撑鞘系统的其它构成以及作用对于本领域的普通技术人员而言都是已知的，为了减少冗余，此处不做赘述。
以上结合附图详细描述了本发明的优选实施方式，但是，本发明并不限于上述实施方式中的具体细节，在本发明的技术构思范围内，可以对本发明的技术方案进行多种简单变型。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (10)

  1. 穿刺导引机构，其特征在于，所述穿刺导引机构包括：
    穿刺座(100)，形成有用于插装穿刺针(1)的针孔(2)；和
    支撑鞘(200)，包括从所述穿刺座(100)内伸出的长度可调的主支撑鞘段(210)；
    其中，所述主支撑鞘段(210)内形成有用于容置所述穿刺针(1)的穿刺内腔(3)，所述支撑鞘(200)包括两条支撑鞘链，所述支撑鞘链上形成有沿链长方向(L)间隔布置的多个啮合单元(4)，两条所述支撑鞘链的啮合单元(4)之间部分啮合以形成为所述主支撑鞘段(210)。
  2. 根据权利要求1所述的穿刺导引机构，其特征在于，所述支撑鞘(200)还包括在所述主支撑鞘段(210)的端部分叉而成的两个分叉鞘段(220)，两个所述分叉鞘段(220)位于所述穿刺座(100)内并分设于所述针孔(2)的径向两端。
  3. 根据权利要求1所述的穿刺导引机构，其特征在于，所述支撑鞘链包括首尾依次枢转相连的多个链节(5)，每个所述链节(5)上均形成有所述啮合单元(4)。
  4. 根据权利要求1所述的穿刺导引机构，其特征在于，所述支撑鞘链包括柔性带(11)和多个链节(5)，多个所述链节(5)间隔布置于所述柔性带(11)上；或，所述支撑鞘链为一体成型结构并包括多个链节(5)以及连接于相邻所述链节(5)之间的连接带(14)。
  5. 根据权利要求3或4所述的穿刺导引机构，其特征在于，所述啮合单元(4)包括：
    竖向布置的啮合基板(6)；以及
    啮合齿，布置于所述啮合基板(6)上并沿所述链节(5)的节长方向(L)伸出；
    其中，所述啮合齿呈曲线形并延伸环绕以形成啮合凸起部(7)和啮合凹陷部(10)。
  6. 根据权利要求1所述的穿刺导引机构，其特征在于，所述穿刺导引机构还包括位于所述主支撑鞘段(210)的端部的胸贴(8)。
  7. 根据权利要求1～4中任意一项所述的穿刺导引机构，其特征在于，所述穿刺座(100)为三通管并包括中空直管(110)以及沿所述中空直管(110)的端部分叉而成的两个中空侧管(120)，所述针孔(2)的孔轴线与所述中空直管(110)的管轴线相重合。
  8. 根据权利要求7所述的穿刺导引机构，其特征在于，两个所述中空侧管(120)之间形成有侧管夹角(α)，所述侧管夹角(α)不大于180度；和/或
    所述中空侧管(120)的管径小于所述中空直管(110)的管径。
  9. 根据权利要求7所述的穿刺导引机构，其特征在于，所述穿刺座(100)还包括基座(130)，所述基座(130)上设置有沿所述孔轴线的方向布置的所述穿刺座(100)以及用于放置所述穿刺针(1)的开口针座(9)，所述开口针座(9)与所述针孔(2)相连通。
  10. 穿刺针支撑鞘系统，其特征在于，所述穿刺针支撑鞘系统包括：
    机械臂(300)；和
    穿刺导引机构，为权利要求1～9中任意一项所述的穿刺导引机构；
    其中，所述穿刺引导机构安装于所述机械臂(300)的操作端上。
PCT/CN2023/111216 2022-08-16 2023-08-04 穿刺导引机构和穿刺针支撑鞘系统 WO2024037356A1 (zh)

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