WO2024077975A1 - 一种单体穿刺深度调控装置及其调控方法 - Google Patents

一种单体穿刺深度调控装置及其调控方法 Download PDF

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Publication number
WO2024077975A1
WO2024077975A1 PCT/CN2023/097982 CN2023097982W WO2024077975A1 WO 2024077975 A1 WO2024077975 A1 WO 2024077975A1 CN 2023097982 W CN2023097982 W CN 2023097982W WO 2024077975 A1 WO2024077975 A1 WO 2024077975A1
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WO
WIPO (PCT)
Prior art keywords
puncture
needle
puncture needle
clamping
control assembly
Prior art date
Application number
PCT/CN2023/097982
Other languages
English (en)
French (fr)
Inventor
吴凡
林春生
习程梅
Original Assignee
湖州大士医疗科技有限公司
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 湖州大士医疗科技有限公司 filed Critical 湖州大士医疗科技有限公司
Publication of WO2024077975A1 publication Critical patent/WO2024077975A1/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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms

Definitions

  • the present invention relates to the technical field of medical devices, and in particular to a monomer puncture depth control device and a control method thereof.
  • the puncture needle is usually used in minimally invasive surgery, and its application scenarios include but are not limited to: the puncture needle penetrates into the body cavity and extracts biological tissue or secretions for testing, the puncture needle penetrates into the body cavity and injects gas or contrast agent into the body cavity for contrast examination, and the puncture needle penetrates into the body cavity and injects drugs into the body cavity for treatment.
  • radioactive particle implantation surgery uses multiple puncture needles to inject isotope radioactive source particles as drugs into the patient's tumor target location according to the set orientation. After the particle implantation is completed, the puncture needle needs to be pulled out of the patient's body cavity.
  • the purpose of the present invention is to provide a single puncture depth control device and a control method thereof, so as to solve the problems of low operation accuracy and risk of personal injury in the manual operation of puncture needle removal in the prior art.
  • a single-body puncture depth control device includes at least one control mechanism, each control mechanism includes a base and a needle control assembly, the needle control assembly is arranged on the base and is connected to an external driving mechanism, the needle control assembly can be relatively fixed to the puncture needle, and can drive the puncture needle to move relative to the base under the drive of the external driving mechanism, so as to pull it outward or puncture inward for a certain distance.
  • the base is fixed or mounted on the puncture template, or the base is clamped and connected by a mechanical arm or a passive adjustment bracket to realize multi-angle insertion and extraction of the puncture needle, so that the base remains relatively still with the target object during use.
  • the puncture template is provided with a plurality of puncture guides, each of which is correspondingly provided with an adjusting mechanism, the puncture guide can guide the puncture path of the puncture needle, and each adjusting mechanism respectively removes or inserts the corresponding puncture needle.
  • the needle control assembly is sleeved on the outside of the puncture needle, and the puncture needle is clamped by a clamping component and the clamping component is driven to move under the action of the moving mechanism, thereby driving the puncture needle to move unidirectionally or reciprocatingly through friction; or the puncture needle is abutted by an abutment component and the abutment component is driven to move under the action of the moving mechanism, thereby pushing the puncture needle to move unidirectionally or reciprocatingly; or the puncture needle is pressed by a friction wheel or a friction belt and the puncture needle is driven to reciprocate under the action of the friction driving force.
  • the circumferential surface of the friction wheel or the friction belt can press the puncture needle under the action of the clamping mechanism and can drive the puncture needle to move by the friction driving force;
  • the clamping mechanism is an active clamping mechanism or a passive clamping mechanism;
  • the clamping member is provided with one or two, when the clamping member is provided with two, the two friction wheels or friction belts jointly press the puncture needle, the two friction wheels or friction belts are connected by a separation mechanism and can be separated or closed, and when the two friction wheels or friction belts are separated, the puncture needle can be placed between the two friction wheels or friction belts;
  • the reciprocating motion mechanism includes a moving seat slidably arranged on the base, and the clamping component is used to clamp the puncture needle so that the puncture needle and the moving seat are relatively fixed; the moving seat can reciprocate on the base and drive the clamping component to move, the clamping component adopts an active clamping mechanism or a passive clamping mechanism, and the needle control assembly is also connected to a transmission member for connecting to the external driving mechanism.
  • the active clamping mechanism has a first driving unit that can actively control the clamping component to clamp and release the puncture needle, and can cooperate with the moving seat to realize the upward movement of pulling out the needle.
  • the passive clamping mechanism automatically clamps when the moving seat moves upward to pull out the needle, and automatically releases when the moving seat moves downward to reset.
  • a push hook is provided on the top of the abutment component, and the push hook abuts the handle at the tail of the puncture needle to pull the needle up or insert the needle downward.
  • the clamping component has a first notch for the puncture needle to pass through, and the clamping component is clamped on the outside of the puncture needle by using the first notch on its side.
  • the base is provided with a second notch for clamping the puncture needle, and the base is provided with a limiting member, which limits the puncture needle in the second notch to prevent it from escaping from the second notch, and the limiting member is a limiting buckle or a limiting pin.
  • the puncture needle extends from between two oppositely arranged clamping units of the clamping component, and the external driving mechanism drives the two clamping units to close relative to clamp the puncture needle.
  • the clamping component is a side clamping component
  • the clamping component is movably installed on the movable seat
  • the puncture needle can be inserted into the first notch corresponding to the clamping component
  • the clamping component can move under the drive of an external force driving mechanism and make the side surface corresponding to the first notch press the puncture needle into the first notch.
  • the clamping component When the clamping component is a rotating clamping assembly, the clamping component can be rotatably installed on the movable seat, the puncture needle passes through the through hole or through groove or double protrusions of the clamping component from the first notch, and the external driving mechanism drives the clamping component to rotate a certain angle to clamp the puncture needle.
  • the needle control assembly is connected to the external drive mechanism via a flexible sleeve or a flexible cable.
  • a driving wire, hydraulic oil, or gas is provided in the flexible sleeve
  • a first power element is provided in the external drive mechanism, and the first power element drives the driving wire, hydraulic oil, or gas to move relative to the flexible sleeve, thereby transmitting power to the needle control assembly
  • the power element is one or a combination of a reciprocating motion part, a hydraulic oil pump, and an air pump.
  • a second power element is provided on the needle control assembly, and the second power element is a motor or an electric push rod.
  • the external driving mechanism electrically controls the second power element via the flexible cable, thereby driving the needle control assembly to pull out or insert the puncture needle.
  • the base is fixed to the puncture template by a quick clamping device, and the quick clamping device adopts one or a combination of a snap structure, a lock structure, a threaded structure, and a pin structure.
  • the quick clamping device adopts a snap structure, an elastomer is provided inside it to improve the clamping effect.
  • the base is solidified on the puncture template by an adhesive or thermoplastic material
  • the adhesive is hot melt adhesive or quick-drying adhesive
  • the thermoplastic material is crystal soil, low melting point metal or quick-drying gypsum
  • the thermoplastic material is liquid or molten after heating, and is solidified and fixed after cooling
  • a fixing anchor or a fixing ring is provided on the puncture template
  • a connecting section is provided at the bottom of the base, which is convenient for fixing the base to the puncture template with an adhesive or thermoplastic material.
  • the puncture template can be bent or folded according to the shape of the biological skin surface to make it fit the biological skin surface, and the puncture template is provided with a plurality of puncture guides, which are cylindrical tubular structures.
  • a control method of a monomer puncture depth control device :
  • the regulating mechanism in the single puncture depth regulating device is mounted on the corresponding puncture guide of the puncture template and connected and fixed, or the regulating mechanism is clamped on a mechanical arm or a passive adjustment bracket, the puncture needle passes through the puncture guide and/or the regulating mechanism, and punctures to the target position under the guidance of the puncture guide, or punctures to the target position under the guidance of the mechanical arm or the passive adjustment bracket, and then the puncture needle is inserted and removed at multiple angles under the action of the regulating mechanism;
  • the puncture needle is first passed through the corresponding puncture guide of the puncture template or the robotic arm or the passive adjustment bracket, and punctured to the target position under the guidance of the puncture guide, and then the puncture needle is embedded into the regulating mechanism from the side slot of the regulating mechanism, so that the regulating mechanism is sleeved outside the puncture needle, and then the regulating mechanism is connected and fixed to the puncture template or the robotic arm or the passive adjustment bracket; the regulating mechanism is connected to the external driving mechanism through a flexible sleeve or cable, and the external driving mechanism is started, thereby driving the needle control assembly to move, and the target puncture needle is driven by the needle control assembly to be pulled out or inserted a distance corresponding to the target length.
  • the driving element is started again after a preset period of time, and the target puncture needle is driven to be pulled out or inserted again a distance corresponding to the target length by the needle control assembly.
  • the drive element is reversely started so that the needle-control assembly releases the target puncture needle and simultaneously moves in reverse a distance corresponding to the target length for reset, or the needle-control assembly first releases the target puncture needle and then reversely starts the drive element so that the needle-control assembly moves in reverse a distance corresponding to the target length for reset.
  • the present invention cooperates with the external driving mechanism through the regulating mechanism that can be connected to any puncture needle, and can independently control the upward withdrawal or insertion movement of any puncture needle, thereby controlling the single puncture depth, with convenient control, stable and reliable action and high precision.
  • the base of the present invention is fixed or mounted on the puncture template, or the base adopts a mechanical arm or a passive adjustment bracket to clamp and connect to realize multi-angle insertion and extraction of the puncture needle, so that the base remains relatively still with the target object during use.
  • the regulating mechanism When in use, the regulating mechanism is mounted on the corresponding puncture guide of the puncture template, and is connected and fixed, and the puncture needle passes through the puncture guide and the regulating mechanism, and is punctured to the target position under the guidance of the puncture guide; or, first, the puncture needle passes through the corresponding puncture guide of the puncture template, and is punctured to the target position under the guidance of the puncture guide, and then the puncture needle is embedded in the regulating mechanism from the side slot of the regulating mechanism, so that the regulating mechanism is sleeved outside the puncture needle, and then the puncture needle is connected and fixed to the puncture template; the regulating mechanism is connected to the external driving mechanism through a flexible sleeve or cable, and starting the external driving mechanism can drive the needle control assembly to move, and the target puncture needle is driven to be pulled out or inserted to a distance corresponding to the target length through the needle control assembly.
  • the needle control assembly of the present invention is connected to the external driving mechanism through a flexible sleeve or a flexible cable.
  • a driving wire, or hydraulic oil, or gas is provided in the flexible sleeve.
  • a first power element is provided in the external driving mechanism. The first power element drives the driving wire, hydraulic oil, or gas to move relative to the flexible sleeve, thereby transmitting power to the needle control assembly.
  • a second power element is provided on the needle control assembly.
  • the second power element is a motor or an electric push rod.
  • the external driving mechanism electrically controls the movement of the second power element, thereby driving the needle control assembly to pull out or insert the puncture needle.
  • the flexible sleeve or flexible cable separates the external driving mechanism from the needle control assembly, and the power of the external driving mechanism can be transmitted to the needle control assembly to realize the extraction or puncture of the puncture needle, which is conducive to the miniaturization of the needle control assembly, ensuring the isolation of the sterile environment and the sterile environment, and is easy to install.
  • FIG1 is an assembly diagram of the present embodiment 1
  • FIG2 is a schematic diagram of the structure of the control mechanism in FIG1 ;
  • FIG3 is a schematic structural diagram of the clamping component in FIG2 ;
  • FIG4 is a schematic diagram of the exploded structure of FIG3 ;
  • FIG5 is a schematic diagram of the structure of the puncture needle of FIG1 being installed on the base from the side and limited by a stopper;
  • FIG6 is a schematic diagram of the structure of Example 2.
  • FIG7 is a schematic diagram of the structure of the puncture template in FIG6 when it is connected to the base;
  • FIG8 shows an assembly diagram of the regulating mechanism of Example 3.
  • FIG9 shows an exploded view of the structure of the control mechanism in FIG8 ;
  • FIG10 shows an exploded view of the structure of the external driving mechanism and the transmission structure in FIG8 ;
  • FIG11 shows a schematic diagram of the structure of Embodiment 3 when it is based on friction wheel transmission and can be opened and closed;
  • FIG12 shows a schematic diagram of the structure when the structure shown in FIG11 is opened
  • FIG13 shows an assembly diagram of the fourth embodiment based on screw drive
  • FIG14 shows a schematic structural diagram of another external driving mechanism based on screw drive in Embodiment 4.
  • FIG15 is a schematic diagram of the structure of the embodiment 5 based on the projection and the stop member;
  • FIG16 is an exploded view of the structure shown in FIG15 ;
  • FIG17 is a schematic diagram of a partial structure of a protruding column structure of the clamping member in FIG15;
  • FIG18 is a schematic diagram of the structure of the fifth embodiment based on the projection and the anti-return spring
  • FIG19 is a schematic diagram of the partial structure of the non-return spring sheet portion in FIG18 (non-return state);
  • FIG20 is a schematic diagram of the partial structure of the stop-rebound spring sheet portion in FIG18 (release state);
  • FIG21 shows a schematic structural diagram of the spring piece portion based on the clamping member of Example 6;
  • FIG22 shows a schematic diagram of the structure of Example 7 based on inclined surface tightening
  • FIG23 shows a schematic diagram of the local structure of the inclined top block portion in FIG22
  • FIG24 is a schematic diagram of the structure of Example 8 based on active tensioning
  • FIG25 is a schematic diagram of the partial structure of the card block part in FIG24;
  • FIG26 shows a schematic diagram of the structure of Example 9 based on the side tightening of the clamping block
  • FIG27 shows a schematic diagram of the partial structure of the clamping block part in FIG26
  • FIG28 shows another structural schematic diagram of embodiment 9 based on the side tightening of the clamping block
  • FIG29 shows a schematic diagram of the partial structure of the clamping block part in FIG28
  • FIG30 shows a schematic diagram of the structure of the embodiment 10 based on the rotation column fastening
  • Figure 31 shows a schematic diagram of the partial structure of the rotating block part in Figure 29.
  • a single-body puncture depth control device includes a control mechanism, which includes a base and a needle control assembly.
  • the needle control assembly is arranged on the base and connected to an external driving mechanism.
  • the needle control assembly can be relatively fixed to the puncture needle and can drive the puncture needle to move relative to the base under the drive of the external driving mechanism so as to be pulled out or punctured inward for a certain distance.
  • the base is clamped and connected by a mechanical arm or a passively adjustable bracket to achieve multi-angle insertion and removal of the puncture needle, so that the base remains relatively still with the target object during use.
  • a mechanical arm 16503 is used to clamp the single puncture depth control device 16501 for operation.
  • the end of the mechanical arm 16503 is provided with a clamping claw 16502 for clamping the single puncture depth control device 16501, and the puncture needle can be inserted and removed at multiple angles.
  • the mechanical arm can be replaced by a passive adjustment bracket, and the passive adjustment bracket uses mechanical, electromagnetic braking, pneumatic braking, and hydraulic braking to lock the posture.
  • the needle control assembly is sleeved on the outside of the puncture needle, clamps the puncture needle through the clamping component and drives the clamping component to move under the action of the moving mechanism, thereby driving the puncture needle to move unidirectionally or reciprocatingly through friction;
  • the reciprocating motion mechanism includes a moving seat slidably arranged on the base, and the clamping component is used to clamp the puncture needle so that the puncture needle and the moving seat are relatively fixed;
  • the moving seat can reciprocate on the base and drive the clamping component to move, the clamping component adopts an active clamping mechanism or a passive clamping mechanism, and the needle control assembly is also connected to a transmission member for connecting to the external driving mechanism;
  • the passive clamping mechanism automatically clamps when the moving seat moves upward to pull out the needle, and automatically releases when the moving seat moves downward to reset.
  • the clamping component has a first notch for the puncture needle to pass through (in this embodiment, it is the first notch formed between the first movable seat 1114206 and the second movable seat 1114207), and the clamping component is clamped on the outside of the puncture needle by using the first notch on its side;
  • the base is provided with a second notch for clamping the puncture needle (the limiting grooves on the upper fixed seat 1113203 and the lower fixed seat 1113210 in this embodiment), and the base is provided with a limiting member (the block 1114205 in this embodiment), which limits the puncture needle in the second notch to prevent it from escaping from the second notch, and the limiting member is a limiting buckle or a limiting pin.
  • the clamping component When the clamping component is a side-tightening component, the clamping component is movably mounted on the movable seat, and the puncture needle can be inserted into the first notch corresponding to the clamping component.
  • the clamping component can move under the drive of an external force driving mechanism and make the side of itself corresponding to the first notch press the puncture needle into the first notch.
  • the needle control assembly is connected to the external driving mechanism through a flexible sleeve; a driving wire, or hydraulic oil, or gas is provided in the flexible sleeve, and a first power element is provided in the external driving mechanism.
  • the first power element drives the driving wire, or hydraulic oil, or gas to move relative to the flexible sleeve, thereby transmitting power to the needle control assembly.
  • the power element is one or a combination of a reciprocating part, a hydraulic oil pump, and an air pump.
  • the movable seat includes a first movable seat 1114206 and a second movable seat 1114207 which are arranged relatively to each other.
  • the first movable seat 1114206 and the second movable seat 1114207 can clamp the puncture needle 11 together.
  • the clamping component cooperates with the external driving mechanism and connects the first movable seat 1114206 and the second movable seat respectively.
  • the clamping component can drive the first movable seat 1114206 and the second movable seat 1114207 to rotate relative to each other to clamp the puncture needle 11 under the action of the driving force of the external driving mechanism along the pulling-out direction of the puncture needle 11.
  • the clamping component includes two pull tabs 1114210, one end of the two pull tabs 1114210 is rotatably connected to the transmission wire 1114204 through the connecting shaft 1114211, and the other end is rotatably connected to the first movable seat 1114206 and the second movable seat 1114207 through the pin shaft 1114209 to form a connection point; the two pull tabs 1114210 can rotate a certain angle under the action of the driving force of the external driving mechanism along the length direction of the puncture needle 11 to change the distance between the two connection points, so that the first movable seat 1114206 and the second movable seat 1114207 can rotate relative to each other to clamp or release the puncture needle 11, that is, an opening and closing clamping method is adopted.
  • the two pull tabs 1114210 reduce the distance between the two connection points of the first movable seat 1114206 and the second movable seat 1114207, and the first movable seat 1114206 and the second movable seat 1114207 rotate inward at a certain angle, and the first movable seat 1114206 and the second movable seat 1114207 clamp the puncture needle 11.
  • the two pull tabs 1114210 increase the distance between the two connection points of the first movable seat and the second movable seat, the first movable seat 1114206 and the second movable seat 1114207 rotate outward at a certain angle, and the first movable seat 1114206 and the second movable seat 1114207 release the puncture needle 11; and at this time, the two pull tabs 1114210 abut on the abutting part between the first movable seat and the second movable seat (the bottom boss of the movable seat shown in Figure 3).
  • the base includes an upper fixing seat 1113203 and a lower fixing seat 1113210.
  • the upper fixing seat 1113203 and the lower fixing seat 1113210 are both provided with a limiting hole or a limiting groove for the puncture needle 11 to pass through.
  • the limiting groove is a U-shaped structure with an opening on one side for the puncture needle 11 to enter from the side.
  • the openings of the limiting grooves on the upper fixing seat 1113203 and the lower fixing seat 1113210 are oriented in the same direction.
  • the limiting groove is suitable for cooperation with the puncture needle 11 that has been punctured and cannot be further adjusted.
  • the upper fixed seat 1113203 and/or the lower fixed seat 1113210 are provided with a stopper 1114205 corresponding to the opening of the limit slot, one end of the stopper 1114205 is rotatably connected to the fixed seat, and the stopper 1114205 can open or close the opening of the limit slot by rotating, thereby preventing the puncture needle 11 from tilting.
  • the stopper 1114205 is provided on the upper fixed seat 1113203.
  • the regulating mechanism in the single puncture depth regulating device is clamped on a mechanical arm (such as the mechanical arm 16503 of this embodiment), and the puncture needle is passed through the regulating mechanism to achieve multi-angle insertion and extraction under the action of the mechanical arm; the regulating mechanism is connected to the external driving mechanism through a flexible sleeve, and the external driving mechanism is started to drive the needle control assembly to move, and the needle control assembly drives the target puncture needle to be pulled out or inserted to a distance corresponding to the target length.
  • a mechanical arm such as the mechanical arm 16503 of this embodiment
  • the needle control assembly drives the target puncture needle to be pulled out or inserted to a distance corresponding to the target length
  • the drive element is reversely started, so that the needle control assembly releases the target puncture needle and moves in the opposite direction to a distance corresponding to the target length for reset, or the needle control assembly first releases the target puncture needle, and then reversely starts the drive element, so that the needle control assembly moves in the opposite direction to a distance corresponding to the target length for reset.
  • the structure of the regulating mechanism of this embodiment is the same as that of Example 1, and will not be repeated here.
  • the difference is that the base of this embodiment is fixed on the puncture template 1, and the puncture template can be bent or folded according to the surface shape of the biological skin to make it fit the surface of the biological skin.
  • the puncture template is provided with a plurality of puncture guides, and the puncture guides are cylindrical tubular structures; the puncture template 1 is provided with a plurality of puncture guides 2, and each puncture guide 2 is correspondingly equipped with a regulating mechanism 16501, and the puncture guide can guide the puncture path of the puncture needle, and each regulating mechanism respectively removes or inserts the corresponding puncture needle.
  • the base is solidified on the puncture template by an adhesive or a thermoplastic material
  • the adhesive is a hot melt adhesive or a quick-drying adhesive
  • the thermoplastic material is crystal clay, a low melting point metal or a quick-drying gypsum
  • the thermoplastic material is in a liquid or molten state after being heated by a hot melt adhesive fine nozzle gun, and is solidified and fixed after being cooled
  • a fixing anchor 15121105 or a fixing ring is provided on the puncture template
  • a connecting section 15121104 is provided at the lower part of the base, so as to facilitate fixing the base to the puncture template by an adhesive or a thermoplastic material.
  • thermoplastic material or adhesive Since the gaps between the individual control needle components are very small, it is necessary to apply the thermoplastic material or adhesive through an extended narrow nozzle so that the thermoplastic material or adhesive can be extended into the gaps between the control needle components.
  • the puncture needle is passed through the corresponding puncture guide of the puncture template, and punctured to the target position under the guidance of the puncture guide, and then the puncture needle is embedded in the regulating mechanism from the side slot of the regulating mechanism, so that the regulating mechanism is sleeved outside the puncture needle, and then the regulating mechanism is connected and fixed to the puncture template (in this embodiment, the base is solidified on the puncture template through thermoplastic material); the regulating mechanism is connected to the external driving mechanism through a flexible sleeve, and the external driving mechanism is started to drive the needle control assembly to move, and the target puncture needle is driven to be pulled out or inserted into the distance corresponding to the target length by the needle control assembly.
  • the needle control assembly drives the target puncture needle to be pulled out or inserted into the distance corresponding to the target length, after a preset time, the driving element is started again, and the target puncture needle is driven to be pulled out or inserted into the distance corresponding to the target length again by the needle control assembly.
  • a single-body puncture depth control device includes at least one control mechanism, each control mechanism includes a base and a needle control assembly, the needle control assembly is arranged on the base and connected to an external driving mechanism, the needle control assembly can be relatively fixed to the puncture needle, and can drive the puncture needle to move relative to the base under the drive of the external driving mechanism, so as to pull out or puncture inward for a certain distance; the base is fixed or mounted on the puncture template or the base is clamped and connected by a mechanical arm or a passive adjustment bracket to realize multi-angle insertion and extraction of the puncture needle, so that the base remains relatively stationary with the target object during use.
  • the needle control assembly is sleeved on the outside of the puncture needle, clamps the puncture needle through the clamping piece, and drives the puncture needle to reciprocate under the action of the friction driving force.
  • the clamping piece is a friction wheel or a friction belt, and the circumferential surface of the friction wheel or the friction belt can compress the puncture needle under the action of the clamping mechanism and can drive the puncture needle to move through the friction driving force;
  • the clamping mechanism is an active clamping mechanism or a passive clamping mechanism;
  • the clamping piece is provided with one or two, and when the clamping piece is provided with two, the two friction wheels or friction belts jointly compress the puncture needle, and the two friction wheels or friction belts are connected by a separation mechanism and can be separated or closed, and when the two friction wheels or friction belts are separated, the puncture needle can be placed between the two friction wheels or friction belts.
  • the needle control assembly is connected to the external driving mechanism through a flexible sleeve; a driving wire, or hydraulic oil, or gas is provided in the flexible sleeve, and a first power element (such as the driving motor 1211101 in this embodiment) is provided in the external driving mechanism.
  • the first power element drives the driving wire or hydraulic oil or gas to move relative to the flexible sleeve, thereby transmitting power to the needle control assembly to drive the friction wheel or friction belt to work.
  • the power element is one or a combination of a reciprocating motion part, a hydraulic oil pump, and an air pump.
  • the needle control assembly also includes two guide slide plates 1211109 arranged opposite to each other, and the guide slide plate 1211109 has a waist hole, and the two ends of the left shaft 125105 where the left roller 121201 is located are matched in the waist hole through the left bearing 1211202, and the guide slide plate 1211109 is provided with a top screw 121301 that can extend into the waist hole; the top screw 121301 can abut against the left bearing 125105 to push the left roller 121201 to move in the waist hole (at this time, the top screw 121301 is equivalent to a passive clamping mechanism), so that the left roller 121201 moves toward the direction close to the right roller 121203 to clamp the puncture needle 11, and an elastic block is also provided in the waist hole between the left shaft 125105 and the top screw 121301. 1211103. Both ends of the right shaft 125205 where the right roller 121203 is located are respectively installed on the first side plate 1211104 and the second side plate 1211105 through the right bearing 1211201
  • an installation cavity is formed inside the base, and the needle control assembly is arranged in the installation cavity.
  • the two opposite cavities of the installation cavity have perforations facing each other and used for the puncture needle 11 to pass through, and the perforations face the area between the left roller 121201 and the right roller 121203.
  • the base includes an upper support 1211106 and a lower support 1211107 that are arranged oppositely, and a first side plate 1211104 and a second side plate 1211105 that are arranged oppositely.
  • the upper support, the lower support, the first side plate and the second side plate together enclose the installation cavity, and the upper support and the lower support are respectively provided with perforations.
  • the guide slide plate 1211109 is respectively installed on the inner walls of the first side plate 1211104 and the second side plate 1211105, and the two ends of the right shaft where the right roller 121203 is located are respectively installed on the first side plate 1211104 and the second side plate 1211105 through the right bearings.
  • the base includes a first part and a second part that are hinged to each other and can be relatively opened and closed.
  • the first part and the second part respectively have inner cavities constituting the installation cavity.
  • the left roller 121201 and the right roller 121203 are respectively arranged in the inner cavities of the first part and the second part, and the perforation is composed of two semicircular parts respectively located on the first part and the second part. In this way, the base can be opened, and then can be used to connect the puncture needle 11 that has been punctured in place, without adjusting the puncture needle 11.
  • a transmission assembly is provided on the base, and the transmission assembly includes a winding wheel 121204 coaxial with the right roller 121203, and the winding wheel 121204 is used to cooperate with the first drive wire 124101 (drive rope structure or transmission wire structure) of the external drive mechanism.
  • a plurality of clamping wheels i.e., the clamping part in this embodiment, including a first clamping wheel 121202 and a second clamping wheel 121205, the first clamping wheel 121202 and the second clamping wheel 121205 are distributed around the winding wheel 121204, and the first clamping wheel and the second clamping wheel are used to clamp the first drive wire 124101 on the circumferential surface of the winding wheel 121204.
  • a shoulder screw 121206 is provided on the wheel axle where the second clamping wheel 12105 is located.
  • the guide block 124103 is disposed at the winding wheel.
  • the guide block 124103 is provided with a first wire-passing channel and a second wire-passing channel for the first drive wire 124101 to pass through.
  • the first drive wire 124101 can pass through the first wire-passing channel, be wound around the winding wheel 121204, and pass out through the second wire-passing channel.
  • the guide block 124103 is provided with guide columns (i.e., the guide portion in this embodiment) 124104 at one end of the first wire-passing channel and the second wire-passing channel close to the winding wheel, respectively.
  • the guide columns 124104 are used for the first drive wire 124101 to change direction when passing through the first wire-passing channel to the winding wheel 121204 or passing through the winding wheel 121204 to the second wire-passing channel.
  • guide sleeves 124102 for the first driving wire 124101 to pass through are respectively arranged at the channel openings of the first wire passing channel and the second wire passing channel at one end away from the winding wheel 121204.
  • the present embodiment also provides an external driving mechanism, including a driving motor 1211101, the driving motor is used to provide driving force; and a transmission assembly, the transmission assembly is connected to the driving motor, and can transmit the driving force of the driving motor 1211101 to the needle control assembly through the first driving wire 124101.
  • the transmission assembly includes a first housing 1211102, a first winding wheel 1211108 arranged in the first housing 1211102 and wound with the first driving wire 124101, and both ends of the first driving wire 124101 extend out to connect to the needle control assembly.
  • the assembly structure of the single needle control assembly and the driving assembly the driving motor 1211101 drives the first winding wheel 1211108 to rotate forward and reversely, and the winding wheel of the needle removal assembly can be driven to rotate through the first driving wire 124101, thereby driving the right roller 121203 to rotate forward and reversely, so that it can cooperate with the left roller 121201 to realize the movement of the puncture needle 11 in the removal and insertion directions.
  • the regulating mechanism in the single puncture depth regulating device is set up on the corresponding puncture guide part of the puncture template, and connected and fixed.
  • the puncture needle passes through the puncture guide part and the regulating mechanism, and punctures to the target position under the guidance of the puncture guide part;
  • the regulating mechanism is connected to the external driving mechanism through a flexible sleeve, and the external driving mechanism is started to drive the needle control assembly to move, and the needle control assembly drives the target puncture needle to be pulled out or inserted into the distance corresponding to the target length.
  • the needle control assembly After the needle control assembly drives the target puncture needle to be pulled out or inserted into the distance corresponding to the target length, after a preset time, the driving element is reversely started, so that the needle control assembly releases the target puncture needle and moves in the opposite direction at the same time to reset the distance corresponding to the target length, or the needle control assembly first releases the target puncture needle, and then reversely starts the driving element, so that the needle control assembly moves in the opposite direction at the distance corresponding to the target length to reset.
  • the present embodiment provides a single-body puncture depth control device, including at least one control mechanism, each control mechanism including a base and a needle control assembly, the needle control assembly is arranged on the base and is connected to the external driving mechanism through a flexible cable, the needle control assembly can be relatively fixed to the puncture needle 11, and can drive the puncture needle 11 to move along the base under the drive of the external driving mechanism, so as to pull it outward or puncture it inward for a certain distance.
  • the base is fixed or mounted on the puncture template, or the base is clamped and connected by a mechanical arm or a passive adjustment bracket to realize multi-angle insertion and extraction of the puncture needle, so that the base remains relatively still with the target object during use.
  • the puncture template When the base is fixed or mounted on the puncture template, the puncture template is provided with a plurality of puncture guides, each of which is provided with a corresponding regulating mechanism.
  • the puncture guide can guide the puncture path of the puncture needle, and each regulating mechanism respectively removes or inserts the corresponding puncture needle.
  • the needle control assembly is sleeved on the outside of the puncture needle, and the abutment component abuts the puncture needle and drives the abutment component to move under the action of the motion mechanism, thereby promoting the puncture needle to move in one direction or reciprocatingly.
  • a push hook is provided on the top of the abutment component, and the push hook abuts the handle at the tail of the puncture needle to pull the needle up or insert the needle down.
  • the needle control assembly is provided with a second power element (such as the micro motor 13301 in this embodiment), and the second power element is a motor or an electric push rod.
  • the external driving mechanism electrically controls the movement of the second power element, thereby driving the needle control assembly to pull out or insert the puncture needle.
  • the needle control assembly includes a third movable seat 13101 slidably disposed on the base and a clamping component matched with the third movable seat 13101.
  • the clamping component is used to clamp or abut the puncture needle 11 so that the puncture needle 11 and the third movable seat 13101 are relatively fixed, and the needle control assembly is also connected to a transmission member for connecting to an external driving mechanism.
  • the clamping component includes a card interface provided on the third movable seat 13101, the card interface can accommodate the needle body of the puncture needle 11, and the third movable seat 13101 is connected to the transmission member.
  • the card interface and the needle body of the puncture needle 11 have an interference fit; or the card interface is locked and fixed with the needle body of the puncture needle 11 through a structure such as a screw or a buckle; or the card interface and the needle body of the puncture needle 11 have a clearance fit, and the part of the third movable seat 13101 corresponding to the card interface can abut or connect to the needle handle of the puncture needle 11.
  • a buckle 13106 is also connected to the base, which buckles the puncture needle 11 on the base to prevent the puncture from tilting.
  • This embodiment also provides an external driving mechanism, including a driving motor and a transmission assembly, wherein the driving motor is used to provide driving force; the transmission assembly is connected to the driving motor, and can transmit the driving force of the driving motor to the needle control mechanism through the driving wire.
  • the transmission assembly includes a first screw rod 13105 connected to the micro motor 13301 (the first screw rod 13105 also serves as a transmission member of the needle control assembly), the first screw rod 13105 is arranged in the push hook slot housing 13104, the end of the first screw rod is fixed to the first end cover 13103 at the top of the push hook slot housing 13104 through the first bearing 13102, and the micro motor 13301 is fixed to the base 13107.
  • the third movable seat 13101 of the needle control assembly is sleeved on the first screw rod 13105; or referring to the attached figure Figure 14, the sliding block 4422303 sleeved on the second screw rod 4422302 is connected to the movable seat of the needle control assembly through the second driving wire 4422307.
  • the driving motor drives the third movable seat 13101 to reciprocate along the first screw rod 13105 through the first screw rod 13105, so as to realize the withdrawal and insertion of the puncture needle 11.
  • the first screw rod 13105 structure can only be always connected to the puncture needle 11, so it can only move synchronously with the puncture needle 11 in one direction and cannot move in the opposite direction to reset, so the length of the first screw rod 13105 needs to be greater than the total withdrawal length of the puncture needle 11.
  • the transmission assembly includes a second housing 4422305, and the second screw rod 4422302 is arranged in the second housing 4422305, one end of which is connected to the first transmission shaft 4422304, and the other end is fixed to the second housing 4422305 through a second bearing 4422309, and one side of the second screw rod 4422302 also has a sliding shaft 4422301 parallel to it, and the sliding block 4422303 is slidably matched with the sliding shaft 4422301 at the same time.
  • the second driving wire 4422307 enters the second outer shell through a first sleeve 4422308 fixed on the second outer shell 4422305.
  • the part where the second driving wire 4422307 is connected to the sliding block 4422303 is also covered with a first correction sleeve 4422306.
  • the first correction sleeve 4422306 is fixedly connected to the sliding block 4422303, and is used to prevent the second driving wire 4422307 from bending during the displacement process.
  • a check assembly is also provided on the base, and the check piece of the check assembly is interference fit with the puncture needle 11 or the check piece is pressed against the puncture needle 11 and prevents the puncture needle 11 from rebounding through friction.
  • the check piece is a clamping ring or a buckle structure, the clamping ring is a circular clamping ring 13201 sleeved on the needle body of the puncture needle 11, and the buckle is a U-shaped buckle 13202 clamped on the needle body of the puncture needle 11.
  • the regulating mechanism in the single puncture depth regulating device is set up on the corresponding puncture guide part of the puncture template and connected and fixed.
  • the puncture needle passes through the puncture guide part and the regulating mechanism, and punctures to the target position under the guidance of the puncture guide part;
  • the regulating mechanism is connected to the external driving mechanism through a cable, and the external driving mechanism is started to drive the needle control assembly to move, and the needle control assembly drives the target puncture needle to be pulled out or inserted to a distance corresponding to the target length.
  • the needle control assembly drives the target puncture needle to be pulled out or inserted to a distance corresponding to the target length
  • the driving element such as the micromotor 13301 in this embodiment
  • the needle control assembly drives the target puncture needle to be pulled out or inserted to a distance corresponding to the target length again.
  • the present embodiment provides a single-body puncture depth control device, including at least one control mechanism, each control mechanism including a base and a needle control assembly, the needle control assembly is arranged on the base and is connected to the external driving mechanism through a flexible sleeve, the needle control assembly can be relatively fixed to the puncture needle 11, and can drive the puncture needle 11 to move along the base under the drive of the external driving mechanism, so as to pull it outward or puncture it inward for a certain distance.
  • the base is fixed or mounted on the puncture template, or the base is clamped and connected by a mechanical arm or a passive adjustment bracket to realize multi-angle insertion and extraction of the puncture needle, so that the base remains relatively still with the target object during use.
  • the puncture template When the base is fixed or mounted on the puncture template, the puncture template is provided with a plurality of puncture guides, each of which is provided with a corresponding regulating mechanism.
  • the puncture guide can guide the puncture path of the puncture needle, and each regulating mechanism respectively removes or inserts the corresponding puncture needle.
  • the needle control assembly is sleeved on the outside of the puncture needle, clamps the puncture needle through the clamping component and drives the clamping component to move under the action of the moving mechanism, thereby driving the puncture needle to move unidirectionally or reciprocatingly through friction.
  • the moving mechanism includes a moving seat slidably arranged on the base, and the clamping component is used to clamp the puncture needle so that the puncture needle and the moving seat are relatively fixed; the moving seat can reciprocate on the base and drive the clamping component to move, and the clamping component adopts a passive clamping mechanism.
  • the needle control assembly is also connected to a transmission member for connecting to the external driving mechanism; the passive clamping mechanism automatically clamps when the moving seat moves upward to remove the needle, and automatically releases when the moving seat moves downward to reset.
  • the passive clamping mechanism uses a rotating clamping assembly to clamp the puncture needle.
  • the needle control assembly includes a fourth movable seat 1113206 slidably arranged on the base and a clamping component matched with the fourth movable seat 1113206.
  • the clamping component is used to clamp the puncture needle 11 so that the puncture needle 11 and the fourth movable seat 1113206 are relatively fixed.
  • the needle control assembly is also connected to a transmission member for connecting to an external driving mechanism.
  • the transmission member is a driving wire connected to the second movable seat.
  • the driving wire is a fourth transmission wire 1113201 structure. The driving wire can withstand tensile stress and compressive stress, thereby transmitting tensile force or thrust.
  • the rotary clamping assembly includes a rotating part and a rotary driving mechanism.
  • the rotary driving mechanism When the rotary clamping assembly is driven by the motion mechanism to move upward, the rotary driving mechanism will drive the rotary part to rotate or bend.
  • the rotary part is provided with a through hole, a through groove or a double protrusion. When the rotary part rotates or bends, it will clamp the puncture needle passing through the through hole, the through groove or the double protrusion thereon; and when the rotary clamping assembly is driven by the motion mechanism to move downward, the rotary driving mechanism will drive the rotary part to rotate or bend to a limited position, and the rotary part will no longer clamp the puncture needle at the limited position.
  • the rotary drive mechanism is a driving connecting rod, which pries or pulls the rotating part to rotate or bend when moving upward; or the rotary drive mechanism is a gear and a rack, the rack drives the gear, and the gear drives the rotating part to rotate or bend; the rotating part is a rotating column or a rotating sheet or a flexible sheet.
  • the clamping part adopts a rotating clamping method.
  • the clamping part includes a main body and two protruding columns 1113208 extending from the main body.
  • the main body is rotatably arranged on the fourth movable seat 1113206 through the third bearing 1113207.
  • a clamping opening for the puncture needle 11 to pass through is formed between the two protruding columns 1113208, or a through hole is provided on the main body.
  • the main body is rotatably arranged on the fourth movable seat 1113206, and the through hole forms a clamping opening for the puncture needle 11 to pass through.
  • the width of the clamping opening is greater than the diameter of the needle body of the puncture needle 11.
  • the main body is connected to the fourth transmission wire 1113201, and the outer sleeve of the fourth transmission wire 1113201 is provided with a second sleeve 1113202; the main body can rotate in one direction under the action of the driving force of the external driving mechanism along the direction of pulling out the puncture needle 11 to reduce the width of the projection of the clamping opening on the plane perpendicular to the axial direction of the puncture needle 11, so as to clamp the puncture needle 11.
  • This embodiment adopts passive clamping, that is, the driving force for pulling out the puncture needle 11 is used to clamp the puncture needle 11 at the same time, and one driving force is used to achieve clamping and pulling out.
  • the main body can rotate in the opposite direction under the action of the driving force of the external driving mechanism along the insertion direction of the puncture needle 11 to increase the width of the projection of the clamping port on the plane perpendicular to the axial direction of the puncture needle 11.
  • the fourth transmission wire 1113201 pulls the main body to clamp the puncture needle 11, the main body, the fourth movable seat 1113206 and the puncture needle 11 form a whole.
  • the fourth transmission wire 1113201 continues to pull the main body, so that the whole formed by the main body, the fourth movable seat 1113206 and the puncture needle 11 is pulled out a certain distance, and then the fourth transmission wire 1113201 pushes the main body in the opposite direction to rotate in the opposite direction, so that the clamping component is separated from the puncture needle 11, and then because the main body abuts the fourth movable seat 1113206, the fourth transmission wire 1113201 can push the fourth movable seat 1113206 in the opposite direction to move the same distance to reset.
  • multiple reciprocating movements within a range can realize the intermittent and continuous pulling out of the puncture needle 11, and then the reciprocating movement within a short distance can be used to achieve a longer total pulling out distance of the puncture needle 11.
  • a check assembly is also provided on the base, and the check assembly adopts a check piece 1113209, which is fixed on the base and has a check opening for the puncture needle 11 to pass through, and the check opening is interference fit with the puncture needle 11, as shown in the attached figure 16. Since the human body has elasticity, after the puncture needle 11 is pulled out for a certain distance, the human body will generate a rebound pulling force along the insertion direction on the puncture needle 11, so the interference fit between the check piece and the puncture needle 11 is used to overcome the rebound pulling force, or the check piece is pressed against the puncture needle 11 and prevents the puncture needle 11 from rebounding by friction, so that the puncture needle 11 remains stationary after being pulled out for a certain distance.
  • the non-return assembly may also use a non-return spring sheet 11133101, one end of which is hinged to the base and the other end contacts the body of the puncture needle 11, and the non-return spring sheet 11133101 forms an acute angle with the portion of the puncture needle 11 close to the needle tip, and the edge of one end of the non-return spring sheet 11133101 that contacts the puncture needle 11 has a limiting notch that can at least partially accommodate the body of the puncture needle 11. Since the anti-return spring sheet and the part of the puncture needle 11 near the needle tip have an acute angle, when the puncture needle 11 is pulled out, the anti-return spring sheet has a tendency to rotate outward and reduce the angle.
  • the anti-return spring sheet 11133101 can rotate outward freely, the puncture needle 11 is not affected when it is pulled out; when the puncture needle 11 is inserted, the anti-return spring sheet 11133101 has a tendency to rotate inward and increase the angle. Since one end of the anti-return spring sheet abuts against the puncture needle 11 and cannot rotate inward, the puncture needle 11 cannot be inserted, thereby preventing the puncture needle 11 from being affected by the rebound tension of the human body and reversely inserting a certain distance after being pulled out.
  • Embodiment 5 is a further improvement of Embodiment 5, and some of the same contents refer to other Embodiment 5.
  • the clamping component includes a clamping piece 1114504, which is provided with a clamping opening for the puncture needle 11 to pass through, the width of the clamping opening is greater than the diameter of the needle body of the puncture needle 11, the clamping piece 1114504 is connected to the fifth transmission wire 1114501, and the fifth transmission wire 1114501 is covered with a sleeve 1114503; the clamping piece 1114504 can be tilted in one direction under the action of the driving force of the external driving mechanism along the direction of pulling out the puncture needle 11, so as to reduce the width of the projection of the clamping opening on the plane perpendicular to the axial direction of the puncture needle 11, so as to clamp the puncture needle 11.
  • the clamping member 1114504 can tilt in the reverse direction under the driving force of the external driving mechanism along the puncture needle 11's piercing direction to increase the width of the projection of the clamping port on the plane perpendicular to the axial direction of the puncture needle 11.
  • the end of the clamping member 1114504 or the fifth transmission wire 1114501 abuts against the abutment portion of the movable seat (refer to the right side boss of the movable seat in Figure 16 of the attached drawing) and is relatively fixed.
  • the principle of the clamping member 1114504 is the same as that of the double-protruding column structure of Example 3.
  • a first mounting groove is provided on the mobile seat, and the first mounting groove is provided on the right side of the left part of the mobile seat.
  • the first end of the clamping member 1114504 located on one side of the clamping port is accommodated in the first mounting groove, and the second end of the clamping member 1114504 located on the other side of the clamping port is located outside the mounting groove and connected to the transmission member.
  • the height of the internal space of the first mounting groove in the thickness direction of the clamping member 1114504 is greater than the thickness of the clamping member 1114504, which can provide space for the clamping member 1114504 to tilt.
  • This embodiment is a further improvement of other embodiments, and some of the same contents refer to other embodiments.
  • the clamping component includes a first top block 114108 and a second top block 114107 arranged on the movable seat 114104, and the first top block 114108 and the second top block 114107 have mutually matching inclined surfaces on the opposite sides of each other, and the puncture needle 11 passes through the fifth movable seat 114104 from a position (clamping port) on one side of the second top block 114107, and the first top block 114108 is connected to the fourth transmission wire 1113201, and the fourth transmission wire 1113201 is provided with a second sleeve 1113202 on its outer sleeve.
  • the first top block 114108 can move toward the direction close to the second top block 114107 under the action of the driving force of the external driving mechanism in the direction of pulling out the puncture needle 11, so that the second top block 114107 can be moved toward the side of the corresponding puncture needle 11 by squeezing the inclined surfaces of the two to press the puncture needle 11, that is, a side pressing method is adopted.
  • the first top block 114108 can move in the direction away from the second top block 114107 under the action of the driving force of the driving mechanism in the direction of puncture needle 11, so that the second top block 114107 loses the squeezing of the inclined surface of the first top block 114108, so that the second top block 114107 releases the puncture needle 11, and at the same time, the first top block or the transmission member abuts against the fifth movable seat 114104, driving the fifth movable seat to move along the direction of puncture needle 11.
  • the fifth movable seat 114104 is provided with a second mounting groove, the first top block 114108 and the second top block 114107 are arranged in the second mounting groove, the fifth movable seat 114104 is provided with a hole for the fourth transmission wire 1113201 to extend into the second mounting groove, the second mounting groove has an opening at a position corresponding to one side of the second top block 114107, and the opening allows the second top block 114107 to partially extend out of the second mounting groove to press against the puncture needle 11.
  • the second mounting groove can constrain the movement trajectory of the first top block 114108 and the second top block 114107, or further a hinge is used to replace the second mounting groove to constrain the movement trajectory of the first top block 114108 and the second top block 114107.
  • the movable seat 114104 is arranged on a base formed by a first upper fixed seat 114102 and a first lower fixed seat 11111301, specifically, on a guide column 114103 arranged between the first upper fixed seat 114102 and the first lower fixed seat 11111301.
  • This embodiment is a further improvement of other embodiments. Some of the same contents refer to other embodiments and are not described in detail in this embodiment. The difference is that the clamping component adopts an active clamping mechanism.
  • the active clamping mechanism has a first driving unit that can actively control the clamping component to clamp and release the puncture needle, and can cooperate with the moving seat to realize the upward needle pulling movement.
  • the clamping component includes a clamping block 114206, a clamping opening for the puncture needle 11 to pass through is provided on the clamping block 114206, the width of the clamping opening is greater than the diameter of the needle body of the puncture needle 11, the sixth movable seat 114203 and the clamping block 114206 are respectively connected with a second transmission wire 114202 and a third transmission wire 114205, the second transmission wire 114202 is covered with a third sleeve 114201, and the third transmission wire 114205 is covered with a third sleeve 114204; the clamping block can move under the drive of an external driving mechanism, so that a groove wall on one side of the clamping opening presses the puncture needle 11 passed through the clamping opening against the side of the sixth movable seat 114203.
  • the sixth movable seat 114203 is provided with a third mounting slot for accommodating the card block 114206, and one side of the third mounting slot has an opening for the card block 114206 to partially extend out of the third mounting slot, and a clamping opening is provided on the portion of the card block 114206 extending out of the third mounting slot, and the third mounting slot can constrain the movement trajectory of the card block 114206, or a hinge is used instead of the third mounting slot to constrain the movement trajectory of the card block 114206.
  • This embodiment adopts active clamping, that is, clamping and pulling out have corresponding driving forces (the sixth movable seat 114203 and the clamping block 114206 are respectively connected with the second transmission wire 114202 and the third transmission wire 114205).
  • the clamping block 114206 is first tightened by the third transmission wire 114205 to make the puncture needle 11 press against the side of the sixth movable seat 114203, and then the sixth movable seat 114203 is pulled by the second transmission wire 114202, so that the puncture needle 11 is pulled out with the movement of the sixth movable seat 114203.
  • the clamping block 114206 is released to separate the puncture needle 11 from the sixth movable seat 114203, and then the second transmission wire is pushed in the reverse direction to drive the sixth movable seat to move in the reverse direction and reset.
  • This embodiment is a further improvement of other embodiments, and some of the same contents refer to other embodiments, which will not be described in detail in this embodiment.
  • This embodiment uses a side compression method to compress the puncture needle.
  • the side tightening assembly is a side clamping assembly or a side tensioning assembly.
  • the side clamping assembly or the side tensioning assembly When the side clamping assembly or the side tensioning assembly is driven upward by the moving mechanism, it will automatically press/tighten the puncture needle from the side, and rely on the friction force generated by the pressing/tightening to drive the puncture needle upward. Then, when the side clamping assembly or the side tensioning assembly is driven downward by the moving mechanism, the side clamping assembly or the side tensioning assembly will be automatically released to allow it to be reset.
  • the side clamping assembly or the side tensioning assembly adopts a connecting rod clamping assembly, which pries and presses/pulls the puncture needle through a connecting rod (such as the first clamping block 1114107 or the second clamping block 1114114 in this embodiment); or the side clamping assembly or the side tensioning assembly adopts a cam clamping assembly, which presses/pulls the puncture needle through the rotation of the cam; or the side clamping assembly or the side tensioning assembly adopts an inclined surface or a sliding groove clamping assembly, which drives the clamping block or the tensioning block to move through the inclined surface or the sliding groove to achieve compression/tensioning of the puncture needle; the side clamping assembly or the side tensioning assembly is equipped with a limiting portion that cannot be further loosened after being loosened to a certain position.
  • the clamping component includes a first clamping block 1114107, and the middle position between the two ends of the first clamping block 1114107 is rotatably connected to the seventh movable seat 1114105 through a rotating shaft 1114108, one end of the first clamping block 1114107 is connected to the sixth transmission wire 1114102, and the other end contacts the puncture needle 11, and the sixth transmission wire 1114102 is covered with a fourth sleeve 1114101; the first clamping block 1114107 can rotate around the rotation connection point with the seventh movable seat 1114105 under the action of the driving force of the needle control driving mechanism along the withdrawal direction of the puncture needle 11, so that one end of the puncture needle 11 is in contact with the puncture needle 11 to press the puncture needle 11 against the side of the seventh movable seat 1114105, that is, a side clamping method is adopted.
  • the first clamping block 1114107 can rotate in the opposite direction around the rotation connection point with the seventh movable seat 1114105 under the action of the driving force of the needle control driving mechanism along the insertion direction of the puncture needle 11, so as to release the puncture needle 11 by contacting one end of the puncture needle 11.
  • the seventh movable seat 1114105 is disposed on the first guide column 1114104 (the number is at least one) between the second upper fixed seat 1114103 and the second lower fixed seat 1114109, and the seventh movable seat 1114105 is slidably matched with the first guide column 1114104 through an elastic snap ring 1114106.
  • the second lower fixed seat 1114109 is disposed on the base 1114110, and the base 1114110 has an assembly groove for accommodating the second lower fixed seat 1114109, and an elastic gasket 1114111 is disposed in the assembly groove.
  • the clamping component structure shown in the figures is similar to the structure shown in FIG. 26 and 27 , and the clamping principle is also similar, except that the eighth movable seat 1114113 and the second clamping block 1114114 are different in layout structure from the structure shown in FIG. 26 and 27 , and the third upper fixed seat 1114112 is different from the second upper fixed seat 1114103 of the structure shown in FIG. 26 and 27 .
  • This embodiment is a further improvement of other embodiments, and some of the same contents refer to other embodiments.
  • the clamping component includes a rotating column 1114116 rotatably arranged on the ninth movable seat 1114115, and the rotating column 1114116 has a through hole for the puncture needle 11 to pass through, and the direction of the through hole is perpendicular to the axial direction of the rotating column 1114116, and the rotating column 1114116 is connected to the sixth transmission wire 1114102 through an intermediate transmission mechanism or directly connected to the sixth transmission wire 1114102, and the intermediate transmission mechanism can convert the linear motion of the sixth transmission wire 1114102 into the rotational motion of the rotating column 1114116, and the intermediate transmission mechanism is one or more combinations of levers, winding wheels, belt drives, and gear racks; the rotating column 1114116 can rotate around its own axis under the action of the driving force of the external driving mechanism along the direction of pulling out the puncture needle 11, so that the through hole is relative to the puncture needle inserted therein.
  • the rotating column 1114116 can rotate around its own axis in the opposite direction at a certain angle under the action of the driving force of the driving mechanism along the puncture needle 11 insertion direction to release the puncture needle 11 by perforation, and at the same time, the end of the rotating column 1114116 or the sixth transmission wire 1114102 abuts against the ninth movable seat 1114115 and is relatively fixed.
  • the rotating column 1114116 is arranged inside the ninth movable seat 1114115, and the ninth movable seat 1114115 is provided with a hole for the puncture needle 11 to pass through.
  • the rotating column 1114116 has a connecting portion on its circumferential surface extending to the outside of the ninth movable seat 1114115, and the connecting portion is connected to the sixth transmission wire 1114102.
  • the single body puncture depth regulating mechanism also includes a base 1114110, a second lower fixing seat 1114109 of the base is installed on the base 1114110, and the second lower fixing seat 1114109 and the base 1114110 are relatively fixed through an assembly structure (snap-in structure, locking structure, threaded structure and interference fit structure).
  • the assembly structure includes an assembly groove provided on the base 1114110, and a protruding limit block is provided on the wall of the assembly groove near the groove opening thereof.
  • the second lower fixing seat 1114109 matches the shape of the assembly groove and has a notch on its edge that can match the limit block; the second lower fixing seat 1114109 can enter the assembly groove when its notch corresponds to the limit block, and the second lower fixing seat 1114109 entering the assembly groove can rotate at a certain angle to stagger the notch and the limit block so as to be relatively fixed with the base 1114110.
  • An elastic gasket 1114111 that can carry the second lower fixing seat 1114109 is also provided in the assembly groove.

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Abstract

本发明公开了一种单体穿刺深度调控装置及其调控方法，该装置的调控机构包括底座和控针组件，控针组件设置在底座上且与外部驱动机构相连，控针组件能够与穿刺针相对固定，并能够在外部驱动机构的驱动下带动穿刺针相对底座移动，以向外拔出或向内穿刺一定距离；底座固定或架设在穿刺模板上，或底座采用机械臂或被动调节支架夹持连接实现多角度插拔穿刺针，使底座在使用中与目标对象保持相对静止。使用时将穿刺针从调控机构的侧面开槽处嵌入其内，使调控机构套在穿刺针外，再将穿刺针与穿刺模板进行连接固定；将调控机构与外部驱动机构通过柔性套管或电缆连接，启动外部驱动机构驱动控针组件动作，通过控针组件带动穿刺针拔出或刺入对应目标长度的距离。

Description

一种单体穿刺深度调控装置及其调控方法 技术领域
本发明涉及医疗器械技术领域，特别是涉及一种单体穿刺深度调控装置及其调控方法。
 背景技术
穿刺针通常用于微创外科手术，其应用场景包括但不限于：穿刺针刺入体腔并抽取生物体组织或分泌物以用于化验、穿刺针刺入体腔并向体腔注入气体或造影剂以用于造影检查、穿刺针刺入体腔并向体腔内注入药物以用于治疗。以放射性粒子植入手术举例来说，其使用多根穿刺针按照设定方位将同位素放射源粒子作为药物注入患者的肿瘤目标位置处，待粒子植入完成后，需要将穿刺针从患者体腔拔出。
在手术过程中需要刺入多根穿刺针，而且不同穿刺针的穿刺方向各异，而且需要选择性地往穿刺针内植入放射性粒子，植入过放射性粒子的穿刺针需要拔出，如果是操作人员手动拔出话会对其造成辐射伤害。因此有必要采用自动化的医疗器械代替医生在辐射环境下完成手术。
 发明内容
本发明的目的是提供单体穿刺深度调控装置及其调控方法，解决现有技术中采用人工手动操作穿刺针拔出存在的操作精度低、人员受伤害风险的问题。
本发明的上述技术目的是通过以下技术方案得以实现的：
一种单体穿刺深度调控装置，包括至少一个调控机构，各调控机构包括底座和控针组件，所述控针组件设置在所述底座上且与外部驱动机构相连，所述控针组件能够与穿刺针相对固定，并能够在所述外部驱动机构的驱动下带动穿刺针相对所述底座移动，以向外拔出或向内穿刺一定距离。
所述底座固定或架设在穿刺模板上，或所述底座采用机械臂或被动调节支架夹持连接实现多角度插拔穿刺针，使底座在使用中与目标对象保持相对静止。
作为优选，当底座固定或架设在穿刺模板上时，所述穿刺模板上设有多个穿刺引导部，每个穿刺引导部上对应装设有一个调控机构，穿刺引导部能够引导穿刺针的穿刺路径，每个调控机构分别对相应的穿刺针进行拔针或插针。
作为优选，所述控针组件套设在穿刺针外侧，通过卡紧部件卡紧穿刺针并在运动机构的作用下驱动卡紧部件运动，从而通过摩擦力驱动穿刺针单向运动或往复运动；或通过抵接部件抵住穿刺针并在运动机构的作用下驱动抵接部件运动，从而推动穿刺针单向运动或往复运动；或通过摩擦轮或摩擦带压紧穿刺针并在摩擦驱动力的作用下带动穿刺针往复运动。
作为优选，所述摩擦轮的圆周面或摩擦带在压紧机构的作用下能够压紧穿刺针并能够通过摩擦驱动力带动穿刺针移动；所述压紧机构为主动压紧机构或被动压紧机构；所述夹紧件设有一个或两个，当夹紧件设有两个时，两个所述摩擦轮或摩擦带共同压紧穿刺针，两个所述摩擦轮或摩擦带通过分离机构连接并能够实现分离或合拢，当两个所述摩擦轮或摩擦带分离时，穿刺针能够放入两个所述摩擦轮或摩擦带之间；
当所述控针组件通过卡紧部件卡紧穿刺针并在往复运动机构的作用下驱动卡紧部件运动，从而通过摩擦力驱动穿刺针单向运动或往复运动时，所述往复运动机构包括滑动地设置在所述底座上的移动座，所述卡紧部件用于卡紧穿刺针，以使穿刺针与所述移动座相对固定；所述移动座能够在所述底座上往复运动并驱动所述卡紧部件运动，所述卡紧部件采用主动卡紧机构或被动卡紧机构，所述控针组件还连接有用于连接所述外部驱动机构的传动件。
所述主动卡紧机构具有能够主动控制所述卡紧部件对于穿刺针卡紧与松开的第一驱动单元，并能够配合移动座实现向上拔针运动。所述被动卡紧机构在所述移动座向上运动拔针时自动卡紧，在所述移动座向下复位运动时自动松开。
当所述控针组件通过抵接部件抵住穿刺针并在往复运动机构的作用下驱动抵接部件运动，从而推动穿刺针单向运动或往复运动时，所述抵接部件顶部设有推钩，推钩抵住穿刺针尾部手柄进行向上拔针或向下插针。
作为优选，所述卡紧部件上具有供穿刺针穿过的第一缺口，所述卡紧部件利用其侧面的第一缺口装夹在穿刺针外侧。
所述底座上设有装夹穿刺针的第二缺口，底座上设有限位件，限位件将穿刺针限制在第二缺口内，避免其从第二缺口脱离，限位件为限位扣或限位销。
当卡紧部件是卡爪卡紧组件时，穿刺针从卡紧部件的两个相对设置的卡紧单 元之间伸入，外部驱动机构带动两个卡紧单元相对闭合来夹紧穿刺针。
当卡紧部件是侧面顶紧组件时，卡紧部件活动安装于所述移动座，穿刺针能够穿设在对应所述卡紧部件的第一缺口中，卡紧部件能够在外力驱动机构带动下运动并使自身对应所述第一缺口的侧面将穿刺针抵紧在所述第一缺口中。
当卡紧部件是旋转卡紧组件时，卡紧部件可转动地安装于所述移动座，穿刺针从第一缺口穿过卡紧部件的通孔或通槽或双突柱，外部驱动机构带动卡紧部件旋转一定角度可别紧穿刺针。
作为优选，所述控针组件与外部驱动机构通过柔性套管或柔性电缆相连。当所述控针组件与外部驱动机构通过柔性套管连接时，所述柔性套管内设有驱动丝、或液压油、或气体，所述外部驱动机构内设有第一动力元件，所述第一动力元件驱动驱动丝或液压油或气体相对于柔性套管运动，从而将动力传递至控针组件，所述动力元件是往复运动部、液压油泵、气泵的一种或组合。
或者当控针组件与外部驱动机构通过柔性电缆连接时，控针组件上设有第二动力元件，第二动力元件为电机或电推杆，外部驱机构通过柔性电缆对所述第二动力元件进行电控制，从而驱动控针组件对穿刺针进行拔出或插入。
作为优选，所述底座通过快速装夹装置固定在穿刺模板上，快速装夹装置采用卡扣结构、锁扣结构、螺纹结构、销钉结构中的一种或组合，当快速装夹装置采用卡扣结构时，其内部设有弹性体以提高卡接效果。
或者，底座通过粘结剂或热塑性材料固化在穿刺模板上，粘接剂为热熔胶或速干胶，热塑性材料为水晶土、低熔点金属或速干石膏，热塑性材料加热后呈液态或熔融状态，冷却后实现固化固定，穿刺模板上设有固定锚钉或固定环，底座下部设有连接段，便于用粘结剂或热塑性材料将底座与穿刺模板固定。
作为优选，穿刺模板能够根据生物体皮肤表面形状进行弯曲或弯折调整使其贴合在生物体皮肤表面，所述穿刺模板上设有若干穿刺引导部，所述穿刺引导部为圆柱管状结构。
一种单体穿刺深度调控装置的调控方法：
使单体穿刺深度调控装置中的调控机构架设在穿刺模板的对应穿刺引导部上，并进行连接固定，或将调控机构装夹在机械臂或被动调节支架上，将穿刺针穿过穿刺引导部和/或调控机构，并在穿刺引导部的引导下穿刺到目标位置，或在机械臂或被动调节支架的引导下穿刺到目标位置，然后在调控机构的作用下实现穿刺针的多角度插拔；
或者，先将穿刺针穿过穿刺模板或机械臂或被动调节支架的对应穿刺引导部，并在穿刺引导部的引导下穿刺到目标位置，然后将穿刺针从调控机构的侧面开槽处嵌入调控机构，使调控机构套在穿刺针外，再将调控机构与穿刺模板或机械臂或被动调节支架进行连接固定；将调控机构与外部驱动机构通过柔性套管或电缆连接，启动所述外部驱动机构，从而驱动控针组件动作，通过所述控针组件带动所述目标穿刺针拔出或刺入对应目标长度的距离。
作为优选，在所述控针组件带动所述目标穿刺针拔出或刺入对应目标长度的距离之后，经过预设时长后，再次启动所述驱动元件，通过所述控针组件带动所述目标穿刺针再次拔出或刺入对应目标长度的距离。
作为优选，在所述控针组件带动所述目标穿刺针拔出或刺入对应目标长度的距离之后，经过预设时长后，反向启动所述驱动元件，使所述控针组件松开所述目标穿刺针的同时反向移动对应目标长度的距离进行复位，或者所述控针组件先松开所述目标穿刺针，然后反向启动所述驱动元件，使所述控针组件反向移动对应目标长度的距离进行复位。
有益效果
本发明通过可以与任意穿刺针连接的调控机构来配合外部驱动机构，能够单独控制任意一根穿刺针向上拔出或刺入运动，从而控制单体穿刺深度，控制方便，动作稳定可靠且精度高。
本发明底座固定或架设在穿刺模板上，或底座采用机械臂或被动调节支架夹持连接实现多角度插拔穿刺针，使底座在使用中与目标对象保持相对静止。使用时，调控机构架设在穿刺模板的对应穿刺引导部上，并进行连接固定，将穿刺针穿过穿刺引导部与调控机构，并在穿刺引导部的引导下穿刺到目标位置；或者，先将穿刺针穿过穿刺模板的对应穿刺引导部，并在穿刺引导部的引导下穿刺到目标位置，然后将穿刺针从调控机构的侧面开槽处嵌入调控机构，使调控机构套在穿刺针外，再将穿刺针与穿刺模板进行连接固定；将调控机构与外部驱动机构通过柔性套管或电缆连接，启动外部驱动机构能够驱动控针组件动作，通过控针组件带动目标穿刺针拔出或刺入对应目标长度的距离。
本发明的控针组件与外部驱动机构通过柔性套管或柔性电缆相连，柔性套管内设有驱动丝、或液压油、或气体，外部驱动机构内设有第一动力元件，第一动力元件驱动驱动丝或液压油或气体相对于柔性套管运动，从而将动力传递至控针组件；通过柔性电缆连接时控针组件上设有第二动力元件，第二动力元件为电机或电推杆，所述外部驱动机构通过电控制所述第二动力元件动作，从而驱动控针组件对穿刺针进行拔出或插入。柔性套管或柔性电缆将外部驱动机构与控针组件隔开，并且将外部驱动机构的动力能够传递至控针组件，实现穿刺针的拔出或穿刺，有利于实现控针组件的小型化，确保无菌环境与有菌环境的隔离，安装方便。
 附图说明
图1是本实施例1的装配图；
图2是图1中的调控机构的结构示意图；
图3是图2中的卡紧部件的结构示意图；
图4是图3的分解结构示意图；
图5为图1的穿刺针从侧面安装到底座上且通过挡块限位的结构示意图；
图6为实施例2的结构示意图；
图7为图6中穿刺模板与底座连接时的结构示意图；
图8显示了实施例3的调控机构的装配图；
图9显示了图8中调控机构的结构爆炸图；
图10显示了图8中外部驱动机构以及传动结构的结构爆炸图；
图11显示了实施例3基于摩擦轮传动且可开合时的结构示意图；
图12显示了图11所示结构打开时的结构示意图；
图13显示了本实施例4基于丝杆传动的装配图；
图14显示了本实施例4基于丝杆传动的另一种外部驱动机构的结构示意图；
图15是本实施例5基于突柱别紧与止回件的结构示意图；
图16是图15所示结构的结构爆炸图；
图17是图15中卡紧部件的突柱结构的局部结构示意图；
图18是本实施例5基于突柱别紧与止回弹片的结构示意图；
图19是图18中止回弹片部分的局部结构示意图（止回状态）；
图20是图18中止回弹片部分的局部结构示意图（释放状态）；
图 21显示了实施例 6 基于卡紧件的弹片部分的结构示意图；
图22 显示了实施例 7基于斜面顶紧的结构示意图；
图23 显示了图 22中斜面顶块部分的局部结构示意图；
图24是本实施例8基于主动拉紧的结构示意图；
图25是图24中卡块部分的的局部结构示意图；
图26 显示了实施例 9基于卡紧块侧面顶紧的结构示意图；
图27 显示了图 26 中卡紧块部分的局部结构示意图；
图28 显示了实施例 9 基于卡紧块侧面顶紧的另一种结构示意图；
图29 显示了图 28 中卡紧块部分的局部结构示意图；
图30 显示了本实施例 10 基于旋转柱别紧的结构示意图；
图31 显示了图29 中旋转块部分的局部结构示意图。
 本发明的实施方式
实施例1
一种单体穿刺深度调控装置，包括调控机构，调控机构包括底座和控针组件，所述控针组件设置在所述底座上且与外部驱动机构相连，所述控针组件能够与穿刺针相对固定，并能够在所述外部驱动机构的驱动下带动穿刺针相对所述底座移动，以向外拔出或向内穿刺一定距离。
如图1所示，所述底座采用机械臂或被动调节支架夹持连接实现多角度插拔穿刺针，使底座在使用中与目标对象保持相对静止。
本实施例采用机械臂 16503 夹持单体穿刺深度调控装置16501 进行作业，机械臂 16503 的末端设置有用于夹持单体穿刺深度调控装置 16501 的夹爪 16502，可以多角度进行插拔穿刺针。机械臂可以采用被动调节支架代替，被动调节支架采用机械式、电磁制动式、气压制动式、液压制动式进行位姿的锁紧。
所述控针组件套设在穿刺针外侧，通过卡紧部件卡紧穿刺针并在运动机构的作用下驱动卡紧部件运动，从而通过摩擦力驱动穿刺针单向运动或往复运动；往复运动机构包括滑动地设置在底座上的移动座，卡紧部件用于卡紧穿刺针，以使穿刺针与所述移动座相对固定；移动座能够在所述底座上往复运动并驱动卡紧部件运动，卡紧部件采用主动卡紧机构或被动卡紧机构，控针组件还连接有用于连接所述外部驱动机构的传动件；所述被动卡紧机构在所述移动座向上运动拔针时自动卡紧，在移动座向下复位运动时自动松开。
所述卡紧部件上具有供穿刺针穿过的第一缺口（本实施例为第一移动座 1114206 与第二移动座 1114207之间形成的第一缺口），所述卡紧部件利用其侧面的第一缺口装夹在穿刺针外侧；所述底座上设有装夹穿刺针的第二缺口（本实施例中的上固定座 1113203 与下固定座 1113210 上的限位槽），所述底座上设有限位件（本实施例中的挡块 1114205），所述限位件将穿刺针限制在第二缺口内，避免其从第二缺口脱离，所述限位件为限位扣或限位销。当卡紧部件是侧面顶紧组件时，卡紧部件活动安装于所述移动座，穿刺针能够穿设在对应所述卡紧部件的第一缺口中，卡紧部件能够在外力驱动机构带动下运动并使自身对应所述第一缺口的侧面将穿刺针抵紧在所述第一缺口中。
所述控针组件与外部驱动机构过柔性套管相连；所述柔性套管内设有驱动丝、或液压油、或气体，所述外部驱动机构内设有第一动力元件，所述第一动力元件驱动驱动丝或液压油或气体相对于柔性套管运动，从而将动力传递至控针组件，所述动力元件是往复运动部、液压油泵、气泵的一种或组合。
参照附图图 2~5，移动座包括相对设置的第一移动座 1114206 与第二移动座 1114207，第一移动座 1114206 与第二移动座 1114207 能够共同夹持穿刺针 11，卡紧部件配合外部驱动机构并分别连接第一移动座 1114206 与第二移动座；卡紧部件能够在外部驱动机构沿穿刺针 11 拔出方向的驱动力的作用下带动第一移动座 1114206 与第二移动座1114207相对转动来夹紧穿刺针 11。卡紧部件包括两个拉片 1114210，两个拉片1114210 的一端通过连接轴 1114211同时与传动丝 1114204 可转动地连接、另一端通过销轴 1114209 分别与第一移动座 1114206和第二移动座 1114207 转动地连接并形成连接点；两个拉片 1114210 能够在外部驱动机构沿穿刺针11 长度方向的驱动力的作用下旋转一定角度，来改变两个连接点之间的距离，以使第一移动座 1114206 和第二移动座 1114207 相对转动来夹紧或松开穿刺针11，即采用开合夹紧方式。
两个拉片1114210 在沿穿刺针11 拔出方向的驱动力的作用下使第一移动座1114206 与第二移动座1114207 的两个连接点之间的距离减小，第一移动座1114206 与第二移动座 1114207 向内侧旋转一定角度，第一移动座 1114206 与第二移动座 1114207 夹紧穿刺针 11。两个拉片 1114210 在沿穿刺针 11 刺入方向的驱动力的作用下使第一移动座 与第二移动座 的两个连接点之间的距离增大，第一移动座 1114206 与第二移动座 1114207 向外侧旋转一定角度，第一移动座 1114206 与第二移动座 1114207 松开穿刺针 11；且此时两个拉片1114210 抵接在第一移动座与第二移动座的抵接部上（附图图3 所示的移动座底部凸台）。
底座包括上固定座 1113203 与下固定座 1113210， 上固定座 1113203 与下固定座 1113210 上均开设有用于供穿刺针 11 穿过的限位孔或限位槽，限位槽为一侧具有供穿刺针 11 由侧面进入的开口的 U 形结构，上固定座 1113203 与下固定座 1113210 上的限位槽的开口朝向一致。限位槽为了可以使穿刺针 11 由侧面进入，适用于与已经穿刺到位而无法进一步调整的穿刺针 11 之间的配合。
所述上固定座 1113203 和/或下固定座 1113210上设置有对应限位槽开口的挡块 1114205，挡块 1114205 一端可转动地连接于固定座，挡块 1114205 能够通过转动来打开或关闭限位槽的开口，从而防止穿刺针 11 产生倾斜。参照附图图 5，挡块 1114205 设置在上固定座 1113203 上。
本实施例调控方法如下：
使单体穿刺深度调控装置中的调控机构夹持在机械臂（如本实施例的机械臂 16503）上，将穿刺针穿过调控机构，在机械臂的作用下实现多角度插拔；将调控机构与外部驱动机构通过柔性套管连接，启动外部驱动机构，从而驱动控针组件动作，通过控针组件带动目标穿刺针拔出或刺入对应目标长度的距离。在控针组件带动目标穿刺针拔出或刺入对应目标长度的距离之后，经过预设时长后，反向启动驱动元件，使控针组件松开目标穿刺针的同时反向移动对应目标长度的距离进行复位，或者控针组件先松开目标穿刺针，然后反向启动驱动元件，使控针组件反向移动对应目标长度的距离进行复位。
实施例2
见附图6和附图7，本实施例与实施例1的调控机构的结构相同，在这里不在赘述，不同之处是本实施例的底座固定在穿刺模板1上，穿刺模板能够根据生物体皮肤表面形状进行弯曲或弯折调整使其贴合在生物体皮肤表面，穿刺模板上设有若干穿刺引导部，穿刺引导部为圆柱管状结构；穿刺模板1上设有多个穿刺引导部2，每个穿刺引导部2上对应装设有一个调控机构16501，穿刺引导部能够引导穿刺针的穿刺路径，每个调控机构分别对相应的穿刺针进行拔针或插针。
所述底座通过粘结剂或热塑性材料固化在穿刺模板上，所述粘接剂为热熔胶或速干胶，所述热塑性材料为水晶土、低熔点金属或速干石膏，所述热塑性材料通过热熔胶细嘴枪加热后呈液态或熔融状态，冷却后实现固化固定，所述穿刺模板上设有固定锚钉15121105或固定环，底座下部设有连接段15121104，便于用粘结剂或热塑性材料将底座与穿刺模板固定。
由于单体控针组件之间间隙非常小，需要通过加长的细嘴施加热塑性材料或粘接剂，从而可以伸入这些控针组件之间施加热塑性材料或粘接剂。
本实施例调控方法如下：
先将穿刺针穿过穿刺模板的对应穿刺引导部，并在穿刺引导部的引导下穿刺到目标位置，然后将穿刺针从调控机构的侧面开槽处嵌入调控机构，使调控机构套在穿刺针外，再将调控机构与穿刺模板进行连接固定（本实施例通过热塑性材料将底座通固化在穿刺模板上）；将调控机构与外部驱动机构通过柔性套管连接，启动所述外部驱动机构，从而驱动控针组件动作，通过所述控针组件带动所述目标穿刺针拔出或刺入对应目标长度的距离。在所述控针组件带动所述目标穿刺针拔出或刺入对应目标长度的距离之后，经过预设时长后，再次启动所述驱动元件，通过所述控针组件带动所述目标穿刺针再次拔出或刺入对应目标长度的距离。
实施例3
一种单体穿刺深度调控装置，包括至少一个调控机构，各调控机构包括底座和控针组件，所述控针组件设置在所述底座上且与外部驱动机构相连，所述控针组件能够与穿刺针相对固定，并能够在所述外部驱动机构的驱动下带动穿刺针相对所述底座移动，以向外拔出或向内穿刺一定距离；所述底座固定或架设在穿刺模板上或所述底座采用机械臂或被动调节支架夹持连接实现多角度插拔穿刺针，使底座在使用中与目标对象保持相对静止。
所述控针组件套设在穿刺针外侧，通过夹紧件夹持住穿刺针并在摩擦驱动力的作用下带动穿刺针往复运动。所述夹紧件为摩擦轮或摩擦带，所述摩擦轮的圆周面或摩擦带在压紧机构的作用下能够压紧穿刺针并能够通过摩擦驱动力带动穿刺针移动；所述压紧机构为主动压紧机构或被动压紧机构；所述夹紧件设有一个或两个，当夹紧件设有两个时，两个所述摩擦轮或摩擦带共同压紧穿刺针，两个所述摩擦轮或摩擦带通过分离机构连接并能够实现分离或合拢，当两个所述摩擦轮或摩擦带分离时，穿刺针能够放入两个所述摩擦轮或摩擦带之间。
所述控针组件与外部驱动机构过柔性套管相连；所述柔性套管内设有驱动丝、或液压油、或气体，所述外部驱动机构内设有第一动力元件（如本实施例的驱动电机 1211101），所述第一动力元件驱动驱动丝或液压油或气体相对于柔性套管运动，从而将动力传递至控针组件，驱动摩擦轮或摩擦带工作，所述动力元件是往复运动部、液压油泵、气泵的一种或组合。
参照附图图 9，控针组件还包括相对设置的两个导向滑槽板 1211109，导向滑槽板 1211109 上具有腰孔，左侧滚轮 121201 所在的左侧轴 125105 的两端通过左侧轴承 1211202 配合在腰孔中，导向滑槽板 1211109 上设置有能够伸入腰孔的顶丝 121301；顶丝 121301 能够抵接左侧轴承125105来推动左侧滚轮121201在腰孔中移动（此时顶丝 121301相当于被动压紧机构），以使左侧滚轮 121201 向靠近右侧滚轮 121203 的方向移动来夹紧穿刺针 11，腰孔中在左侧轴 125105 与顶丝 121301 所在位置之间还设置有弹性块 1211103。右侧滚轮 121203 所在的右侧轴 125205 两端通过右侧轴承 1211201分别安装在第一侧板 1211104 与第二侧板 1211105 上。
参照附图图 8 与图 9，底座内部形成有安装腔，控针组件设置在安装腔中， 安装腔相对的两侧腔体上具有彼此正对并用于供穿刺针 11 穿过的穿孔，穿孔正对左侧滚轮 121201 与右侧滚轮 121203 之间的区域。底座包括相对设置的上支座 1211106 与下支座 1211107 以及相对设置的第一侧板 1211104 与第二侧板 1211105，上支座、下支座以及第一侧板与第二侧板共同围成安装腔，上支座与下支座上分别设置有穿孔。导向滑槽板1211109分别安装在第一侧板1211104与第二侧板1211105的内壁上， 右侧滚轮121203所在的右侧轴的两端分别通过右侧轴承安装在第一侧板1211104与第二侧板 1211105 上。
参照附图图 11 与图 12，底座包括相互铰接且可相对开合的第一部分与第二部分，第一部分与第二部分分别具有构成安装腔的内腔，左侧滚轮 121201 与右侧滚轮 121203分别设置在第一部分与第二部分的内腔中，穿孔由分别位于第一部分与第二部分上的两个半圆部分构成。这样底座可以打开，进而可以配合用于连接已经穿刺到位的穿刺针 11，不用再调整穿刺针 11。
参照附图图10 与图 11，底座上设置有传动组件，传动组件包括与右侧滚轮 121203 共轴的绕线轮 121204，绕线轮 121204 用于配合外部驱动机构的第一驱动丝 124101 （驱动绳结构或者传动丝结构）。多个压紧轮（即本实施例中的压紧部），包括第一压紧轮121202和第二压紧轮121205，第一压紧轮121202和第二压紧轮121205分布于绕线轮121204的四周，第一压紧轮和第二压紧轮用于将第一驱动丝124101压紧在绕线轮 121204 的圆周面上。第二压紧轮12105所在的轮轴上具有轴肩螺钉 121206。导向块 124103 设置于绕线轮处，导向块 124103 上设置有用于供第一驱动丝 124101 走线的第一过线通道与第二过线通道，第一驱动丝 124101 能够经第一过线通道穿入后绕于绕线轮 121204 并经第二过线通道穿出。导向块 124103 上分别在第一过线通道与第二过线通道靠近绕线轮的一端处设置有导向柱体（即本实施例中的导向部）124104，导向柱体 124104 用于第一驱动丝 124101 经第一过线通道至绕线轮 121204 或经绕线轮 121204 至第二过线通道时的变向。导向块 124103 上分别在第一过线通道与第二过线通道远离绕线轮 121204 的一端的通道口处设置有供第一驱动丝 124101 穿入的导向套 124102。
进一步地，本实施例还提供了一种外部驱动机构，包括驱动电机 1211101，驱动电机用于提供驱动力；以及传动组件，传动组件连接驱动电机，其能够通过第一驱动丝 124101 将驱动电机 1211101 的驱动力传递至控针组件。参照附图图 8 与图 10，传动组件包括第一外壳 1211102、设置在第一外壳 1211102 内且绕卷有第一驱动丝 124101 的第一卷线轮 1211108， 第一驱动丝 124101 的两端分别伸出连接控针组件。  
参照附图图 8与图10的单体控针组件与驱动组件的装配结构，驱动电机 1211101 驱动第一卷线轮 1211108 正反向旋转，就可以通过第一驱动丝 124101 带动拔针组件的绕线轮旋转，以此驱动右侧滚轮 121203 正反向旋转，这样可以配合左侧滚轮 121201，实现对于穿刺针 11 在拔出以及刺入方向上移动。
本实施例调控方法如下：
使单体穿刺深度调控装置中的调控机构架设在穿刺模板的对应穿刺引导部上，并进行连接固定，将穿刺针穿过穿刺引导部与调控机构，并在穿刺引导部的引导下穿刺到目标位置；将调控机构与外部驱动机构通过柔性套管连接，启动外部驱动机构，从而驱动控针组件动作，通过控针组件带动目标穿刺针拔出或刺入对应目标长度的距离。在控针组件带动目标穿刺针拔出或刺入对应目标长度的距离之后，经过预设时长后，反向启动驱动元件，使控针组件松开目标穿刺针的同时反向移动对应目标长度的距离进行复位，或者控针组件先松开目标穿刺针，然后反向启动驱动元件，使控针组件反向移动对应目标长度的距离进行复位。
实施例4 
本实施例提供了一种单体穿刺深度调控装置，包括至少一个调控机构，各调控机构包括底座以及控针组件，控针组件设置在底座上且与外部驱动机构通过柔性电缆相连，控针组件能够与穿刺针 11 相对固定，并能够在外部驱动机构的驱动下带动穿刺针 11 沿底座移动，以向外拔出或向内穿刺一定距离。
所述底座固定或架设在穿刺模板上，或所述底座采用机械臂或被动调节支架夹持连接实现多角度插拔穿刺针，使底座在使用中与目标对象保持相对静止。
当底座固定或架设在穿刺模板上时，所述穿刺模板上设有多个穿刺引导部，每个穿刺引导部上对应装设有一个调控机构，穿刺引导部能够引导穿刺针的穿刺路径，每个调控机构分别对相应的穿刺针进行拔针或插针。
所述控针组件套设在穿刺针外侧，通过抵接部件抵住穿刺针并在运动机构的作用下驱动抵接部件运动，从而推动穿刺针的单向运动或往复运动。所述抵接部件顶部设有推钩，推钩抵住穿刺针尾部手柄进行向上拔针或向下插针。
所述控针组件上设有第二动力元件（如本实施例的微型电机 13301），所述第二动力元件为电机或电推杆，所述外部驱动机构通过电控制所述第二动力元件动作，从而驱动控针组件对穿刺针进行拔出或插入。
参照附图图 13，控针组件包括滑动地设置在底座上的第三移动座 13101 以及与第三移动座 13101 配合的卡紧部件。卡紧部件用于卡紧或抵住穿刺针 11，以使穿刺针 11 与第三移动座 13101 相对固定，控针组件还连接有用于连接外部驱动机构的传动件。 卡紧部件包括开设在第三移动座 13101 上的卡接口，卡接口能够容纳穿刺针 11 针体，第三移动座 13101 连接传动件。
 参照附图图 13，卡接口与穿刺针 11 的针体过盈配合；或卡接口通过螺丝或卡扣等结构与穿刺针 11 的针体锁紧固定；或卡接口与穿刺针 11 的针体间隙配合， 且第三移动座 13101 对应卡接口的部分能够抵接或连接穿刺针 11 的针柄。底座上还连接有卡扣 13106，卡扣将穿刺针 11 扣在底座上，避免穿刺发生倾斜。
本实施例还提供了一种外部驱动机构，包括驱动电机以及传动组件，驱动电机用于提供驱动力；传动组件连接驱动电机，其能够通过驱动丝将驱动电机的驱动力传递至控针机构。传动组件包括与微型电机 13301 连接的第一丝杆 13105（第一丝杆 13105 同时作为控针组件的传动件），第一丝杆 13105 设置在推钩槽壳 13104 内，第一丝杆的末端通过第一轴承 13102 固定在推钩槽壳 13104 顶部的第一端盖 13103 上，微型电机 13301 固定在底座 13107 上。控针组件的第三移动座 13101 套设在第一丝杆 13105 上；或参照附图图 14，套设在第二丝杆 4422302 上的滑动块 4422303 通过第二驱动丝 4422307 连接控针组件的移动座。
 参照附图图 13 的单体控针组件与驱动组件的装配结构，驱动电机通过第一丝杆 13105 驱动第三移动座 13101 沿第一丝杆 13105 的往复运动，可以实现对于穿刺针 11 的拔出与刺入。但第一丝杆 13105 结构只能与穿刺针 11 始终连接，因此其只能与穿刺针 11 沿一个方向同步移动而无法反向移动复位，因此第一丝杆 13105 的长度需要大于穿刺针 11 总的拔出长度。
 参照附图图 14，传动组件包括第二外壳 4422305，第二丝杆 4422302 设置在第二外壳 4422305 内，其一端连接有第一传动轴 4422304，另一端通过第二轴承 4422309 固定在第二外壳 4422305 上，第二丝杆 4422302 一侧还具有与之平行的滑动轴 4422301，滑动块 4422303 同时与滑动轴 4422301 滑动配合。第二驱动丝 4422307 通过固定在第二外壳 4422305 上的第一套管 4422308 进入第二外壳，第二驱动丝 4422307 与滑动块 4422303连接的部分上还套有第一矫正套 4422306，第一矫正套 4422306 与滑动块 4422303 固定连接，其用于防止第二驱动丝 4422307 在位移过程中出现弯折。
如图13所示，底座上还设置有止回组件，止回组件的止回件与穿刺针 11 过盈配合或者止回件抵紧穿刺针 11 并通过摩擦力阻止穿刺针 11 回弹。 止回件为卡圈或卡扣结构，卡圈为套设在穿刺针 11 针体上的圆形卡圈 13201，卡扣为卡在穿刺针 11 针体上的 U 形卡扣 13202。
本实施例调控方法如下：
使单体穿刺深度调控装置中的调控机构架设在穿刺模板的对应穿刺引导部上，并进行连接固定，将穿刺针穿过穿刺引导部与调控机构，并在穿刺引导部的引导下穿刺到目标位置；将调控机构与外部驱动机构通过电缆连接，启动外部驱动机构，从而驱动控针组件动作，通过控针组件带动目标穿刺针拔出或刺入对应目标长度的距离。在控针组件带动目标穿刺针拔出或刺入对应目标长度的距离之后，经过预设时长后，再次启动驱动元件（如本实施例的微型电机 13301），通过控针组件带动目标穿刺针再次拔出或刺入对应目标长度的距离。 
实施例5 
本实施例提供了一种单体穿刺深度调控装置，包括至少一个调控机构，各调控机构包括底座以及控针组件，控针组件设置在底座上且与外部驱动机构通过柔性套管相连，控针组件能够与穿刺针 11 相对固定，并能够在外部驱动机构的驱动下带动穿刺针 11 沿底座移动，以向外拔出或向内穿刺一定距离。
所述底座固定或架设在穿刺模板上，或所述底座采用机械臂或被动调节支架夹持连接实现多角度插拔穿刺针，使底座在使用中与目标对象保持相对静止。
当底座固定或架设在穿刺模板上时，所述穿刺模板上设有多个穿刺引导部，每个穿刺引导部上对应装设有一个调控机构，穿刺引导部能够引导穿刺针的穿刺路径，每个调控机构分别对相应的穿刺针进行拔针或插针。
 所述控针组件套设在穿刺针外侧，通过卡紧部件卡紧穿刺针并在运动机构的作用下驱动卡紧部件运动，从而通过摩擦力驱动穿刺针的单向运动或往复运动，所述运动机构包括滑动地设置在所述底座上的移动座，所述卡紧部件用于卡紧穿刺针，以使穿刺针与所述移动座相对固定；所述移动座能够在所述底座上往复运动并驱动所述卡紧部件运动，所述卡紧部件采用被动卡紧机构，所述控针组件还连接有用于连接所述外部驱动机构的传动件；所述被动卡紧机构在所述移动座向上运动拔针时自动卡紧，在所述移动座向下复位运动时自动松开。
参照附图 15 至图 17，所述被动卡紧机构采用旋转卡紧组件卡紧穿刺针。控针组件包括滑动地设置在底座上的第四移动座 1113206 以及与第四移动座 1113206  配合的卡紧部件，卡紧部件用于卡紧穿刺针 11，以使穿刺针 11 与第四移动座 1113206  相对固定，控针组件还连接有用于连接外部驱动机构的传动件，传动件为与第二移动座连接驱动丝，驱动丝为第四传动丝 1113201 结构，驱动丝可承受拉应力与压应力，从而传递拉力或推力。
所述旋转卡紧组件包括旋转件与旋转驱动机构，所述旋转卡紧组件在被运动机构驱动向上运动时，将通过旋转驱动机构带动旋转件旋转或弯曲，所述旋转件上设有通孔或通槽或双突柱，当旋转件旋转或弯曲时将别住穿过其上的通孔或通槽或双突柱的穿刺针；而当所述旋转卡紧组件在被运动机构驱动向下运动时，将通过旋转驱动机构带动旋转件旋转或弯曲到限定位置，旋转件在所述限定位置将不再别住穿刺针。
所述旋转驱动机构为驱动连杆，在向上运动时将撬动或拉动旋转件旋转或弯曲；或所述旋转驱动机构为齿轮和齿条，齿条带动齿轮，齿轮带动旋转件旋转或弯曲；所述旋转件是旋转柱或旋转片或柔性片。
卡紧部件采用旋转卡紧方式，卡紧部件包括主体以及由主体延伸出的两个突柱 1113208，主体通过第三轴承 1113207 可转动地设置于第四移动座1113206上，两个突柱 1113208 之间形成供穿刺针 11 穿过的卡紧口，或者主体上设有通孔，主体可转动地设置于第四移动座 1113206，通孔形成供穿刺针 11 穿过的卡紧口。卡紧口的宽度大于穿刺针 11 针体的直径，主体连接第四传动丝 1113201，第四传动丝 1113201 外套设有第二套管 1113202；主体能够在外部驱动机构沿穿刺针 11 拔出方向的驱动力的作用下向一个方向旋转，来减小卡紧口在垂直于穿刺针 11 轴线方向的平面上的投影的宽度，以别紧穿刺针 11。
本实施例采用的是被动式卡紧，即利用拔出穿刺针 11 的驱动力同时实现对于穿刺针 11 的卡紧，一个驱动力实现卡紧以及拔出。参照附图 17，主体能够在外部驱动机构沿穿刺针 11 刺入方向的驱动力的作用下反向旋转，来增大卡紧口在垂直于穿刺针 11 轴线方向的平面上的投影的宽度，在主体反向旋转至宽度大于穿刺针 11 针体的直径时，主体或第四传动丝 1113201 的端部与第四移动座 1113206 的抵接部 （参照附图图 16 第四移动座 1113206 右侧凸台）抵接并相对固定。
第四传动丝 1113201 拉动主体别紧穿刺针 11 后，主体、第四移动座 1113206 以及穿刺针 11 构成一个整体。第四传动丝 1113201 继续拉动主体，使得主体、第四移动座 1113206 以及穿刺针 11 构成的整体拔出一定距离，而后第四传动丝 1113201 反向推动主体反向旋转，使卡紧部件与穿刺针 11 分离，而后由于主体抵接第四移动座 1113206，第四传动丝 1113201 可以反向推动第四移动座 1113206 移动相同的距离来复位。这样在一个范围内的多次往复运动可以实现穿刺针 11 间歇性地不断外拔，进而可以利用一小段距离内的往复运动实现穿刺针 11 较长的总拔出距离。
本实施例中，底座上还设置有止回组件，止回组件采用止回件1113209，止回件 1113209 固定在底座上，且其具有供穿刺针 11 穿过的止回口， 止回口与穿刺针 11 过盈配合，如附图图16 所示。由于人体具有弹性，穿刺针 11 拔出一段距离后，人体会对穿刺针 11 产生一个沿刺入方向的回弹拉力，因此利用止回件与穿刺针 11 的过盈配合来克服回弹拉力，或者止回件抵紧穿刺针 11 并通过摩擦力阻止穿刺针 11 回弹，使穿刺针 11 拔出一段距离后保持静止。
参照附图图 18~20，止回组件还可以采用止回弹片 11133101，止回弹片一端铰接于底座、另一端接触穿刺针 11 针体，且止回弹片 11133101 与穿刺针 11 靠近针尖的部分具有锐角的夹角，止回弹片 11133101 接触穿刺针 11 的一端边缘具有至少能够部分地容纳穿刺针 11 针体的限位缺口。由于止回弹片与穿刺针 11 靠近针尖的部分具有锐角的夹角，所以穿刺针 11 拔出时，止回弹片具有向外侧旋转并减小该夹角 的趋势，由于止回弹片 11133101 可以自由地向外侧旋转，所以穿刺针 11 拔出时不受影响；在穿刺针 11 刺入时，止回弹片 11133101 具有向内侧旋转并增大该夹角的趋势，由于止回弹片一端抵接穿刺针 11，无法向内侧旋转，因此穿刺针 11 无法刺入，可以实现防止穿刺针 11 受人体回弹拉力的影响而在拔出后反向刺入一定距离。
实施例6 
本实施例是对实施例5的进一步改进，部分相同内容参考其他实施例5。
参照附图图 15与图 16以及图 21，将参照附图图 15 与图 16 中的双突柱结构的卡紧部件替换为图 21的卡紧件 1114504（可以是片状的卡紧片），即为本实施例的方案。
卡紧部件包括卡紧件 1114504，卡紧件 1114504 上开设有供穿刺针 11 穿过的卡紧口，卡紧口的宽度大于穿刺针 11 针体的直径，卡紧件 1114504 连接第五传动丝 1114501，第五传动丝 1114501 外套有套管 1114503；卡紧件 1114504 能够在外部驱动机构沿穿刺针11拔出方向的驱动力的作用下朝一个方向倾斜，来减小卡紧口在垂直于穿刺针11轴线方向的平面上的投影的宽度，以别紧穿刺针 11。卡紧件1114504 能够在外部驱动机构沿穿刺针 11 刺入方向的驱动力的作用下反向倾斜，来增大卡紧口在垂直于穿刺针 11 轴线方向的平面上的投影的宽度，在卡紧件 1114504 反向倾斜至宽度大于穿刺针 11 针体的直径时，卡紧件 1114504 或第五传动丝 1114501 的端部通过压片 1114505 与移动座的抵接部（参照附图图 16 移动座右侧凸台）抵接并相对固定。卡紧件 1114504 的原理于实施例 3 的双突柱结构的原理相同。
参照附图图16的移动座，移动座上开设有第一安装槽，第一安装槽开设在移动座左侧部分的右侧面上，卡紧件 1114504 位于卡紧口一侧的第一端容纳于第一安装槽中，卡紧件 1114504 位于卡紧口另一侧的第二端位于安装槽外并连接传动件。第一安装槽内部空间在卡紧件1114504厚度方向上的高度大于卡紧件1114504 的厚度，可以为卡紧件 1114504 的倾斜提供空间。
实施例 7 
本实施例是对其他实施例的进一步改进，部分相同内容参考其他实施例。
参照附图图22 与图23，卡紧部件包括设置在移动座114104 上的第一顶块114108 与第二顶块 114107，第一顶块 114108 与第二顶块 114107 彼此相对的一侧分别具有相互配合的斜面，穿刺针 11 由第二顶块 114107 的一侧的位置（卡紧口）贯穿第五移动座 114104，第一顶块 114108 连接第四传动丝 1113201，第四传动丝 1113201 外套设有第二套管 1113202。第一顶块 114108 能够在外部驱动机构沿穿刺针 11 拔出方向的驱动力的作用下朝靠近第二顶块 114107 的方向移动，以通过二者斜面的挤压使第二顶块 114107 朝对应穿刺针 11 的一侧移动来抵紧穿刺针 11，即采用侧面压紧方式。第一顶块 114108 能够在驱动机构沿穿刺针 11 刺入方向的驱动力的作用下朝远离第二顶块 114107 的方向移动，以使第二顶块 114107 失去第一顶块114108 的斜面的挤压，从而第二顶块 114107 松开穿刺针 11，同时第一顶块或传动件与第五移动座 114104 抵接，带动第五移动座沿穿刺针 11 刺入的方向运动。
参照附图图 22，第五移动座 114104 上开设有第二安装槽，第一顶块 114108 与第二顶块 114107 设置在第二安装槽中，第五移动座 114104 上具有供第四传动丝 1113201 伸入第二安装槽的孔，第二安装槽对应第二顶块 114107 一侧的位置具有开口，开口供第二顶块 114107 部分地伸出第二安装槽来抵紧穿刺针 11。第二安装槽能够约束第一顶块 114108 与第二顶块 114107 的运动轨迹，或者进一步采用铰链代替所述第二安装槽约束第一顶块 114108 与第二顶块 114107 的运动轨迹。移动座114104 设置在由第一上固定座 114102 与第一下固定座 11111301 构成的底座上，具体为设置在第一上固定座 114102 与第一下固定座 11111301 之间的导向柱 114103 上。
实施例8 
本实施例是对其他实施例的进一步改进，部分相同内容参考其他实施例，本实施例不在赘述，不同之处是卡紧部件采用主动卡紧机构。
所述主动卡紧机构具有能够主动控制所述卡紧部件对于穿刺针卡紧与松开的第一驱动单元，并能够配合移动座实现向上拔针运动。
参照附图图24 和图25，卡紧部件包括卡块 114206，卡块 114206 上开设有供穿刺针 11 穿过的卡紧口，卡紧口的宽度大于穿刺针 11 针体的直径，第六移动座 114203与卡块 114206 分别连接有第二传动丝 114202和第三传动丝114205，第二传动丝 114202 外套有第三套管 114201、第三传动丝 114205 外套有第三套管 114204；卡块能够在外部驱动机构的驱动下运动，使卡紧口的一侧槽壁将穿设在卡紧口中的穿刺针 11 抵紧在第六移动座 114203 的侧面。第六移动座 114203 上开设有用于容纳卡块 114206 的第三安装槽，第三安装槽一侧具有供卡块 114206 部分地伸出第三安装槽的开口，卡紧口开设在卡块 114206 伸出第三安装槽的部分上，第三安装槽能够约束卡块 114206 的运动轨迹，或者采用铰链代替第三安装槽约束卡块 114206 的运动轨迹。
本实施例采用的是主动式卡紧，即卡紧与拔出分别具有相应的驱动力（第六移动座 114203 与卡块 114206 分别连接有第二传动丝 114202和第三传动丝114205）。拔出时，首先通过第三传动丝114205 拉紧卡块 114206，以使穿刺针11抵紧在第六移动座 114203 的侧面，而后通过第二传动丝114202拉动第六移动座 114203，使穿刺针11 随第六移动座114203的移动而拔出。复位时松开卡块114206使穿刺针11与第六移动座114203 分离，而后反向推动第二传动丝来驱动第六移动座反向移动复位。
实施例9
本实施例是对其他实施例的进一步改进，部分相同内容参考其他实施例，本实施例不在赘述。 本实施例采用侧面压紧方式压紧穿刺针。
侧面顶紧组件为侧面压紧组件或侧面拉紧组件，侧面压紧组件或侧面拉紧组件会在其被运动机构向上驱动时自动将穿刺针从侧面压/拉紧，依靠压/拉紧产生的摩擦力实现对穿刺针的向上驱动，而后在侧面压紧组件或侧面拉紧组件被运动机构向下驱动时，会自动松开侧面压紧组件或侧面拉紧组件，使其得以复位。
所述侧面压紧组件或侧面拉紧组件采用连杆夹紧组件，通过连杆（如本实施例的第一卡紧块 1114107或第二卡紧块 1114114）撬动压/拉住穿刺针；或者侧面压紧组件或侧面拉紧组件采用凸轮卡紧组件，通过凸轮转动压/拉住穿刺针；或者侧面压紧组件或侧面拉紧组件采用斜面或滑槽卡紧组件，通过斜面或滑槽驱动压紧块或拉紧块运动实现对穿刺针压/拉紧；侧面压紧组件或侧面拉紧组件上装设有在松开到一定位置不能再继续松开的限位部。
参照附图图 26 与图 27，卡紧部件包括第一卡紧块 1114107，第一卡紧块 1114107 的两端之间的中部位置通过转轴1114108 可转动地连接于第七移动座1114105，第一卡紧块1114107 的一端连接第六传动丝 1114102、另一端接触穿刺针 11，第六传动丝 1114102 外套有第四套管 1114101；第一卡紧块 1114107 能够在控针驱动机构沿穿刺针 11 拔出方向的驱动力的作用下绕其与第七移动座 1114105 的转动连接点旋转，以使其接触穿刺针 11 的一端将穿刺针 11 抵紧在第七移动座 1114105 的侧面，即采用侧面压紧方式。第一卡紧块 1114107 能够在控针驱动机构沿穿刺针 11 刺入方向的驱动力的作用下绕其与第七移动座1114105 的转动连接点反向旋转，以使其接触穿刺针 11 的一端松开穿刺针 11。
参照附图图 26 与图27，第七移动座 1114105 设置在第二上固定座 1114103 与第二下固定座 1114109 之间的第一导向柱 1114104（数量为至少一个）上，第七移动座 1114105 通过弹性卡环 1114106 与第一导向柱 1114104 滑动配合。第二下固定座 1114109 设置在基座1114110 上，基座 1114110 上具有容纳第二下固定座 1114109 的装配槽，装配槽中设置有弹性垫片 1114111。
参照附图图 28 与图 29，图中所示的卡紧部件结构与附图图 26 与图 27 所示的结构类似，卡紧原理也类似，只不过其第八移动座 1114113 与第二卡紧块 1114114 在布局结构上与图 26 和图 27 所示结构有所区别，以及第三上固定座 1114112 与图 26 和图 27 所示结构的第二上固定座 1114103 有所区别。
实施例10
本实施例是对其他实施例的进一步改进，部分相同内容参考其他实施例。
参照附图图 30 与图 31，卡紧部件包括可转动地设置在第九移动座 1114115 上的旋转柱 1114116，旋转柱 1114116 上具有供穿刺针 11 穿过的穿孔，穿孔的方向垂直于旋转柱 1114116 的轴向，旋转柱 1114116 通过中间传动机构与第六传动丝 1114102连接或与第六传动丝 1114102 直接连接，中间传动机构能够将第六传动丝 1114102 的直线运动转变为旋转柱 1114116 的旋转运动，中间传动机构为杠杆、卷线轮、带传动、齿轮齿条的一种或几种的组合；旋转柱 1114116 能够在外部驱动机构沿穿刺针 11 拔出方向的驱动力的作用下绕自身轴线旋转，来使穿孔相对其中穿设的穿刺针 11倾斜，以别紧穿刺针 11。旋转柱 1114116 能够在驱动机构沿穿刺针 11 刺入方向的驱动力的作用下绕自身轴线反向旋转一定角度，来使穿孔松开穿刺针 11，同时旋转柱 1114116 或第六传动丝 1114102 的端部与第九移动座 1114115 抵接而相对固定。
如附图 30，旋转柱 1114116 设置在的第九移动座 1114115 内部，第九移动座 1114115 上开设有供穿刺针 11 穿过的孔，旋转柱 1114116 周面上具有伸出至第九移动座 1114115 外部的连接部，连接部与第六传动丝 1114102 连接。
参照附图图 30 与图 31，单体穿刺深度调控机构还包括基座 1114110，底座的第二下固定座 1114109 安装在基座 1114110 上，且第二下固定座 1114109 与基座 1114110 通过装配结构（卡扣结构、锁扣结构、螺纹结构以及过盈配合结构）相对固定。 装配结构包括开设在基座 1114110 上的装配槽，装配槽壁面上靠近其槽口的位置具有外凸的限位卡块，第二下固定座 1114109 与装配槽的形状匹配且其边缘具有能够配合限位卡块的缺口；第二下固定座 1114109 能够在其缺口对应限位卡块时进入装配槽中，进入装配槽的第二下固定座 1114109 能够旋转一定角度来使缺口与限位卡块错开，以与基座 1114110 相对固定。装配槽中还设置有能够承载第二下固定座 1114109 的弹性垫片 1114111。
以上显示和描述了本发明的基本原理和主要特征和本发明的优点，对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。

Claims (10)

  1. 一种单体穿刺深度调控装置，其特征在于：包括至少一个调控机构，各调控机构包括底座和控针组件，所述控针组件设置在所述底座上且与外部驱动机构相连，所述控针组件能够与穿刺针相对固定，并能够在所述外部驱动机构的驱动下带动穿刺针相对所述底座移动，以向外拔出或向内穿刺一定距离；
    所述底座固定或架设在穿刺模板上，或所述底座采用机械臂或被动调节支架夹持连接实现多角度插拔穿刺针，使底座在使用中与目标对象保持相对静止。
  2. 根据权利要求1所述的一种单体穿刺深度调控装置，其特征在于; 当底座固定或架设在穿刺模板上时，所述穿刺模板上设有多个穿刺引导部，每个穿刺引导部上对应装设有一个调控机构，穿刺引导部能够引导穿刺针的穿刺路径，每个调控机构分别对相应的穿刺针进行拔针或插针。
  3. 根据权利要求1所述的一种单体穿刺深度调控装置，其特征在于，所述控针组件套设在穿刺针外侧，通过卡紧部件卡紧穿刺针并在运动机构的作用下驱动卡紧部件运动，从而通过摩擦力驱动穿刺针单向运动或往复运动；或通过抵接部件抵住穿刺针并在运动机构的作用下驱动抵接部件运动，从而推动穿刺针单向运动或往复运动；或通过摩擦轮或摩擦带夹持住穿刺针并在摩擦驱动力的作用下带动穿刺针往复运动。
  4. 根据权利要求3所述的一种单体穿刺深度调控装置，其特征在于，所述摩擦轮的圆周面或摩擦带在压紧机构的作用下能够压紧穿刺针并能够通过摩擦驱动力带动穿刺针移动；所述压紧机构为主动压紧机构或被动压紧机构；所述夹紧件设有一个或两个，当夹紧件设有两个时，两个所述摩擦轮或摩擦带共同压紧穿刺针，两个所述摩擦轮或摩擦带通过分离机构连接并能够实现分离或合拢，当两个所述摩擦轮或摩擦带分离时，穿刺针能够放入两个所述摩擦轮或摩擦带之间；
    当所述控针组件通过卡紧部件卡紧穿刺针并在往复运动机构的作用下驱动卡紧部件运动，从而通过摩擦力驱动穿刺针单向运动或往复运动时，所述往复运动机构包括滑动地设置在所述底座上的移动座，所述卡紧部件用于卡紧穿刺针，以使穿刺针与所述移动座相对固定；所述移动座能够在所述底座上往复运动并驱动所述卡紧部件运动，所述卡紧部件采用主动卡紧机构或被动卡紧机构，所述控针组件还连接有用于连接所述外部驱动机构的传动件；
    所述主动卡紧机构具有能够主动控制所述卡紧部件对于穿刺针卡紧与松开的第一驱动单元，并能够配合移动座实现向上拔针运动；
    所述被动卡紧机构在所述移动座向上运动拔针时自动卡紧，在所述移动座向下复位运动时自动松开；
    当所述控针组件通过抵接部件抵住穿刺针并在往复运动机构的作用下驱动抵接部件运动，从而推动穿刺针单向运动或往复运动时，所述抵接部件顶部设有推钩，推钩抵住穿刺针尾部手柄进行向上拔针或向下插针。
  5. 根据权利要求4所述的一种单体穿刺深度调控装置，其特征在于，所述
    卡紧部件上具有供穿刺针穿过的第一缺口，所述卡紧部件利用其侧面的第一缺口装夹在穿刺针外侧；
    所述底座上设有装夹穿刺针的第二缺口，所述底座上设有限位件，所述限位件将穿刺针限制在第二缺口内，避免其从第二缺口脱离，所述限位件为限位扣或限位销；
    当卡紧部件是卡爪卡紧组件时，穿刺针从卡紧部件的两个相对设置的卡紧单 元之间伸入，外部驱动机构带动两个卡紧单元相对闭合来夹紧穿刺针；
    当卡紧部件是侧面顶紧组件时，卡紧部件活动安装于所述移动座，穿刺针能够穿设在对应所述卡紧部件的第一缺口中，卡紧部件能够在外力驱动机构带动下运动并使自身对应所述第一缺口的侧面将穿刺针抵紧在所述第一缺口中；
    当卡紧部件是旋转卡紧组件时，卡紧部件可转动地安装于所述移动座，穿刺针从第一缺口穿过卡紧部件的通孔或通槽或双突柱，外部驱动机构带动卡紧部件旋转一定角度可别紧穿刺针。
  6. 根据权利要求1所述的一种单体穿刺深度调控装置，其特征在于，所述控针组件与外部驱动机构通过柔性套管或柔性电缆相连；
    当所述控针组件与外部驱动机构通过柔性套管连接时，所述柔性套管内设有驱动丝、或液压油、或气体，所述外部驱动机构内设有第一动力元件，所述第一动力元件驱动驱动丝或液压油或气体相对于柔性套管运动，从而将动力传递至控针组件，所述动力元件是往复运动部、液压油泵、气泵的一种或组合；
    或者当所述控针组件与外部驱动机构通过柔性电缆连接时，所述控针组件上设有第二动力元件，所述第二动力元件为电机或电推杆，所述外部驱机构通过柔性电缆对所述第二动力元件进行电控制，从而驱动控针组件对穿刺针进行拔出或插入。
  7. 根据权利要求1所述的一种单体穿刺深度调控装置，其特征在于，所述底座通过快速装夹装置固定在穿刺模板上，快速装夹装置采用卡扣结构、锁扣结构、螺纹结构、销钉结构中的一种或组合，当快速装夹装置采用卡扣结构时，其内部设有弹性体以提高卡接效果；
    或者，底座通过粘结剂或热塑性材料固化在穿刺模板上，所述粘接剂为热熔胶或速干胶，所述热塑性材料为水晶土、低熔点金属或速干石膏，所述热塑性材料加热后呈液态或熔融状态，冷却后实现固化固定，所述穿刺模板上设有固定锚钉或固定环，底座下部设有连接段，便于用粘结剂或热塑性材料将底座与穿刺模板固定。
  8. 采用如权利要求1~7中任一所述的一种单体穿刺深度调控装置的调控方法，其特征在于：
    使单体穿刺深度调控装置中的调控机构架设在穿刺模板的对应穿刺引导部上，并进行连接固定，或将调控机构装夹在机械臂或被动调节支架上，将穿刺针穿过穿刺引导部和/或调控机构，并在穿刺引导部的引导下穿刺到目标位置，或在机械臂或被动调节支架的引导下穿刺到目标位置，然后在调控机构的作用下实现穿刺针的多角度插拔；
    或者，先将穿刺针穿过穿刺模板或机械臂或被动调节支架的对应穿刺引导部，并在穿刺引导部的引导下穿刺到目标位置，然后将穿刺针从调控机构的侧面开槽处嵌入调控机构，使调控机构套在穿刺针外，再将调控机构与穿刺模板或机械臂或被动调节支架进行连接固定；将调控机构与外部驱动机构通过柔性套管或电缆连接，启动所述外部驱动机构，从而驱动控针组件动作，通过所述控针组件带动所述目标穿刺针拔出或刺入对应目标长度的距离。
  9. 根据权利要求 8 所述的单体穿刺深度调控装置的调控方法，其特征在于，在所述控针组件带动所述目标穿刺针拔出或刺入对应目标长度的距离之后，经过预设时长后，再次启动所述驱动元件，通过所述控针组件带动所述目标穿刺针再次拔出或刺入对应目标长度的距离。
  10. 根据权利要求 8 所述的单体穿刺深度调控装置的调控方法，其特征在于，在所述控针组件带动所述目标穿刺针拔出或刺入对应目标长度的距离之后，经过预设时长后，反向启动所述驱动元件，使所述控针组件松开所述目标穿刺针的同时反向移动对应目标长度的距离进行复位，或者所述控针组件先松开所述目标穿刺针，然后反向启动所述驱动元件，使所述控针组件反向移动对应目标长度的距离进行复位。
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CN220025912U (zh) 2023-11-17
CN117883153A (zh) 2024-04-16

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