CN110755137A - Pre-bent needle puncture mechanism capable of realizing controllable continuous curvature based on separated needle core feeding and application method thereof - Google Patents
Pre-bent needle puncture mechanism capable of realizing controllable continuous curvature based on separated needle core feeding and application method thereof Download PDFInfo
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- CN110755137A CN110755137A CN201911045326.5A CN201911045326A CN110755137A CN 110755137 A CN110755137 A CN 110755137A CN 201911045326 A CN201911045326 A CN 201911045326A CN 110755137 A CN110755137 A CN 110755137A
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3462—Trocars; Puncturing needles with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
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Abstract
The invention relates to the field of medical machinery, in particular to a pre-bending needle puncture mechanism capable of realizing controllable continuous curvature based on separated needle core feeding and an application method thereof. The needle core is driven to feed by adopting a unique transmission mode of a double gear and a cylindrical rack, so that the needle core can be continuously fed, the double gear can be used for fixing the feeding of the rack when a motor is self-locked, and the curvature of the puncture track of the flexible needle core can realize controllable continuous change in a certain range by matching with the pre-bent flexible needle core, thereby basically meeting the requirements of various puncture paths; the needle feeding device and the needle rotating device adopt different driving devices, so that the rotation and the feeding motion of the needle core are in a non-coupling state, and the path error caused by mutual influence is prevented; when the mechanism has errors in the puncture process, the error compensation can be made by adjusting the feeding and the rotation of the needle core; the invention adds the function of controllable continuous curvature on the basis of the existing mechanism, so that the puncture track is not excessively limited during path planning, and the beneficial path planning is more convenient.
Description
Technical Field
The invention relates to the field of medical machinery, in particular to a pre-bending needle puncture mechanism capable of realizing controllable continuous curvature based on separated needle core feeding and an application method thereof.
Background
In recent years, with the prevalence of minimally invasive surgery, related medical machines have been continuously developed. The minimally invasive technique is a medical means for introducing some precise instruments such as a specially-made needle or a catheter and the like into a pathological change part of a human body for diagnosis and treatment by using the assistance of medical imaging equipment under the condition of not needing an operation. At first, a rigid needle is clinically used for puncture treatment, and the steel needle does not deform when moving in human tissues and can keep a linear motion track. However, due to the complexity of the inside of the human body, the rigid needle moving linearly does not have the ability to avoid important tissues and organs, is limited in use, and is not highly practical. Later, researchers have proposed the concept of a flexible needle with a beveled tip that can be inserted into the body by its super-elasticity and then moved in a curved motion under the pressure of the body tissue. Meanwhile, the curvature of the motion trail of the flexible needle can be effectively changed by changing the angle of the inclined tip of the flexible needle or the material property of the inclined tip of the flexible needle, so that the flexible needle can better bypass obstacles and reach the target range.
However, the conventional beveled tip flexible needle also has its disadvantages. Firstly, when the needle body is rotated to adjust the direction of the oblique tip, the needle body can be subjected to larger torsional friction caused by human tissues, and a large error is generated; secondly, the path cannot be corrected in the presence of a needle tip that is offset from the target due to the limitation of the bending radius of the flexible needle. On the basis, the scholars provide a sleeve flexible needle which can greatly reduce the torsional friction, however, in the process of puncture, because the curvature of the flexible needle cannot be changed, the flexible needle still encounters an obstacle which cannot be avoided in practice.
The Dongwei et al, university of Harbin industry in 2013, invented a tilt angle flexible needle robot assisted puncture system (No. CN103083091B) based on piezoelectric drive, which can effectively solve the problems of complex stress, difficult trajectory planning and difficult guarantee of motion precision of a flexible needle in the process of motion in tissues, and has the defect that the influence caused by torsional friction cannot be reduced.
The invention discloses a synchronous puncture mechanism (No. CN105212997B) of a cannula flexible needle based on gear transmission, which is invented by Zhao Yangjiang et al, the university of Harbin Ridgeon in 2015, and the like, and through the matching of a flexible needle core and a flexible needle sleeve, the torsional friction between the needle and tissues is reduced, and the precision of an oblique tip corner is improved.
Jaeyeon Lee et al, Texas university in 2018, in "Efficient mechanism design and information operation planning for tube-wire flexible needles" (Journal of mechanisms and Robotics,2018,10(6): pp.1-9), a switching mechanism is used to control the pre-bent flexible needle with a sleeve, so that the puncture track of the needle core can realize the control change of multiple curvatures, but due to the coupling of the rotation of the needle core and the feeding motion in the switching mechanism, when the needle core is fed to change the curvature of the track, the needle core can generate unnecessary rotation, so that errors are generated, and meanwhile, the mechanism can not adjust the errors.
Aiming at the problems and combining the problems encountered in the prior art, the pre-bending needle puncture mechanism for realizing controllable continuous curvature based on separated needle core feeding and the application method thereof are designed.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a pre-bent needle puncturing mechanism for realizing controllable continuous curvature based on separated needle core feeding and an application method thereof.
The technical scheme of the invention is as follows:
the pre-bending needle puncture mechanism capable of realizing controllable continuous curvature based on separated needle core feeding is characterized by comprising an integral feeding mechanism, a needle rotating device, a needle feeding device, a fixed platform, a base, a baffle plate arranged at the end part of the base, a rigid needle cylinder, a flexible needle sleeve and a pre-bent flexible needle core, wherein a needle cylinder support is arranged at the baffle plate; the integral feeding mechanism comprises a lead screw, a lead screw sliding table and a first motor, wherein the lead screw, the lead screw sliding table and the first motor are connected with the base in a driving mode; the fixed platform is fixed on the lead screw sliding table, and the needle rotating device and the needle feeding device are respectively arranged on the fixed platform;
the flexible needle core is sleeved in the flexible needle sleeve, the flexible needle sleeve is sleeved in the rigid needle cylinder, one end of the rigid needle cylinder and one end of the flexible needle sleeve are both fixed on the needle cylinder fixing piece at the top of the fixed platform, the other end of the rigid needle cylinder is nested on the needle cylinder support at the baffle, and the head of the flexible needle core is respectively matched with the needle rotating device and the needle feeding device to enable the flexible needle core to rotate and feed; the lead screw is driven by the first motor, the lead screw sliding table is driven to feed on the base, and the integral feeding of the flexible needle core and the flexible needle sleeve is realized.
Preferably, the needle rotating device comprises a second motor for driving, a gear transmission device, a rotating shaft, a hexagonal shaft and a needle core clamping head for clamping the head of the flexible needle core; the second motor is arranged on a middle platform of the fixed platform and is connected with the rotating shaft through a gear transmission device, and two ends of the rotating shaft are respectively supported and arranged on the top of the fixed platform; one end of the rotating shaft is provided with a hexagonal counter bore matched with the end of the hexagonal shaft, one end of the hexagonal shaft is matched with the rotating shaft through the hexagonal counter bore, and the other end of the hexagonal shaft is fixedly connected with the stylet chuck; the hexagonal shaft and the stylet chuck are fixed on a second sliding block arranged at the top of the fixed platform, and the second sliding block is in sliding fit with the top of the fixed platform.
Preferably, the needle feeding device comprises a third motor for driving, a gear rack transmission device and a bevel gear transmission device; the gear rack transmission device comprises a gear and a rack, the gear is mounted on a gear shaft, the gear shaft is vertically arranged, one end of the gear penetrates through the middle platform to be connected with the bevel gear transmission device, the other end of the gear is meshed with the rack, one end of the rack is fixedly connected with the second sliding block, and the other end of the rack is in sliding fit with the top of the fixed platform through the first sliding block; the third motor is arranged at the bottom of the fixed platform, the third motor is connected with the gear shaft through a bevel gear transmission device, the gear rack transmission device is driven by the third motor, and the rack drives the needle core chuck to move so as to realize the feeding of the flexible needle core.
Preferably, the bevel gear transmission device comprises a bevel gear shaft in driving connection with the third motor, a small bevel gear is mounted on the bevel gear shaft, the gear shaft is connected with the middle platform through a bearing, a large bevel gear is arranged at the bottom of the gear shaft, and the large bevel gear is meshed with the small bevel gear.
Preferably, the number of the small bevel gears, the number of the large bevel gears, the number of the gear shafts and the number of the gears are two, the small bevel gears, the large bevel gears, the gear shafts and the gears are symmetrically arranged in pairs, and the two gears are symmetrically arranged on two sides of the rack respectively.
Preferably, the transmission ratio of the small bevel gear to the large bevel gear is as follows:
in the formula (1), t1And ω1The number of teeth and the angular velocity, t, of the bevel pinion, respectively2And ω2The number of teeth and the angular velocity of the large bevel gear are respectively.
Preferably, the pre-curved track of the pre-curved flexible stylet is a parabola, the angle of the needle tip slope is 45 degrees, the pre-curved length is 15mm, and the track formula of the center of the circle at the tail end of the flexible stylet is as follows:
the formula (2) is a parabolic formula in a rectangular coordinate system with the center of a circle at the tail end of the flexible needle sleeve as an origin, wherein x is the feeding amount of the tail end of the needle core; when the feed amount x of the end of the needle core is x0，0mm≤x0When the radius is less than or equal to 15mm, the corresponding track curvature radius R0In the range of [62.9mm,187.4mm]。
Preferably, the first motor, the second motor and the third motor are all connected with and controlled by a stepping motor controller.
Preferably, the first sliding block and the second sliding block are in sliding fit with the top of the fixed platform through the first connecting piece and the second connecting piece respectively, the middle of the first connecting piece and the middle of the second connecting piece are arc-shaped, the bottom of the arc-shaped is provided with a groove rail, and the first sliding block and the second sliding block are matched and connected with the rack.
The application method of the pre-bending needle puncture mechanism for realizing controllable continuous curvature based on separated stylet feeding is characterized by comprising the following steps:
1) integral feeding:
starting a first motor, rotating a lead screw to enable a lead screw sliding table to stably feed, so that a flexible needle sleeve and a flexible needle core perform feeding movement together to enter tissues to be punctured;
2) feeding a needle core:
starting a third motor, enabling a rack to slide on the top of the fixed platform through a bevel gear transmission device and a gear rack transmission device, enabling a needle core chuck connected with the second sliding block to push the flexible needle core to move in the flexible needle sleeve, namely enabling the flexible needle core to extend out of the flexible needle sleeve, realizing feeding of the flexible needle core, and enabling the hexagonal shaft to be separated from the rotating shaft under the action of the second sliding block;
the feeding amount x of the tail end of the flexible stylet is continuously changed from 0mm to 15mm, so that the curvature radius of the puncture track can be any value within an interval [62.9mm,187.4mm ], and the change of the controllable continuous curvature within a certain range can be realized;
3) the needle core rotates:
when the path needs to deflect in the feeding process, the third motor needs to be reversed to enable the flexible needle core to return into the flexible needle sleeve, so that the feeding quantity x of the tail end of the needle core is 0mm, and at the moment, the end of the hexagonal shaft is positioned in the hexagonal counter bore of the rotating shaft; then starting a second motor to enable the rotating shaft to drive the flexible needle core to rotate through the hexagonal shaft; and finally, the third motor is positively rotated to return the flexible needle core to the initial position.
The invention has the beneficial effects that:
first, the split-type needle feeding device drives the stylet to feed by adopting a unique transmission mode of a double gear and a cylindrical rack, so that the stylet can be continuously fed, and the double gear can fix the feeding of the rack when a motor is self-locked, and is matched with the pre-bent flexible stylet, so that the puncture track curvature of the flexible stylet can realize controllable continuous change in a certain range, and the requirements of various puncture paths are basically met.
And secondly, the needle feeding device is connected with the needle rotating device through a second sliding block, and different transmission modes and driving devices are adopted, so that the rotation and the feeding motion of the needle core are in a non-coupling state, and the path error caused by mutual influence is prevented.
Thirdly, according to the beneficial effects, when the mechanism has errors in the puncture process, the error can be compensated by adjusting the feeding and the rotation of the needle core.
The invention adds the beneficial effect of controllable continuous curvature on the basis of the existing mechanism, so that the puncture track is not limited too much during path planning, and the beneficial path planning is more convenient.
Drawings
FIG. 1 is a schematic external view of the present invention;
FIG. 2 is a schematic view of the integral feed mechanism of the present invention;
FIG. 3 is a schematic view of a core rotation device of the present invention;
FIG. 4 is a schematic view of a core feed apparatus of the present invention;
FIG. 5 is a schematic view of the needle assembly of the present invention;
FIG. 6 is a trace of the insertion of a flexible needle core into agar;
FIG. 7 is a graph of the needle insertion tissue formation trajectory based on the measurement data of FIG. 6;
in the figure: the needle feeding device comprises an integral feeding mechanism 1, a lead screw 11, a lead screw sliding table 12, a coupler 13, a first motor 14, a needle rotating device 2, a needle core chuck 21, a hexagonal shaft 22, a rotating shaft 23, a first gear 24, a second gear 25, a motor base 26, a second motor 27, a needle feeding device 3, a bevel gear shaft 30, a small bevel gear 31, a large bevel gear 32, a bearing 33, a gear shaft 34, a gear 35, a rack 36, a shaft baffle 37, a coupler 38, a third motor 39, a fixed platform 4, a rack 40, an intermediate platform 41, a first connecting piece 42, a first sliding block 43, a needle cylinder fixing piece 44, a second sliding block 45, a second connecting piece 46, a large bearing cover 47, a third connecting piece 48, a small bearing cover 49, a base 5, a rear end cover 51, a front end cover 52, a mounting base 53, a baffle 6, a needle cylinder support 61, a rigid needle cylinder 7, a flexible needle sleeve 8 and a.
Detailed Description
The invention is further described with reference to the following figures and detailed description:
as shown in fig. 1, the pre-curved needle puncturing mechanism for realizing controllable continuous curvature based on separated needle core feeding comprises: the device comprises an integral feeding mechanism 1, a needle rotating device 2, a needle feeding device 3, a fixed platform 4, a base 5, a baffle 6, a rigid needle cylinder 7, a pre-bent flexible needle core 9 and a flexible needle sleeve 8.
As shown in fig. 2, the integral feed mechanism 1 is mounted on the base 5, and the integral feed mechanism 1 is driven by a first motor 14 through a lead screw 11 to realize the feed motion of a lead screw sliding table 12. The base 5 is provided with a mounting seat 53, so that the first motor 14 can be conveniently connected with the base 5, and the central position of the mounting seat is provided with a coupling 13 for connecting the first motor 14 with the screw rod 11; the base 5 is provided with a rear end cover 51 and a front end cover 52 for fixing the screw rod 11 forward and backward. The baffle 6 is positioned outside the rear end cover 51 and is connected with the rear end cover 51 in a screw mode; the needle cylinder support 61 is located above the baffle 6 and is connected by means of bolts, which allow the rigid needle cylinder 7 to be nested while being fixed.
As shown in fig. 3, the fixed platform 4 includes a top platform for carrying the connecting structure, a middle platform 41 for carrying the driving device, and a bottom fixed with the screw sliding table; the middle of the top platform is hollowed for placing a connecting structure; there is space between the top and middle platforms 41, the middle platform 41 and the bottom for accommodating the drive transmission. The intermediate platform 41 is connected to the frame 40 by bolts, and the needle rotating device 2 is mounted on the intermediate platform 41. The motor base 26 is fixed on the middle platform 41 through bolt connection; the motor base 26 is connected with the second motor 27 and fixed in a screw connection mode; the second gear 25 is connected with the rotating shaft of the second motor 27, and the first gear 24 meshed with the second gear is arranged on the rotating shaft 23; bearings are arranged at two ends of the rotating shaft 23 and are respectively arranged on the third connecting piece 48 and the second connecting piece 46 through a small bearing cover 49 and a large bearing cover 47; one end of the hexagonal shaft 22 is matched with (a hexagonal counter bore of) the rotating shaft 23, and the other end is connected with the stylet chuck 21 in a screw mode; the stylet chuck 21 is used for clamping the flexible stylet 9; the hexagonal shaft 22 and the core holder 21 are connected to the second slider 45.
As shown in fig. 4, the top end of the frame 40, which is symmetrical to the left and right, forms a top platform with a gap in the middle, and a first connecting member 42 and a first slider 43 are provided thereon and connected to the needle feeding device 3. The needle feeding device 3 is mounted inside the carriage 40, mainly in connection with the intermediate platform 41.
The rack 36 is in transmission with two identical gears 35 arranged symmetrically. The rack 36 is a cylindrical rack, is arranged in the middle of the top platform, one end of the rack is connected with the first sliding block 43 and is arranged on the first connecting piece 42, and the other end of the rack is connected with the second sliding block 45 and is arranged on the second connecting piece 46; the gears 35 are arranged on the gear shaft 34, and two sets of the gears 35 and the gear shaft 34 are arranged at two sides of the rack 36 and are symmetrically arranged to increase the friction on the rack 36; the upper end of the gear shaft 34 is contacted with the lower end of the shaft baffle plate 37, the middle end is arranged on the middle platform 41 through a bearing 33, and the gear shaft 34 positioned below the middle platform 41 is provided with a large bevel gear 32; small bevel gears 33 matched with the large bevel gears 32 are symmetrically arranged on the bevel gear shaft 30; one end of the bevel gear shaft 30 is fixed on the bracket 40 through a bearing, and the other end is connected with the coupler 38; the coupling 38 is mounted on the motor shaft of the third motor 39; the third motor 39 is mounted on the side of the bracket 40 and is connected by means of screws. The transmission of the needle feeding device 3 is single-stage transmission, and the transmission ratio of the small bevel gear to the large bevel gear is as follows:
t in formula (1)1And ω1The number of teeth and the angular velocity, t, of the bevel pinion (31), respectively2And ω2The number of teeth and the angular velocity of the large bevel gear (32), respectively.
As shown in fig. 5, the needle assembly comprises a rigid barrel 7, a flexible needle sheath 8, and a pre-curved flexible hub 9. The flexible needle sleeve 8 is sleeved outside the flexible needle core 9, the rigid needle cylinder 7 is sleeved on the outermost side, one end of the rigid needle cylinder and one end of the flexible needle sleeve are connected with the needle cylinder fixing piece 44, and the other end of the rigid needle cylinder and the other end of the flexible needle sleeve are matched with the needle cylinder support 61; the syringe support 61 is mounted on the shield 6 and is connected by means of bolts. The head of the flexible needle core is clamped by the needle core chuck, and the other end of the flexible needle core penetrates through a central hole of the rack (the aperture is larger than the outer diameter of the flexible needle core, so that the flexible needle core is convenient to rotate) and penetrates into a flexible needle sleeve at the fixed part of the needle cylinder. The rigid needle cylinder is of a telescopic structure so as to facilitate the feeding and withdrawing movement of the whole mechanism.
The flexible needle core 9 of preflex, the orbit of preflex is the parabola, and needle point inclined plane angle is 45 degrees, and the length of preflex is 15mm, and its orbit formula is:
and the formula (2) is a parabolic formula in a rectangular coordinate system taking the center of the circle at the tail end of the flexible needle sleeve as an origin, wherein x is the feeding amount of the tail end of the needle core. As shown in FIG. 6, the trace of the flexible probe inserted into the agar is shown, and the trace 1 is the trace formed by insertion when the feeding amount x of the end of the stylet is 0 mm; the track 2 is a track formed by insertion when the core tip feed amount x is 15 mm. The data is used to obtain a needle track map as shown in FIG. 7, wherein the radius of curvature of track 1 is 187.4mm, the radius of curvature of track 2 is 62.9mm, and when the feed amount x of the end of the needle core is x0(0mm≤x0Less than or equal to 15mm), the corresponding track curvature radius R0In the range of [62.9mm,187.4mm]。
The working flow of the pre-bending needle puncture mechanism for realizing controllable continuous curvature based on separated needle core feeding is as follows:
first, the first motor 14 is started, and under the action of the coupler 13, the screw rod 11 rotates, so that the screw rod sliding table 12 is stably fed, and the flexible needle sheath 8 enters the tissue to be punctured (at this time, the flexible needle core moves along with the flexible needle sheath, and the rigid needle cylinder is located between the needle cylinder support and the needle cylinder fixing part and can stretch and retract).
Then, a third motor 39 is started, the rack slides on the top of the fixed platform through a bevel gear transmission device and a gear rack transmission device, so that a needle core chuck connected with the second sliding block pushes the flexible needle core to move in the flexible needle sleeve, namely the flexible needle core extends out of the flexible needle sleeve, the feeding of the flexible needle core is realized, at the moment, the hexagonal shaft is separated from the rotating shaft under the action of the second sliding block, and the flexible needle sleeve does not perform feeding movement any more;
the feeding amount x of the end of the flexible needle core 9 is continuously changed from 0mm to 15mm, so that the curvature radius of the puncture track can take any value in the interval [62.9mm,187.4mm ], and the curvature is the reciprocal of the curvature radius, thereby realizing the controllable change of the continuous curvature in a certain range.
The second motor 27 is then activated to rotate the flexible core 9 to meet the planned path. When the path needs to be deflected in the feeding process, the third motor 39 needs to be reversed to enable the flexible needle core 9 to return into the flexible needle sleeve 8, so that the feeding amount x of the tail end of the needle core is 0 mm; then the second motor 27 is started to rotate the flexible needle core 9, and finally the third motor 39 is rotated forward to return the flexible needle core 9 to the initial position; because the needle core rotating device is not coupled with the feeding device, the above operation can effectively avoid the damage of the needle core rotation to the tissue and reduce the influence of the friction to the needle core rotation.
Finally, the first motor 14 is again activated to advance the flexible core 9 and the flexible sleeve 8 together in an arc of the desired curvature.
The puncture mechanism and the puncture method provided by the invention have the characteristics that the curvature of a puncture arc line can be controlled, so that the puncture mechanism can more flexibly cope with complex obstacle avoidance conditions in practical application, and meanwhile, the adjustment and compensation are carried out on inevitable puncture errors, the accuracy of targeted puncture is improved, and the puncture mechanism and the puncture method have great market prospect and popularization value.
Claims (10)
1. The pre-bending needle puncture mechanism capable of realizing controllable continuous curvature based on separated needle core feeding is characterized by comprising an integral feeding mechanism (1), a needle rotating device (2), a needle feeding device (3), a fixed platform (4), a base (5), a baffle (6) arranged at the end part of the base, a rigid needle cylinder (7), a flexible needle sleeve (8) and a pre-bending flexible needle core (9), wherein a needle cylinder support (61) is arranged at the baffle; the integral feeding mechanism (1) comprises a lead screw (11) connected with a base, a lead screw sliding table (12) and a first motor (14), wherein the first motor is in driving connection with the lead screw, and the lead screw sliding table is in threaded connection with the lead screw and is in sliding fit with the base; the fixed platform is fixed on the lead screw sliding table, and the needle rotating device and the needle feeding device are respectively arranged on the fixed platform;
the flexible needle core is sleeved in the flexible needle sleeve, the flexible needle sleeve is sleeved in the rigid needle cylinder, one end of the rigid needle cylinder and one end of the flexible needle sleeve are both fixed on a needle cylinder fixing piece (44) at the top of the fixed platform, the other end of the rigid needle cylinder is nested on a needle cylinder support at the baffle, and the head of the flexible needle core is respectively matched with the needle rotating device and the needle feeding device to enable the flexible needle core to rotate and feed; the lead screw is driven by the first motor, the lead screw sliding table is driven to feed on the base, and the integral feeding of the flexible needle core and the flexible needle sleeve is realized.
2. The pre-curved needle puncture mechanism for realizing controllable continuous curvature based on separated needle core feeding as claimed in claim 1, wherein the needle rotating device comprises a second motor (27) for driving, a gear transmission device, a rotating shaft (23), a hexagonal shaft (22), a needle core clamping head (21) for clamping the head of the flexible needle core; the second motor is arranged on a middle platform (41) of the fixed platform and is connected with a rotating shaft through a gear transmission device, and two ends of the rotating shaft are respectively supported and arranged on the top of the fixed platform; one end of the rotating shaft is provided with a hexagonal counter bore matched with the end of the hexagonal shaft, one end of the hexagonal shaft is matched with the rotating shaft through the hexagonal counter bore, and the other end of the hexagonal shaft is fixedly connected with the stylet chuck; the hexagonal shaft and the stylet chuck are fixed on a second sliding block (45) arranged at the top of the fixed platform, and the second sliding block is in sliding fit with the top of the fixed platform.
3. The pre-curved needle puncturing mechanism for realizing controllable continuous curvature based on separated needle core feeding according to claim 2, wherein the needle feeding device comprises a third motor (39) for driving, a gear rack transmission device and a bevel gear transmission device; the gear rack transmission device comprises a gear (35) and a rack (36), the gear is mounted on a gear shaft (34), the gear shaft is vertically arranged, one end of the gear shaft penetrates through a middle platform (41) to be connected with the bevel gear transmission device, the other end of the gear shaft is meshed with the rack, one end of the rack is fixedly connected with a second sliding block, and the other end of the rack is in sliding fit with the top of a fixed platform through a first sliding block (43); the third motor is arranged at the bottom of the fixed platform, the third motor is connected with the gear shaft through a bevel gear transmission device, the gear rack transmission device is driven by the third motor, and the rack drives the needle core chuck to move so as to realize the feeding of the flexible needle core.
4. The pre-curved needle puncture mechanism for realizing controllable continuous curvature based on separated needle core feeding as claimed in claim 3, wherein the bevel gear transmission device comprises a bevel gear shaft (30) in driving connection with a third motor, the bevel gear shaft is provided with a small bevel gear (31), the gear shaft is connected with the middle platform through a bearing (33), and the bottom of the gear shaft is provided with a large bevel gear (32) which is meshed with the small bevel gear.
5. The pre-curved needle puncturing mechanism for achieving controllable and continuous curvature based on separated stylet feeding of claim 4, wherein there are two small bevel gears, large bevel gears, gear shafts and gears, respectively, and the two gears are symmetrically arranged in pairs, and are respectively symmetrically arranged at two sides of the rack.
6. The pre-curved needle puncturing mechanism for achieving controllable continuous curvature based on separated stylet feeding of claim 5, wherein the transmission ratio of the small bevel gear to the large bevel gear is:
in the formula (1), t1And ω1The number of teeth and the angular velocity, t, of the bevel pinion, respectively2And ω2The number of teeth and the angular velocity of the large bevel gear are respectively.
7. The pre-curved needle puncture mechanism for realizing controllable continuous curvature based on separated stylet feeding as claimed in claim 4, wherein the pre-curved flexible stylet (9) has a parabolic pre-curved track, a needle tip bevel angle of 45 degrees, a pre-curved length of 15mm, and a track formula of the center of a circle at the tail end of the flexible stylet as follows:
the formula (2) is a parabolic formula in a rectangular coordinate system with the center of a circle at the tail end of the flexible needle sleeve as an origin, wherein x is the feeding amount of the tail end of the needle core; when the feed amount x of the end of the needle core is x0，0mm≤x0When the radius is less than or equal to 15mm, the corresponding track curvature radius R0In the range of [62.9mm,187.4mm]。
8. The pre-curved needle puncture mechanism for achieving controllable and continuous curvature based on separated stylet feeding of claim 4, wherein the first motor, the second motor and the third motor are all connected with and controlled by a stepping motor controller.
9. The pre-curved needle puncture mechanism for realizing controllable continuous curvature based on separated stylet feeding as claimed in claim 4, wherein the first slider and the second slider are respectively in sliding fit with the top of the fixed platform through a first connecting piece (42) and a second connecting piece (46), the middle of the first connecting piece and the second connecting piece is arc-shaped, the arc-shaped bottom is provided with a groove rail, and the first slider (43) and the second slider (45) which are connected with the rack (36) are matched.
10. The method of using a pre-curved needle puncturing mechanism with controlled continuous curvature based on split core feed as claimed in any of claims 1-9, comprising the steps of:
1) integral feeding:
starting a first motor, rotating a lead screw to enable a lead screw sliding table to stably feed, so that a flexible needle sleeve and a flexible needle core perform feeding movement together to enter tissues to be punctured;
2) feeding a needle core:
starting a third motor, enabling a rack to slide on the top of the fixed platform through a bevel gear transmission device and a gear rack transmission device, enabling a needle core chuck connected with the second sliding block to push the flexible needle core to move in the flexible needle sleeve, namely enabling the flexible needle core to extend out of the flexible needle sleeve, realizing feeding of the flexible needle core, and enabling the hexagonal shaft to be separated from the rotating shaft under the action of the second sliding block;
the feeding amount x of the tail end of the flexible stylet is continuously changed from 0mm to 15mm, so that the curvature radius of the puncture track can be any value within an interval [62.9mm,187.4mm ], and the change of the controllable continuous curvature within a certain range can be realized;
3) the needle core rotates:
when the path needs to deflect in the feeding process, the third motor needs to be reversed to enable the flexible needle core to return into the flexible needle sleeve, so that the feeding quantity x of the tail end of the needle core is 0mm, and at the moment, the end of the hexagonal shaft is positioned in the hexagonal counter bore of the rotating shaft; then starting a second motor to enable the rotating shaft to drive the flexible needle core to rotate through the hexagonal shaft; and finally, the third motor is positively rotated to return the flexible needle core to the initial position.
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| CN201911045326.5A CN110755137A (en) | 2019-10-30 | 2019-10-30 | Pre-bent needle puncture mechanism capable of realizing controllable continuous curvature based on separated needle core feeding and application method thereof |
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| CN201911045326.5A CN110755137A (en) | 2019-10-30 | 2019-10-30 | Pre-bent needle puncture mechanism capable of realizing controllable continuous curvature based on separated needle core feeding and application method thereof |
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| CN113712638A (en) * | 2021-08-31 | 2021-11-30 | 哈尔滨理工大学 | Flexible needle puncture device capable of automatically and continuously replacing needles |
| CN113749741A (en) * | 2021-09-17 | 2021-12-07 | 哈尔滨理工大学 | Flexible needle puncture device with cartridge clip type automatic continuous needle replacement function |
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