CN214805188U - Bending structure joint, movable connecting joint and puncture needle - Google Patents

Abstract

The present disclosure relates to a puncture needle device in the field of medical instruments. A bending structure and a puncture needle having the same are disclosed. The bending structural section comprises at least one connecting bulge and at least one connecting groove which are respectively arranged at the opposite ends of the bending structural section; and at least one detent projection and at least one detent recess, respectively, disposed at opposite ends of the knuckle. A plurality of bending structure sections are connected end to form a movable connecting joint. The multi-section puncture needle comprises a needle point arranged at the front end and a needle head arranged at the rear end and provided with a needle point connecting structure; the needle head is movably connected with the front end bending structural sections of the plurality of bending structural sections through the needle point connecting structure. The bending structure section and the multi-section puncture needle provided by the disclosure solve the problems of disjointing risk and structure return difference caused by miniaturization, have better safety stability and positioning accuracy, and are suitable for more precise puncture operations.

Description

Bending structure joint, movable connecting joint and puncture needle

Technical Field

The disclosure relates to the technical field of medical instruments, in particular to a flexible puncture needle.

Background

The puncture needle is an instrument for percutaneous puncture interventional operation, is used for sampling living tissues, administering medicine to an affected part or other medical operations, can directly reach the affected part in the puncture operation compared with other operation modes so as to avoid exposing internal tissues and organs outside, has the advantages of small wound, less pain, quick recovery, simple and convenient operation and the like, and is a minimally invasive diagnosis and treatment mode. Most common puncture needles in the market are slender rigid structures. In the actual puncturing process, the slender rigid puncturing needle cannot flexibly bypass certain important organs or tissues and other obstacles of the human body, so that the line of the puncturing process is difficult to accurately control. Meanwhile, the puncture needle body has rigidity to a large part, so that the puncture needle body has stress which is difficult to control the deformation, the movement direction of the puncture needle at the tail end is difficult to control, the puncture needle is easy to deviate from a target, the accurate positioning of the punctured target is difficult, and other methods are required for auxiliary positioning. Therefore, the prior art still needs further optimization and upgrade in terms of precision and puncture path.

SUMMERY OF THE UTILITY MODEL

Based on the above problems, the present disclosure provides a bending link, including:

at least one coupling protrusion and at least one coupling groove respectively provided at opposite ends of the bending links; and at least one detent projection and at least one detent recess, respectively, disposed at opposite ends of the knuckle.

In some embodiments, the at least one coupling protrusion includes a first coupling protrusion and a second coupling protrusion which are spaced apart from each other, and the at least one coupling groove includes a first coupling groove and a second coupling groove which are spaced apart from each other; and/or at least one clamping protrusion comprises a first clamping protrusion and a second clamping protrusion which are arranged at intervals, and at least one clamping groove comprises a first clamping groove and a second clamping groove which are arranged oppositely.

In some embodiments, a line connecting center points of the first and second coupling protrusions and a line connecting center points of the first and second coupling grooves are perpendicular to each other; and/or the central point connecting line of the first clamping bulge and the second clamping bulge is vertical to the central point connecting line of the first clamping groove and the second clamping groove; and/or the central point connecting line of the first connecting bulge and the second connecting bulge is vertical to the central point connecting line of the first clamping bulge and the second clamping bulge.

In some embodiments, the knuckle is cylindrical; and/or

The spreading plane shapes of the clamping bulges and the clamping grooves are rectangular; and/or

The expanded plane shapes of the connecting bulges and the connecting grooves are omega-shaped with the arc length larger than a semicircle; and/or

The end surfaces of the connecting protrusion and the connecting groove are cambered surfaces or inclined surfaces.

The present disclosure also provides a articulating joint, comprising:

a first knuckle according to any preceding claim; and a second knuckle according to any preceding claim,

at least one connecting protrusion of the first turning joint is connected with at least one connecting groove of the second turning joint in a clamping manner, at least one clamping protrusion of the first turning joint is matched with at least one clamping groove of the second turning joint, or at least one connecting protrusion of the first turning joint is connected with at least one connecting groove of the second turning joint in a clamping manner, and at least one clamping protrusion of the second turning joint is matched with at least one clamping groove of the first turning joint.

The present disclosure also provides a puncture needle, comprising:

the needle head comprises a needle point arranged at the front end and a needle point connecting structure arranged at the rear end;

a plurality of knuckle structure segments according to any one of the preceding claims, the plurality of knuckle structure segments being connected end to end;

the needle head is movably connected with the front end bending structural sections of the plurality of bending structural sections through the needle point connecting structure.

In some embodiments, the needle tip connecting structure comprises a needle tip connecting projection or a needle tip connecting groove and a needle tip blocking projection or a needle tip blocking groove.

In some embodiments, further comprising:

the bendable pipe comprises at least one gap unit and a bendable pipe connecting structure, wherein the gap unit is arranged along the length direction of the bendable pipe at intervals, the bendable pipe connecting structure is located at the front end, the gap unit comprises at least one gap extending along the circumferential direction of the bendable pipe, and the bendable pipe connecting structure is movably connected with the rear end bending structural sections of the plurality of bending structural sections.

In some embodiments, the bendable pipe connecting structure includes a bendable pipe connecting protrusion or a bendable pipe connecting groove and a bendable pipe catching protrusion or a bendable pipe catching groove.

In some embodiments, at least one end of the slot is provided with an end hole; and/or the slit unit comprises a plurality of slits which are arranged in a staggered manner, and the projections of the plurality of slits on the cross section of the bendable pipe can form a complete circumference; and/or the slit unit comprises a plurality of positioning holes which are arranged along the circumference of the bendable pipe at intervals and are used for fixing the positioning disc in the bendable pipe.

In some embodiments, further comprising: through the drive wire and/or tubing within the needle.

In some embodiments, the bending structure provided by the present disclosure can ensure the stability of the articulation joint of the bending structure when the thickness is reduced, so that the puncture needle body formed by the bending structure is thinner, or has a larger inner cavity space under the condition of the same outer diameter, so as to conveniently arrange medical tools in the inner cavity space, and realize diversified functions, including but not limited to, image acquisition, positioning drug delivery, biopsy and the like. Meanwhile, under the condition of the same overall length of the puncture needle, the positioning accuracy of the flexible main body is optimized, and the structural return difference is reduced. The flexible puncture needle provided by the disclosure can realize more accurate multifunctional in-place operation in a smaller space.

In some embodiments, the bending mechanism provided by the present disclosure can be matched with the inclined plane needle tip to realize a multi-arc path adapted to tissue avoidance, and meanwhile, due to the diversity of the surgical site and the requirement of the surgical function, the radial diameter of the puncture needle needs to be further compressed, or the inner cavity of the puncture needle has a larger accommodating space, so that the overall design of the flexible puncture needle is optimized.

In some embodiments, the bending structure provided by the present disclosure can support the requirement of reducing the section thickness of the puncture needle or reducing the volume of the unit structure, alleviate the problems that the joints clamped end to end are more likely to fall off, the joint return difference is increased, and the like, and improve the use effect, safety and accuracy of the flexible puncture needle.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings used in the description of the embodiments of the present disclosure will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other embodiments can be obtained according to the contents of the embodiments of the present disclosure and the drawings without creative efforts.

Fig. 1 illustrates a perspective view of a needle in accordance with some embodiments of the present disclosure.

Fig. 2 illustrates a perspective view of a flexure joint, according to some embodiments of the present disclosure.

Figure 3 illustrates a perspective view of an articulating joint formed from articulating segments connected end-to-end according to some embodiments of the present disclosure.

Fig. 4 illustrates a perspective view of a needle according to some embodiments of the present disclosure.

Fig. 5 illustrates a partial schematic view of another needle connected to a kink in accordance with some embodiments of the present disclosure.

Fig. 6 illustrates a perspective view of another needle in accordance with some embodiments of the present disclosure.

Fig. 7 illustrates a partial schematic view of a bendable pipe connected with a bending joint according to some embodiments of the present disclosure.

Fig. 8 illustrates a perspective view of another bendable tube according to some embodiments of the present disclosure.

List of reference numerals:

100. 200-puncture needle; 1-a needle head; 11-a needle tip; 12-a needle attachment structure; 124-needle connecting groove; 126-needle retaining groove; 2. 210, 220, 230, 240-knuckle structure; 23. 213, 233-connecting projections; 24. 224, 244-connecting grooves; 25. 215, 235-position clamping protrusions; 26. 226, 246-clamping groove; 8-a bendable tube; 83-bendable pipe connecting protrusions; 85-bendable rotating pipe clamping protrusions; 9-a slit unit; 91a, 91b, 91d, 91e, 91 f-slots; 92 a-b-terminal pore; 93-positioning hole

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be described in detail in some embodiments with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing and simplifying the present disclosure, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present disclosure, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present disclosure can be understood in specific instances by those of ordinary skill in the art.

In the present disclosure, distal or forward end refers to the end near the needle tip or patient, and proximal or rearward end refers to the end away from the needle tip or near the operator.

Figure 1 illustrates a perspective view of a needle 100 according to some embodiments of the present disclosure. As shown in fig. 1, a puncture needle 100 includes: a needle 1 and a plurality of bending joints 2. A plurality of the bent segments 2 may be connected end to form a flexible segment that can be bent. The rear end of the needle 1 may be connected to the front end of the flexible section formed by the bent section 2.

Fig. 2 illustrates a perspective view of a bending link 2 according to some embodiments of the present disclosure. As shown in fig. 2, the bending links 2 may be cylindrical in shape, and may have a circular, elliptical, polygonal, etc. cross-section. The bending segments 2 shown in fig. 2 have a circular cross-section, which improves the bending effect. The dimensions (e.g., diameter and length) of the bending node 2 can be designed as desired. In some embodiments, the length of each turning segment 2 may fall in the interval 2mm to 5mm for different turning segment 2 diameters and turning radius requirements.

In some embodiments, a first end (e.g., a front end or a rear end) of the knuckle 2 is provided with at least one coupling protrusion 23 and a second end (e.g., a rear end or a front end) is provided with at least one coupling groove 24. For example, as shown in fig. 2, the flexure joint 2 includes a pair of coupling protrusions 23 disposed opposite to each other at a first end, and a pair of coupling grooves 24 disposed opposite to each other at a second end. In some embodiments, the knuckle 2 may include three or more coupling protrusions 23 circumferentially spaced apart at a first end and three or more coupling grooves 24 circumferentially spaced apart at a second end.

In some embodiments, as shown in fig. 2, the flexure joint 2 may include at least one detent projection 25 disposed at a first end and at least one detent recess 26 disposed at a second end. For example, as shown in fig. 2, the bending link 2 may include a pair of detent projections 25 disposed opposite each other at a first end and a pair of detent recesses 26 disposed opposite each other at a second end. At the first end of the knee joint 2, the connecting projections 23 and the latching projections 25 are arranged at intervals in the circumferential direction. At the second end of the knee joint 2, the connecting recesses 24 and the latching recesses 26 are arranged at circumferential intervals.

Alternatively, in other embodiments, the connecting groove 24 and the retaining protrusion 25 may be spaced apart at the first end, and the connecting protrusion 23 and the retaining groove 26 may be spaced apart at the second end.

In some embodiments, as shown in fig. 2, the coupling protrusion 23 and the coupling groove 24 are spread out in a plane shape of an Ω shape having an arc length longer than a semicircle and are fitted to each other. Such a structure can enhance the fitting degree of the coupling protrusion 23 and the coupling groove 24, and realize free turning after the coupling protrusion 23 and the coupling groove 24 of different turning segments 2 are engaged. In some embodiments, as shown in fig. 2, the pair of connecting protrusions 23 of the first end of the bending member 2 are disposed opposite to each other, the pair of positioning protrusions 25 of the first end are disposed opposite to each other, and a line connecting center points of the pair of connecting protrusions 23 of the first end is perpendicular to a line connecting center points of the pair of positioning protrusions 25. The connecting line of the center points of the pair of connecting grooves 24 and the connecting line of the center points of the pair of locking grooves 26 at the second end of the bending structure 2 are perpendicular to each other, so that a good anti-slip effect is achieved.

In some embodiments, the line connecting the center points of the pair of coupling protrusions 23 at the first end and the line connecting the center points of the pair of coupling grooves 24 at the second end of the single knuckle 2 are perpendicular to each other. If a plurality of bending structure sections 2 are connected end to form a flexible section, the relative position relationship between the connecting groove 24 and the connecting bulge 23 can realize a better bending movement effect. In some embodiments, the turning segment 2 has an oval cross-section, and the pair of coupling protrusions 23 and the pair of coupling grooves 24 are respectively located at both ends of the major axis and the minor axis of the oval cross-section.

Fig. 3 illustrates a schematic view of the articulating joint formed by the revolute joint 210 and the revolute joint 220 of some embodiments. As shown in fig. 3, the turning joint 210 and the turning joint 220 are engaged end to form a movable joint. The connecting protrusion 213 at the first end of the turning structure 210 is engaged with the connecting groove 224 at the second end of the turning structure 220; the locking protrusion 215 of the first end of the turning joint 210 is engaged with the locking groove 226 of the second end of the turning joint 220.

In some embodiments, as shown in fig. 3, the engagement between the top of the connecting protrusion 213 at the first end of the bending member 210 and the bottom of the connecting groove 224 at the second end of the bending member 220 is designed to have a gap, so that the bending joint formed by them can be freely bent within a certain range, and when a certain limit bending angle is reached, the gap is closed and the bending cannot be continued.

In some embodiments, as shown in fig. 3, the planar shape of the detent recess 226 and detent projection 215 may be rectangular and mate with each other. In some embodiments, the sides of the detent recess 226 and detent projection 215 may be perpendicular to the inner and outer surfaces. The position-retaining groove 226 and the position-retaining protrusion 215 can play an effective anti-slip function in different connection states of the connection protrusion 213 and the connection groove 224, so that when different turning angles are formed between the turning joint 210 and the turning joint 220, the side edges of the position-retaining protrusion 215 can all abut against the side surfaces of the position-retaining groove 226 to prevent the force of the connection protrusion 213 and the connection groove 224 of the turning joint 2 from being disengaged.

In some embodiments, the end surfaces of the detent recesses 226 and detent projections 215 may be flat to achieve good blocking at different bend angles of the bending joint.

In some embodiments, the end surfaces of the connecting protrusion 213 and the connecting groove 224 are curved surfaces or inclined surfaces, and the connecting protrusion 213 and the connecting groove 224 form an adjacent turning joint by butt-joint engagement of the curved surfaces or inclined surfaces at the end portions.

Optionally, when the outer end surface of the connecting protrusion 213 and the inner end surface of the connecting groove 224 are both arc surfaces, a tangent of an end arc surface of the connecting protrusion 213 and the connecting groove 224 is perpendicularly intersected with a longitudinal axis of the turning joint 2, and the connecting protrusion 213 and the connecting groove 224 are butted and engaged through the end arc surface to form a turning joint.

Alternatively, in the case where both the outer end surface of the connecting projection 213 and the inner end surface of the connecting groove 224 are inclined surfaces, the inclined surface of the outer end surface of the connecting projection 213 and the inclined surface of the inner end surface of the connecting groove 224 cooperate to form a turning joint. In this way, the inclined surface contact of the end surfaces between the coupling projection 213 and the coupling groove 224 enables the bending links 2 to transmit a force in the longitudinal axis direction and a torque around the longitudinal axis direction, and the bending links 2 formed by the abutting engagement of the coupling projection 213 and the coupling groove 224 can be smoothly bent. The flexible section of the puncture needle formed by the plurality of bending structural sections 2 can be bent towards any direction.

Fig. 4 shows a schematic view of the construction of the needle 1 in some embodiments. As shown in fig. 4, the needle 1 is cylindrical, and the cross-sectional shape can be circular or elliptical to meet different functional requirements. The needle 1 comprises a forward tip 11 and a rearward tip connection 12. The needle tip connecting structure 12 is used to connect the needle tip 11 to a flexible section of the needle, such as a plurality of flexure joints 2.

As shown in fig. 4, the needle tip 11 is a beveled needle tip. When the puncture needle is inserted into human tissues, the needle tip 11 of the puncture needle cuts tissue materials, the needle head 1 is bent in a large lateral direction under the action of lateral force on a slope surface, a puncture needle flexible section formed by a plurality of bending structural sections 2 is driven to be bent in the advancing process, and the puncture needle finally forms a bent track. If there is an obstacle to be bypassed in the direction of the needle tip 11, a rotational force can be applied to the needle tip 11 about an axis to change the orientation of the slope of the needle tip 11 and thus change the direction of travel to bypass different tissues as the needle advances the flexible segment of the needle. In some embodiments, tip 11 is angled approximately 20 ° or so, which provides a better guidance of tip 11.

In some embodiments, the needle tip connecting structure 12 is movably connected to the bending structure 2 in a variety of ways, including but not limited to, hinged connection, etc. As shown in fig. 4, the needle tip connecting structure 12 includes a connecting groove for fitting connection with the connecting protrusion of the front end bending section 2.

Fig. 5 illustrates a partial schematic view of the articulating connection of the tip connecting structure 12 to the turning segment 230 in some embodiments. As shown in fig. 5, the tip connecting structure 12 includes a tip connecting groove 124. The needle point connecting groove 124 of the needle point connecting structure 12 is matched with the connecting bulge 233 at the first end of the bending structural section 2, and the needle 1 is clamped with the bending structural section 230 through the needle point connecting groove 124 of the needle point connecting structure 12 to form a movable joint. The number and position of the needle tip coupling grooves 124 may be the same as those of the coupling projections 233, for example, two oppositely disposed. In some embodiments, as shown in fig. 5, the needle tip connecting structure 12 further comprises a needle tip retaining groove 126, which is engaged with the retaining protrusion 235 at the first end of the turning structure 230, and the number of the retaining grooves may be one, two or more.

In other embodiments, the tip connection structure 12 includes a tip connection bump. The needle point connecting bulge of the needle point connecting structure 12 is matched with the connecting groove at the second end of the bending structural section 2, and the needle head 1 is clamped with the bending structural section 2 through the needle point connecting bulge of the needle point connecting structure 12 to form a movable joint. The number and position of the needle tip coupling projections may be the same as those of the coupling grooves, for example, two oppositely disposed. In some embodiments, the needle tip connecting structure 12 further comprises a needle tip retaining protrusion, which is engaged with the retaining groove at the second end of the turning structure, and the number of the needle tip retaining protrusion is one, two or more.

In some embodiments, the present disclosure also provides a multi-section lancet. Figure 6 is a schematic view of a multi-section needle according to some embodiments. As shown in FIG. 6, the multi-stage puncture needle 200 has a multi-stage structure including a needle head 1, a plurality of bending segments 2, and a bendable tube 8. The needle head 1 is arranged at the front end of the front end bending structural section 2, and the bendable pipe 8 is connected with the rear end of the rear end bending structural section 2. Thus, the flexible tube 8 is connected to the needle 1 by a plurality of bending joints.

Fig. 7 shows a partial schematic view of an end of the bendable pipe 8 connected to the bending link 240. As shown in fig. 7, the bendable pipe 8 is a hollow circular pipe, and the bendable pipe 8 is provided with a plurality of slit units 9 at intervals in the axial direction. The slit unit 9 includes at least one slit extending circumferentially along the bendable pipe 8. For example, as shown in fig. 7, the slit unit 9 includes a first slit 91a and a second slit 91b, and the first slit 91a and the second slit 91b may be staggered by a certain angle, for example, 90 °.

In some embodiments, as shown in fig. 7, the end points of the first and second slits 91a and 91b may be provided with end holes 92a and 92b, respectively. The diameter of the end holes 92a, 92b is larger than the width of the slit. The bending capability of the bendable pipe 8, such as a bending angle and a bending radius, can be adjusted by adjusting the slit width of the slit, the slit interval, the end hole size, and the interval of the slit units.

In some embodiments, the projection of all slits of each slit unit 9 onto the cross-section of the bendable pipe 8 can form a complete circumference.

As shown in fig. 7, the bendable pipe 8 may be provided at the front end thereof with a bendable pipe coupling protrusion 83, and the bendable pipe coupling protrusion 83 is engaged with the coupling groove 244 of the bending link 240 to movably couple the bending link 240 with the bendable pipe 8.

In some embodiments, the bendable pipe 8 may further include a bendable pipe positioning protrusion 85 at the front end thereof, and the bendable pipe positioning protrusion 85 is engaged with the positioning groove 246 of the bending member 240 to prevent the bending member 240 from being disconnected from the bendable pipe 8.

In some embodiments, the needle head 1, the deflectable segment 2, and the bendable tube 8 of the multi-segment needle may be hollow, and the interior of the hollow may be accessible by a drive wire or medical instrument. The medical device may be a visual acquisition device for obtaining tissue information, as well as catheters for various purposes, such as drug delivery catheters, catheters for placement of, for example, radioactive ablates, catheters for biopsy, and the like.

Fig. 8 shows a partial structural view of a bendable pipe 8 in further embodiments. As shown in fig. 8, the slit unit 9 may include a first slit 91d, a second slit 91e, and a third slit 91f which are disposed in a staggered manner. The first, second and third slits 91d, 91e and 91f may be respectively staggered by 90 °.

In some embodiments, as shown in fig. 7, the slit unit 9 may further include a plurality of positioning holes 93 intermittently provided in the circumferential direction of the bendable pipe 8 for fixing the positioning disk. A plurality of through holes are distributed on the positioning plate. The driving wire or the catheter can pass through the inside of the multi-section puncture needle through the through holes, so that the circumferential and axial positioning is convenient to realize.

The bendable pipe 8 provided by the present disclosure can realize multi-angle bending, even 360 degree bending. Because the gap is arranged on the bendable pipe 8 which is integrally formed, the structural integrity is good, the return difference is small, and the control precision of the puncture needle after the puncture needle is bent to go deep into the tissue for a certain distance can be enhanced.

In some embodiments, a puncture needle according to embodiments of the present disclosure may be coupled to a rear drive or transmission mechanism to control the feed speed and feed direction of the puncture needle.

It should be noted that the foregoing is only illustrative of the embodiments of the present disclosure and the technical principles employed. Those skilled in the art will appreciate that the present disclosure is not limited to the specific embodiments illustrated herein and that various obvious changes, adaptations, and substitutions are possible, without departing from the scope of the present disclosure. Therefore, although the present disclosure has been described in greater detail with reference to the above embodiments, the present disclosure is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present disclosure, the scope of which is determined by the scope of the appended claims.

Claims (11)

1. A flexure joint, comprising:

at least one coupling protrusion and at least one coupling groove respectively provided at opposite ends of the bending links; and

at least one detent projection and at least one detent recess are respectively provided at opposite ends of the knuckle.

2. The knuckle according to claim 1, wherein the at least one coupling projection includes first and second coupling projections spaced apart from each other, and the at least one coupling recess includes first and second coupling recesses spaced apart from each other; and/or

At least one screens is protruding including the interval first screens arch and the second screens arch that sets up, and at least one screens recess includes the interval first screens recess and the second screens recess that sets up.

3. The knuckle according to claim 2, wherein a line connecting center points of said first and second coupling protrusions and a line connecting center points of said first and second coupling grooves are perpendicular to each other; and/or

The connecting line of the central points of the first clamping bulge and the second clamping bulge is vertical to the connecting line of the central points of the first clamping groove and the second clamping groove; and/or

The central point connecting line of the first connecting bulge and the second connecting bulge is vertical to the central point connecting line of the first clamping bulge and the second clamping bulge.

4. The knuckle according to any one of claims 1 to 3,

the bending structure section is cylindrical; and/or

The spreading plane shapes of the clamping bulges and the clamping grooves are rectangular; and/or

The expanded plane shapes of the connecting bulges and the connecting grooves are omega-shaped with arc length larger than a semicircle; and/or

The end surfaces of the connecting protrusion and the connecting groove are cambered surfaces or inclined surfaces.

5. An articulating joint, comprising:

the bending section of any one of the first claims 1-4; and

the knuckle according to any one of claims 1 to 4,

at least one connecting protrusion of the first bending structural section is connected with at least one connecting groove of the second bending structural section in a clamping manner, and at least one clamping protrusion of the first bending structural section is matched with at least one clamping groove of the second bending structural section, or

At least one connecting protrusion of the first bending structural section is connected with at least one connecting groove of the second bending structural section in a clamping mode, and at least one clamping protrusion of the second bending structural section is matched with at least one clamping groove of the first bending structural section.

6. A puncture needle, comprising:

the needle head comprises a needle point arranged at the front end and a needle point connecting structure arranged at the rear end;

a plurality of the knuckle according to any one of claims 1-4, said plurality of knuckles being joined end-to-end;

the needle head is movably connected with the front end bending structural sections of the plurality of bending structural sections through the needle point connecting structure.

7. The puncture needle according to claim 6, wherein the needle tip coupling structure includes a needle tip coupling projection or a needle tip coupling groove and a needle tip catching projection or a needle tip catching groove.

8. The needle of claim 6 further comprising:

the bendable pipe comprises at least one gap unit and a bendable pipe connecting structure, wherein the gap unit is arranged along the length direction of the bendable pipe at intervals, the bendable pipe connecting structure is positioned at the front end, the gap unit comprises at least one gap extending along the circumferential direction of the bendable pipe, and the bendable pipe connecting structure is movably connected with the rear-end bending structural sections of the bending structural sections.

9. The puncture needle according to claim 8, wherein the bendable tube coupling structure includes a bendable tube coupling protrusion or a bendable tube coupling groove and a bendable tube retaining protrusion or a bendable tube retaining groove.

10. A puncture needle according to claim 8,

at least one end of the gap is provided with an end hole; and/or

The slit unit comprises a plurality of slits which are arranged in a staggered mode, and the projections of the plurality of slits on the cross section of the bendable pipe can form a complete circumference; and/or

The slit unit comprises a plurality of positioning holes which are arranged along the circumferential direction of the bendable pipe at intervals and used for fixing a positioning disc in the bendable pipe.

11. A puncture needle according to any one of claims 6 to 10, further comprising:

a drive wire and/or tubing passing through the interior of the needle.

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