CN219439353U - Needle feeding roller for needle feeding of puncture needle and automatic needle feeding device - Google Patents

Abstract

The application discloses a needle feeding roller and an automatic needle feeding device for a puncture needle, wherein the needle feeding roller can be driven to rotate fixedly so as to drive the puncture needle clamped by at least two needle feeding rollers to move linearly; the needle feeding roller comprises: the roller pin shaft is provided with a connecting hole, the connecting hole is connected with the output end of the rotary driving assembly, and the roller rubber is detachably sleeved on the roller pin shaft. The needle inserting structure has the advantages that the extra linear displacement space is not needed in the needle inserting process, the occupied space of the needle inserting part is reduced, the needle inserting structure is convenient to use, the needle inserting structure is convenient to replace as a consumable, and the problems that the occupied space of the needle inserting structure of a puncture needle in the related art is large and the needle inserting structure is inconvenient to use are solved.

Description

Needle feeding roller for needle feeding of puncture needle and automatic needle feeding device

Technical Field

The application relates to the technical field of puncture equipment, in particular to a needle feeding roller for a puncture needle and an automatic needle feeding device.

Background

The robot puncture can effectively improve the stability and the accuracy of the puncture operation, and the robot can stably clamp the puncture needle and keep the puncture position and the puncture angle.

The robot holds the puncture needle by the end effector and performs the puncture needle insertion operation, and the end effector needs to have the functions of holding the puncture needle and inserting the puncture needle. In addition, the end effector also provides for quick release of the needle: when the patient moves, the puncture needle is quickly released to avoid injury to the patient; after the puncture is completed, the puncture needle is released, and the puncture needle and the patient perform CT scanning together to verify whether the puncture is in place. The needle feeding of the puncture needle is realized by a plurality of linear modules, and the puncture needle is directly pushed into the advancing needle by adopting a screw rod transmission mechanism. In this type of needle insertion structure, since the output end of the linear module needs to move linearly with the puncture needle, the structure of the entire needle insertion portion is long, and the occupied space is large.

Disclosure of Invention

The main aim of the application is to provide a needle feeding roller for a puncture needle, so as to solve the problems of large occupied space and inconvenient use of a needle feeding structure of the puncture needle in the related art.

In order to achieve the above object, the present application provides a needle feeding roller for a puncture needle, the needle feeding roller being drivingly pivotable to drive a puncture needle held by at least two needle feeding rollers to move linearly;

the needle feeding roller comprises: the roller pin shaft is provided with a connecting hole, the connecting hole is connected with the output end of the rotary driving assembly, and the roller rubber is detachably sleeved on the roller pin shaft.

Further, a through groove is formed in the connecting hole along the axial direction of the connecting hole, and the through groove is used for being clamped with the output end of the rotary driving assembly.

Further, at least two through grooves are arranged and are symmetrical along the axis of the connecting hole.

Further, the connection hole is provided as a through hole.

Further, the roller pin shaft is a rigid piece, and the roller rubber is made of soft silica gel.

Further, one end of the roller pin shaft is provided with a limiting baffle ring, the diameter of the limiting baffle ring is larger than that of the roller pin shaft, and the limiting baffle ring is concentric with the roller pin shaft.

According to another aspect of the present application, there is provided an automatic needle insertion device comprising: the puncture needle comprises a base plate, a puncture needle fixing clamp and at least two needle inlet rollers;

the puncture needle fixing clamp is used for fixing a needle handle part of the puncture needle, a sliding groove is formed in the base plate, and the puncture needle fixing clamp is clamped in the sliding groove and is in sliding connection with the sliding groove;

the two needle feeding rollers are a driving roller and a driven roller respectively, the driving roller is in contact with the driven roller, and the driving roller can be driven to rotate fixedly in a shaft and drive the driven roller to rotate synchronously, so that the puncture needle moves linearly.

Further, the end part of the substrate is provided with a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw are oppositely arranged, the driving roller is rotatably arranged on the first clamping jaw, and the driven roller is rotatably arranged on the second clamping jaw.

Further, the rotary driving assembly is arranged on the first clamping jaw and used for driving the driving roller to rotate in a fixed shaft mode.

Further, the rotary driving assembly comprises a rotary motor arranged on the first clamping jaw, and the axis of the rotary motor is perpendicular to the axis of the driving roller;

the output end of the rotating motor is provided with a driving bevel gear, the driving idler wheel is connected with a driven bevel gear, and the driven bevel gear is meshed with the driving bevel gear.

In the embodiment of the application, the needle feeding roller is arranged to be driven to rotate fixedly so as to drive the puncture needle clamped by at least two needle feeding rollers to linearly move; the needle feeding roller comprises: the roller pin shaft and the roller rubber are provided with connecting holes, the connecting holes are connected with the output end of the rotary driving assembly, the roller rubber is detachably sleeved on the roller pin shaft, the aim of attaching the roller rubber to the needle body of the puncture needle in needle insertion is achieved, the puncture needle is driven to linearly move under the cooperation of two needle insertion rollers, the roller rubber serves as a part in direct contact with the puncture needle, and the purpose of removing and replacing the puncture needle can be achieved after the puncture needle is finished, so that the additional linear displacement space is not needed in the needle insertion process, the occupied space of the needle insertion part is reduced, the use is convenient, the technical effect of being convenient to replace as consumables is achieved, and the problems that the needle insertion structure of the puncture needle in the related art is large in occupied space and inconvenient to use are solved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the application and to provide a further understanding of the application with regard to the other features, objects and advantages of the application. The drawings of the illustrative embodiments of the present application and their descriptions are for the purpose of illustrating the present application and are not to be construed as unduly limiting the present application. In the drawings:

FIG. 1 is a schematic elevational view of a release state according to an embodiment of the present application;

FIG. 2 is a schematic rear view of a release configuration according to an embodiment of the present application;

FIG. 3 is a schematic elevational view of a clamped state according to an embodiment of the present application;

FIG. 4 is a schematic rear view of a clamping state according to an embodiment of the present application;

FIG. 5 is a schematic illustration of an axially measured structure in a clamped state according to an embodiment of the present application;

FIG. 6 is a schematic view of a structure of a substrate according to an embodiment of the present application;

FIG. 7 is a schematic structural view of a first stopper and a second stopper according to an embodiment of the present application;

FIG. 8 is a schematic top view of a first stopper and a second stopper according to an embodiment of the present application;

FIG. 9 is a schematic view of an exploded configuration of a driving roller and a driven roller according to an embodiment of the present application;

FIG. 10 is a schematic view of a needle roller according to an embodiment of the present application;

FIG. 11 is a schematic view of the mounting structure of the first stopper and the second stopper according to an embodiment of the present application;

FIG. 12 is a schematic view of the structure of the housing according to an embodiment of the present application;

FIG. 13 is a schematic view of an assembled structure of a housing and a motion platform according to an embodiment of the present application;

FIG. 14 is a schematic view of an assembled structure of a housing and a motion platform according to an embodiment of the present application;

the device comprises a substrate 1, a sliding groove 101, a linear output mechanism 2, a linear motor 21, a push rod 22, a rotary driving assembly 3, a driving bevel gear 31, a driven bevel gear 32, a rotary motor 33, a first clamping jaw 4, a second clamping jaw 5, a spring 6, a first connecting rod 7, a second connecting rod 8, a second limiting block 9, a supporting part 91, a baffle 92, a needle penetrating groove 93, a through hole 94, a driven roller 10, a puncture needle 11, a driving roller 12, a puncture needle fixing clamp 13, a groove 14, a guiding groove 15, a first limiting block 16, a limiting plate 161, a housing 17, a clamping groove 18, a first boss 19, a moving platform 20, roller rubber 23, a roller pin shaft 24, a connecting hole 25, a second boss 26, an opening 27, a terminal structure 28 and a transmission shaft 29.

Detailed Description

In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein.

In the present application, the terms "upper", "lower", "inner", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings. These terms are used primarily to better describe the present application and its embodiments and are not intended to limit the indicated device, element or component to a particular orientation or to be constructed and operated in a particular orientation.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "disposed," "configured," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In addition, the term "plurality" shall mean two as well as more than two.

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

The robot holds the puncture needle by the end effector and performs the puncture needle insertion operation, and the end effector needs to have the functions of holding the puncture needle and inserting the puncture needle. In addition, the end effector also provides for quick release of the needle: when the patient moves, the puncture needle is quickly released to avoid injury to the patient; after the puncture is completed, the puncture needle is released, and the puncture needle and the patient perform CT scanning together to verify whether the puncture is in place.

Most of the existing schemes are manual needle threading, the puncture needles are required to be manually clamped and released, the operation is complex and time-consuming, the puncture needles cannot be rapidly released, meanwhile, a doctor needs to enter a CT room for many times, the time is delayed, and the doctor cannot receive radiation.

To solve the above technical problems, as shown in fig. 1 to 4, an embodiment of the present application provides an automatic puncturing device for a robotic puncturing operation, including: the puncture needle comprises a base plate 1, a puncture needle fixing clamp 13, a puncture needle clamping jaw and a needle inlet assembly; wherein, the liquid crystal display device comprises a liquid crystal display device,

the puncture needle fixing clamp 13 is used for fixing a needle handle part of the puncture needle 11, and the puncture needle fixing clamp 13 is clamped on the base plate 1 and is in sliding connection with the base plate 1;

the puncture needle clamping jaw comprises a first clamping jaw 4 and a second clamping jaw 5, and the first clamping jaw 4 and the second clamping jaw 5 are movably arranged on the base plate 1; the needle feeding component consists of two needle feeding rollers, the two needle feeding rollers comprise a driving roller 12 and a driven roller 10, the driving roller 12 is rotatably arranged on the first clamping jaw 4, the driven roller 10 is rotatably arranged on the second clamping jaw 5,

the first clamping jaw 4 and the second clamping jaw 5 can be driven to approach each other and clamp the puncture needle 11 by the driving roller 12 and the driven roller 10, or driven to move away from each other and release the puncture needle 11;

the first clamping jaw 4 is provided with a rotary driving assembly 3, the rotary driving assembly 3 is used for driving the driving roller 12 to rotate, the driving roller 12 can be driven to synchronously rotate by driving the driven roller 10, and the puncture needle 11 is driven to linearly move.

In this embodiment, the automatic lancing device is mainly composed of a base plate 1, a lancet holder 13, a lancet jaw, and a lancet feeding assembly. The base plate 1 may be provided as a mounting base of each member in a long-strip-shaped plate-like structure, and the puncture needle holder 13 may be mounted on the base plate 1 so as to be linearly slidable along the base plate 1 while fixing the needle handle portion of the puncture needle 11 when the puncture needle holder 13 is operated in the device.

During the insertion of the puncture needle 11, the puncture needle 11 linearly moves on the substrate 1 in synchronization with the puncture needle holder 13. Thus, the connection structure of the lancet holder 13 with the base plate 1 will affect the stability of the insertion of the lancet 11. In this embodiment, in order to enable the puncture needle 11 to stably insert the puncture needle, the two sides of the substrate 1 are provided with the sliding grooves 101, the two sides of the puncture needle fixing clamp 13 are clamped in the sliding grooves 101 and are slidably connected with the sliding grooves 101, and the puncture needle fixing clamp 13 can only linearly move along the opening direction of the sliding grooves 101 and cannot deviate under the action of the sliding grooves 101 at the two sides of the substrate 1, so that the puncture needle 11 mounted on the puncture needle fixing clamp 13 can also linearly move along the opening direction of the sliding grooves 101.

Since the needle holder 13 is in direct contact with the needle 11, it is necessary to install a new needle holder 13 at each puncture or to sterilize the original needle holder 13 in order to avoid contamination. Therefore, in order to facilitate replacement of the puncture needle fixing clamp 13, as shown in fig. 2 or fig. 4, in this embodiment, the upper end of the chute 101 is provided with a through structure, and when replacement is required, the puncture needle fixing clamp 13 can be manually slid upward along the chute 101, so that it is separated from the upper end of the chute 101 from the substrate 1 to complete the detachment. The puncture needle holder 13 moves down along the chute 101 during the needle insertion of the puncture needle 11. In order to prevent the puncture needle fixing clamp 13 from being separated from the chute 101 in the moving process, the lower end of the chute 101 is of a closed structure, and the closed position is used as the limit of the maximum lower stroke of the puncture needle fixing clamp 13 to prevent the puncture needle 11 from moving beyond the stroke.

The sliding grooves 101 arranged on the two sides of the base plate 1 can be used as sliding rails of the puncture needle fixing clamp 13, and can also guide and limit the sliding of the puncture needle fixing clamp 13 to a certain extent. The guiding and limiting effects are determined by the matching precision of the sliding grooves 101 on the two sides and the puncture needle fixing clamp 13, and the processing difficulty and the processing cost are high because the precision of the sliding grooves 101 on the two sides are required to meet the requirements. For this purpose, as shown in fig. 2, 4, 5 and 6, a guiding groove 15 is formed on the base plate 1, and the guiding groove 15 is located between the sliding grooves 101 on both sides and is located in the middle of the base plate 1. The puncture needle fixing clamp 13 is provided with a protrusion matched with the guide groove 15, and the guide of the puncture needle fixing clamp 13 in the linear movement process is realized through the matching of the guide groove 15 and the protrusion. The guide slot 15 can be formed into an arc slot, the same protrusions are also arranged into arc protrusions matched with the arc slot, and the arc protrusions can have a certain length, so that the contact area with the guide slot 15 is increased, and the movement stability is further improved.

In order to enable the puncture needle fixing clamp 13 to better clamp and fix the puncture needle 11, the puncture needle fixing clamp 13 is provided with a groove 14 for accommodating a needle handle part, the outline of the groove 14 can be matched with that of the needle handle part, and a groove can be formed at the lower end of the groove 14 along the radial direction of the puncture needle 11, so that the puncture needle 11 can translate into the groove 14 or be separated from the groove 14 along the radial direction. The width of the radial slot should match the diameter of the needle body portion of the lancet 11.

The first clamping jaw 4 and the second clamping jaw 5 are movably arranged on the substrate 1, the first clamping jaw 4 and the second clamping jaw 5 are oppositely arranged, and can be driven to be close to or far away from each other, and the specific movement process can be rotary movement or linear movement. When a rotary motion is adopted, as shown in fig. 1 and 3, the first clamping jaw 4 and the second clamping jaw 5 need to be hinged with the substrate 1 through a rotating shaft, and corresponding driving equipment can drive the first clamping jaw 4 and the second clamping jaw 5 to synchronously rotate around a hinge point to achieve mutual approaching or separating. When linear motion is adopted, the first clamping jaw 4 and the second clamping jaw 5 need to be in sliding connection with the substrate 1, and corresponding driving equipment can drive the first clamping jaw 4 and the second clamping jaw 5 to synchronously linearly move to achieve mutual approaching or separating.

The first clamping jaw 4 and the second clamping jaw 5 serve as active clamping parts of the puncture needle 11 in the automatic puncture device, and the structure of the puncture needle 11 is clamped and released by the rotation movement of the first clamping jaw 4 and the second clamping jaw 5 in the aspect of required installation space and operation stability. Specifically, as shown in fig. 1 and 3, the first clamping jaw 4 and the second clamping jaw 5 are hinged on the base plate 1, a linear output mechanism 2 is arranged on the base plate 1, the output end of the linear output mechanism 2 is hinged with a first connecting rod 7 and a second connecting rod 8, the first connecting rod 7 is hinged with the first clamping jaw 4, and the second connecting rod 8 is hinged with the second clamping jaw 5.

In the present embodiment, the linear output mechanism 2 may be configured to realize linear reciprocating motion, and may be configured to be a cylinder, a linear motor 21, or the like. For the convenience of electric control, the linear motor 21 and the push rod 22 are combined to form the linear output mechanism 2 in the embodiment, the linear motor 21 is fixed on the base plate 1 to drive the push rod 22 to linearly move, the first ends of the first connecting rod 7 and the second connecting rod 8 can be hinged on two sides of the push rod 22, meanwhile, the second end of the first connecting rod 7 is hinged on the inner side of the first clamping jaw 4, and the second end of the second connecting rod 8 is hinged on the inner side of the second clamping jaw 5. When the linear motor 21 drives the push rod 22 to extend outwards, the push rod 22 pushes the first connecting rod 7 and the second connecting rod 8 to open, so that the first clamping jaw 4 and the second clamping jaw 5 are driven to rotate in directions away from each other. When the linear motor 21 drives the push rod 22 to retract, the push rod 22 pulls the first link 7 and the second link 8 to contract, thereby driving the first jaw 4 and the second jaw 5 to rotate in directions approaching each other.

In order to enable the first clamping jaw 4 and the second clamping jaw 5 to apply a sufficient clamping force to the puncture needle 11 during clamping, a return spring 6 is connected between the first clamping jaw 4 and the second clamping jaw 5 in the embodiment, the return spring 6 pulls the first clamping jaw 4 and the second clamping jaw 5 by elastic force in a clamping state, and the first clamping jaw 4 and the second clamping jaw 5 pull the return spring 6 to extend in a releasing state. In order to facilitate installation of the return spring 6, in this embodiment, connecting posts are arranged on the side surfaces of the first clamping jaw 4 and the second clamping jaw 5, and two ends of the return spring 6 are respectively sleeved on the connecting posts of the first clamping jaw 4 and the connecting posts of the second clamping jaw 5.

The automatic clamping and releasing of the puncture needle 11 can be realized through the cooperation of the first clamping jaw 4 and the second clamping jaw 5, and the automatic needle feeding of the puncture needle 11 is also required to be realized on the basis. To this end, the present embodiment provides a needle insertion assembly in combination with the structure of the first jaw 4 and the second jaw 5.

Specifically, as shown in fig. 1 and 2, the needle feeding assembly mainly comprises two needle feeding rollers, namely a driving roller 12 and a driven roller 10. The driving roller 12 is rotatably arranged on the first clamping jaw 4, the driven roller 10 is rotatably arranged on the second clamping jaw 5, and the driving roller 12 and the driven roller 10 can be roller structures with rubber surfaces. During the clamping process, the first clamping jaw 4 and the second clamping jaw 5 are driven to approach each other, the driving roller 12 and the driven roller 10 are also approached at the moment, the driving roller 12 and the driven roller 10 are used for directly contacting the needle body of the puncture needle 11 and clamping the puncture needle 11, the needle body of the puncture needle 11 is positioned between the driving roller 12 and the driven roller 10 at the moment, and the driving roller 12 and the driven roller 10 are contacted.

When a needle is required to be inserted, the driving roller 12 is driven to rotate in a fixed shaft mode through the rotary driving assembly 3, and the driving roller 12 drives the driven roller 10 to rotate through friction force, so that the clamped puncture needle 11 moves linearly to complete the needle insertion operation. The drive roller 12 is rotatable clockwise as well as counterclockwise, and when needle insertion is accomplished with clockwise rotation, needle retraction may be accomplished by counterclockwise rotation in some cases.

Because the needle feeding assembly is installed on the first clamping jaw 4, the needle feeding assembly is driven to synchronously move by the action of the first clamping jaw 4, so that the needle feeding assembly can not generate additional acting force on the puncture needle 11 when the puncture needle 11 is released, and the use safety is improved. The function of the rotary driving assembly 3 in the needle inserting assembly is to drive the driving roller 12 to rotate in a fixed shaft, for convenience in control, as shown in fig. 1, in this embodiment, the rotary driving assembly 3 includes a rotary motor 33 disposed on the first clamping jaw 4, and the axis of the rotary motor 33 is perpendicular to the axis of the driving roller 12, that is, the rotary motor 33 is disposed along the length direction of the first clamping jaw 4, so that the center of gravity of the first clamping jaw 4 cannot deviate in the horizontal direction, and therefore, dislocation of the first clamping jaw 4 and the second clamping jaw 5 in the horizontal direction in the moving process is avoided.

The rotating motor 33 arranged in the above manner cannot directly drive the driving roller 12 to rotate, so that an additional transmission member needs to be arranged to adjust the transmission direction to drive the driving roller 12. For this purpose, as shown in fig. 1, the output end of the rotary motor 33 is provided with a driving bevel gear 31, the driving roller 12 is connected with a driven bevel gear 32, the driven bevel gear 32 is meshed with the driving bevel gear 31, and the rotary motor 33 drives the bevel gear to rotate, thereby driving the driven bevel gear 32 to rotate, and further changing the driving direction and driving the driving roller 12 to rotate.

The needle feeding assembly in this embodiment can calculate the penetration depth of the puncture needle 11 by monitoring the rotation number of the rotating motor 33, the reduction ratio of the reduction gearbox and the radius of the rubber roller, and can detect the penetration force change in the penetration process by monitoring the power supply current change of the rotating motor 33 in the needle feeding process.

Since the driving roller 12 needs to be capable of rotating on the first clamping jaw 4 in a fixed axis manner, and the driven roller 10 needs to rotate on the second clamping jaw 5 in a fixed axis manner, in order to facilitate the installation of the driving roller 12 and the driven roller 10, in this embodiment, the end portions of the first clamping jaw 4 and the second clamping jaw 5 are provided with installation holes, the driving roller 12 is connected with the installation holes on the first clamping jaw 4 through the transmission shaft 29, and the driven roller 10 is connected with the installation holes on the second clamping jaw 5 through the transmission shaft 29.

Since the driving roller 12 and the driven roller 10 are in direct contact with the puncture needle 11 during use, replacement as a consumable is also required. For this reason, the structures of the driving roller 12 and the driven roller 10 are further improved in this embodiment.

Specifically, as shown in fig. 9 and 10, the driving roller 12 and the driven roller 10 have the same structure, and each of the driving roller 12 and the driven roller 10 includes a roller pin 24 and a roller rubber 23, the roller pin 24 is provided with a connection hole, and the connection hole is detachably sleeved on a corresponding transmission shaft 29 (i.e. the output end of the rotation driving assembly 3), so that the roller pin 24 can synchronously rotate the transmission shaft 29. The roller pin shaft 24 is a rigid piece, in particular a metal or plastic piece, so that the transmission strength is ensured, the roller rubber 23 is detachably sleeved on the roller pin shaft 24, the roller rubber 23 can be soft silica gel, the transmission friction between two rollers is ensured, the rollers can provide enough puncture force for the puncture needle 11, and meanwhile, the sufficient puncture needle 11 strength can be ensured by replacing the roller rubber 23 with different hardness; the driven bevel gear 32 is connected to the drive shaft 29 on the first jaw 4.

In order to facilitate the linkage and disassembly of the roller pin shaft 24 and the transmission shaft 29, the embodiment is provided with a convex strip extending radially along the outer peripheral surface of the transmission shaft 29, a through groove matched with the convex strip is formed in an inner hole of the roller pin shaft 24, and the roller pin shaft 24 is connected with the transmission shaft 29 through the cooperation of the through groove and the convex strip. The convex strips can be arranged in two symmetrical ways, and the through grooves are also arranged in two symmetrical ways.

In order to limit the installation position of the roller rubber 23 on the roller pin shaft 24, one end of the roller pin shaft 24 is provided with a limiting baffle ring, the diameter of the limiting baffle ring is larger than that of the roller pin shaft 24, and the limiting baffle ring is concentric with the roller pin shaft 24.

Since the needle insertion of the puncture needle 11 is realized by the driving roller 12 and the driven roller 10 by friction force in the present embodiment, there may be a situation that the driving roller 12 and the driven roller 10 slip during the actual use, at this time, the driving roller 12 still rotates and the driven roller 10 cannot synchronously rotate, so that the needle insertion cannot be performed. If the needle insertion information is judged by monitoring the rotation information of the active roller 12, it is inaccurate. To this end, the needle insertion assembly in this embodiment further comprises an encoder connected to a drive shaft 29 on the second jaw 5 for monitoring the rotation information of the driven roller 10.

Since the driven roller 10 is rotated by the driving of the driving roller 12, needle insertion information of the puncture needle 11 can be accurately obtained by monitoring the rotation information of the driven roller 10.

During the process, the linear movement of the puncture needle 11 needs to be guided, meanwhile, the driving roller 12 and the driven roller 10 can be directly separated from the puncture needle 11 when the puncture needle 11 is released, only the needle handle part of the puncture needle 11 is clamped by the puncture needle fixing clamp 13, so that the needle body part of the puncture needle 11 can generate a certain bending amplitude due to the flexible structure, and the puncture needle 11 is also easy to be directly separated from the puncture needle fixing clamp 13 during the release because the puncture needle fixing clamp 13 can not apply the active clamping force to the puncture needle 11.

In order to solve the two problems at the same time, as shown in fig. 1 to 11, the present application is provided with a first limiting block 16 on the first clamping jaw 4, and a second limiting block 9 on the second clamping jaw 5. In the clamped state, the first stopper 16 and the second stopper 9 together form a through hole 94 through which the puncture needle 11 passes, and the puncture needle 11 is guided by the through hole 94. The puncture needle 11 is supported by the second limiting block 9 in the release state, so that the puncture needle 11 can be supported, and the puncture needle 11 can be prevented from bending and falling off.

Specifically, as shown in fig. 7 and 11, in this embodiment, the first limiting block 16 and the second limiting block 9 are both configured in an inverted L-shaped structure, the lower end of the first limiting block 16 is inserted and fixed on the first clamping jaw 4, the lower end of the second limiting block 9 is inserted and fixed on the second clamping jaw 5, a supporting portion 91 is provided at one end of the second limiting block 9 far away from the second clamping jaw 5, the supporting portion 91 is used for supporting the needle body of the puncture needle 11 when the puncture needle 11 is released, and a needle penetrating groove 93 for the needle body to penetrate is provided on the second limiting block 9. When the puncture needle 11 is in the released state, the needle body of the puncture needle 11 is in a vertically corresponding relationship with the supporting portion 91, and thus the supporting portion 91 can support the puncture needle 11. In the clamping process, the first limiting block 16 and the second limiting block 9 are close to each other, the puncture needle 11 moves from the bearing part 91 to the puncture needle groove 93 on the second limiting block 9, meanwhile, the limiting plate 161 on the first limiting block 16 moves to the bearing part 91 and gradually approaches to the puncture needle groove 93, after the clamping position is reached, the end part of the limiting plate 161 and the puncture needle groove 93 enclose into a through hole 94 for the needle body to pass through, the puncture needle 11 is ensured to pass through smoothly, and the limiting effect is also achieved.

The holder 91 has a stopper 92 provided at an end thereof remote from the needle insertion groove, the stopper 92 being perpendicular to the axial direction of the puncture needle 11, and the stopper 92 being provided to limit the puncture needle 11 during the release.

Since the first clamping jaw 4 and the second clamping jaw 5 are both rotated during the clamping and releasing processes, as shown in fig. 8, in order to enable the first limiting block 16 and the second limiting block 9 to be better matched, the supporting portion 91 may have a certain inclination angle, and meanwhile, the inclined supporting portion 91 also avoids the interference of the baffle 92 and the limiting plate 161.

Since the first stopper 16 and the second stopper 9 are also members in direct contact with the puncture needle 11, they are also required to be used as consumable materials in order to avoid contamination. For this reason, in the present embodiment, the first limiting block 16 is detachably connected to the first clamping jaw 4, and the second limiting block 9 is also detachably connected to the second clamping jaw 5.

The automatic puncture device needs to cooperate with the motion platform 20 to act to adapt to the requirements of puncture needles 11 at different positions when in use. The motion platform 20 may be a multi-degree-of-freedom mechanical arm structure, and when in use, the automatic puncturing device needs to be connected to the tail end of the motion platform 20.

To facilitate the connection and disconnection of the automatic puncturing device to the motion platform 20, as shown in fig. 11 to 13, the embodiment further comprises a housing 17 and a terminal structure 28, wherein the terminal structure 28 is used for connecting to the motion platform 20;

the base plate 1 is fixedly arranged on the outer cover 17, a clamping groove 18 is formed in the back face of the outer cover 17, a first boss 19 is arranged at the bottom of the outer cover 17, second bosses 26 matched with the clamping groove 18 in a sliding clamping manner are arranged on two sides of the tail end structure 28, and an opening 27 in butt joint with the first boss 19 is formed in the lower end of the tail end structure 28.

Specifically, the outer cover 17 is surrounded by a bottom plate and three side plates, and the base plate 1 is fixedly connected with the three side plates as a top plate of the outer cover 17. The space surrounded by the three side plates can be used as the accommodation space of the first clamping jaw 4, the second clamping jaw 5, the linear motor 21 and the rotary motor 33, so that the whole structure is compact. The back of dustcoat 17 is provided with draw-in groove 18, and draw-in groove 18 can be the U type groove, and the bottom of dustcoat 17 is provided with first boss 19, and draw-in groove 18 is used for with the second boss 26 joint on the terminal structure 28, first boss 19 is used for with the trompil butt joint of terminal structure 28, carries out spacingly to piercing depth by the trompil.

The automatic puncture device is arranged on the tail end structure of the moving platform 20 in a sliding way, and a structure (namely a second boss 26) matched with the clamping groove 18 on the outer cover 17 is designed on the tail end structure 28 of the moving platform 20; the end structure 28 connected to the moving platform 20 is also provided with a cylindrical opening, the bottom of the outer cover 17 is provided with a cylindrical first boss 19, and when the automatic puncturing device slides downwards, the boss 19 at the bottom of the outer cover 17 is inserted into the opening 27 on the end structure 28, so that the limiting effect is never achieved, and the automatic puncturing device and the moving platform 20 are quickly installed; when the automatic puncture device is disassembled, the automatic puncture device is lifted in the opposite direction, and can be separated from the moving platform 20 device, so that the automatic puncture device is disassembled.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modifications, equivalent substitutions, improvements, or the like, which are within the spirit and principles of the present application, are intended to be included within the scope of the present application.

Claims (10)

1. A needle feeding roller for a puncture needle, characterized in that the needle feeding roller can be driven to rotate fixedly on a shaft so as to drive the puncture needle clamped by at least two needle feeding rollers to move linearly;

the needle feeding roller comprises: the roller pin shaft is provided with a connecting hole, the connecting hole is connected with the output end of the rotary driving assembly, and the roller rubber is detachably sleeved on the roller pin shaft.

2. The needle insertion roller for a needle insertion of claim 1, wherein: the connecting hole is internally provided with a through groove along the axial direction of the connecting hole, and the through groove is used for being clamped with the output end of the rotary driving assembly.

3. The needle insertion roller for a needle insertion of claim 2, wherein: the through grooves are at least two and are symmetrical along the axis of the connecting hole.

4. A needle insertion roller for a needle insertion according to claim 3, wherein: the connecting holes are through holes.

5. The needle insertion roller for a needle insertion of claim 1, wherein: the roller pin shaft is a rigid piece, and the roller rubber is made of soft silica gel.

6. The needle insertion roller for a needle insertion of claim 1, wherein: one end of the roller pin shaft is provided with a limiting baffle ring, the diameter of the limiting baffle ring is larger than that of the roller pin shaft, and the limiting baffle ring is concentric with the roller pin shaft.

7. An automatic needle insertion device, comprising: a base plate, a puncture needle holder and at least two needle insertion rollers according to any one of claims 1 to 6;

the puncture needle fixing clamp is used for fixing a needle handle part of the puncture needle, a sliding groove is formed in the base plate, and the puncture needle fixing clamp is clamped in the sliding groove and is in sliding connection with the sliding groove;

the two needle feeding rollers are a driving roller and a driven roller respectively, the driving roller is in contact with the driven roller, and the driving roller can be driven to rotate fixedly in a shaft and drive the driven roller to rotate synchronously, so that the puncture needle moves linearly.

8. The automatic needle feeding device according to claim 7, wherein a first clamping jaw and a second clamping jaw are arranged at the end of the base plate, the first clamping jaw and the second clamping jaw are arranged oppositely, the driving roller is rotatably arranged on the first clamping jaw, and the driven roller is rotatably arranged on the second clamping jaw.

9. The automatic needle insertion device of claim 8, further comprising a rotational drive assembly disposed on the first jaw for driving rotation of the drive roller shaft.

10. The automatic needle insertion device of claim 9, wherein the rotary drive assembly comprises a rotary motor provided on the first jaw, an axis of the rotary motor being perpendicular to an axis of the drive roller;

the output end of the rotating motor is provided with a driving bevel gear, the driving idler wheel is connected with a driven bevel gear, and the driven bevel gear is meshed with the driving bevel gear.