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Flexible needle puncture mechanism based on double mechanical grippers

A technology of manipulator claws and double manipulators, which is applied in the field of medical devices, can solve problems such as easy bending of the needle body and the influence of needle puncture accuracy, and achieve the effects of convenient control, compact structure, and material saving

Active Publication Date: 2021-01-05
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, when a flexible needle is used for puncture, the needle body is prone to bending due to the flexibility of the flexible needle in vitro, which will affect the puncture accuracy of the needle

Method used

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  • Flexible needle puncture mechanism based on double mechanical grippers
  • Flexible needle puncture mechanism based on double mechanical grippers
  • Flexible needle puncture mechanism based on double mechanical grippers

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0018] Specific implementation mode one: see figure 1 , a flexible needle puncture mechanism based on the mutual cooperation of double mechanical claws according to the present invention, which consists of a flexible needle 1, a front mechanical claw 2, a rear mechanical claw 3, a fixed plate 4, a feed motor 5, and a bidirectional threaded rod 6 , slideway 7, base 8 and steering mechanism 9; wherein the fixed plate 4, slideway 7 and steering mechanism 9 are fixed on the base 8, the feed motor 5 is fixed on the fixed plate 4 by screws, and the two-way threaded rod 6 is connected with the feed The motor is connected to 5 phases, and the front and rear manipulators have threaded holes. The front manipulator claw 2 is installed on the front end 6-1 of the threaded rod through threaded cooperation, and the rear manipulator claw 3 is installed on the rear end 6-2 of the manipulator. Installed on the slideway 7; first, the automatic clamping mechanism 9-1 is in a loose state, and the...

specific Embodiment approach 2

[0021] Embodiment 2: When the puncture of the flexible needle reaches the target point, the flexible needle needs to be pulled out of the human body. At this time, the control of the mechanism is opposite to that of the puncture. First, the automatic clamping mechanism 9-1 is in the state of releasing the flexible needle 1. After the front manipulator claw 2 clamps the flexible needle, the feed motor 5 is controlled to make the front manipulator claw 2 move backward. At the same time, the rear manipulator claw 3 opens and moves forward; when it moves to the specified position, the feed motor 5 is controlled to reverse , so that the front manipulator claw 2 opens and moves forward, while the rear manipulator claw 3 clamps the flexible needle 1 and moves backward. In this way, the front and rear manipulators move alternately repeatedly until the work of taking out the flexible needle is completed.

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Abstract

The invention discloses a flexible needle puncture mechanism based on double mechanical grippers. A supporting mechanism of a needle shaft is omitted in the puncture process of a flexible needle, andmeanwhile the needle shaft can be effectively prevented from deforming in the puncture process of the flexible needle. The flexible needle puncture mechanism comprises a front mechanical gripper, a rear mechanical gripper, a fixed plate, a bidirectional threaded rod, a slideway, a base and a flexible needle steering mechanism; a front manipulator and a rear manipulator control opening and closingof the front mechanical gripper and the rear mechanical gripper through a front execution motor and a rear execution motor, the front mechanical gripper and the rear mechanical gripper are controlledby a feeding motor to move front and back along the slideway, and when the front manipulator clamps a needle and conducts feeding motion, the rear manipulator opens and moves backwards; then, the motor is controlled to rotate reversely, so that when the rear manipulator clamps the needle to do feeding motion, the front manipulator is opened and moves backwards, and the flexible needle is puncturedinto the human body through repeated motion in this way; and the steering mechanism drives an automatic clamping mechanism to rotate through the motor and a gear, and rotation of the flexible needleis achieved.

Description

technical field [0001] The invention relates to the field of medical devices, in particular to a robot-assisted flexible needle puncture mechanism that can omit supports. Background technique [0002] In the field of minimally invasive interventional therapy, the use of needle puncture technology may be the oldest and most common surgical technique, widely used in biopsy pathological examination, local delivery of radiopharmaceuticals to treat cancer and other operations; minimally invasive medicine will become the future of surgery An inevitable trend in the development of clinical medicine; the oblique tip flexible needle has sufficient flexibility relative to the tissue, and the needle shaft can be bent by the lateral force between the oblique tip and the tissue when the needle is inserted, and the arc trajectory can be pierced, and the flexibility of the needle can be used Bending to avoid obstacles such as nerves, blood vessels and other important organs and bones, and ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B17/34A61B10/02A61B34/30
CPCA61B17/34A61B17/3478A61B10/0233A61B34/30A61B34/71A61B2034/301
Inventor 赵燕江车广金祁奇邵国庆
Owner HARBIN UNIV OF SCI & TECH