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A Flexible Needle Puncture Mechanism Based on Dual Robotic Grippers

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

Active Publication Date: 2022-05-27
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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  • A Flexible Needle Puncture Mechanism Based on Dual Robotic Grippers
  • A Flexible Needle Puncture Mechanism Based on Dual Robotic Grippers
  • A Flexible Needle Puncture Mechanism Based on Dual Robotic Grippers

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Effect test

specific Embodiment approach 1

[0018] Specific implementation mode 1: see figure 1 , a flexible needle puncture mechanism based on the mutual cooperation of double manipulators according to the present invention, its composition includes a flexible needle 1, a front manipulator 2, a rear manipulator 3, a fixing plate 4, a feeding motor 5, a bidirectional threaded rod 6 , slideway 7, base 8 and steering mechanism 9; wherein the fixed plate 4, the slideway 7 and the steering mechanism 9 are fixed on the base 8, the feed motor 5 is fixedly installed on the fixed plate 4 by screws, and the bidirectional threaded rod 6 is connected with the feeder. Connect the motor 5, the front and rear manipulators have threaded holes, and 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 back end 6-2 of the manipulator. At the same time, under the manipulator claw Installed on the slideway 7; first, the automatic...

specific Embodiment approach 2

[0021] Embodiment 2: When 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 puncturing. First, the automatic clamping mechanism 9-1 is in a state of releasing the flexible needle 1. As shown in FIG. After the front manipulator 2 clamps the flexible needle, the feeding motor 5 is controlled to move the front manipulator 2 backward. At the same time, the rear manipulator 3 is opened and moves forward; when it moves to the designated position, the feeding motor 5 is controlled to reverse. , so that the front manipulator claw 2 opens and moves forward, and at the same time, the rear manipulator gripper 3 clamps the flexible needle 1 and moves backward. In this way, the front and back manipulators alternately move repeatedly until the work of taking out the flexible needle is completed.

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Abstract

The present invention introduces a flexible needle puncture mechanism based on double mechanical claws. The present invention omits the support mechanism of the needle shaft during the puncture process of the flexible needle, and can effectively prevent the deformation of the needle shaft during the puncture process of the flexible needle; its composition includes Front manipulator gripper, rear manipulator gripper, fixed plate, bidirectional threaded rod, slideway, base and flexible needle steering mechanism; front and rear manipulators control the opening and closing of their grippers through the front executive motor and rear executive motor, and the feed motor control The front and rear manipulator claws move back and forth along the slideway. When the front manipulator clamps the needle and performs feeding movement, the rear manipulator opens and moves backward; then, the control motor reverses to make the rear manipulator clamp the needle and perform feeding During the movement, the front manipulator opens and moves backward, so that the flexible needle penetrates the human body through repeated movements; the steering mechanism drives the automatic clamping mechanism to rotate through the motor and gears to realize the flexible needle's autorotation.

Description

technical field [0001] The invention relates to the field of medical instruments, in particular to a robot-assisted flexible needle puncturing mechanism that can omit support. Background technique [0002] In the field of minimally invasive interventional therapy, the use of needle puncture may be the oldest and most common surgical technique, which is widely used in biopsies, local delivery of radiopharmaceuticals to treat cancer and other surgeries; minimally invasive medicine will become the future surgical technique The inevitable trend of clinical medicine development; the bevel-pointed flexible needle has sufficient flexibility relative to the tissue, and the needle shaft is bent by the lateral force between the bevel-point and the tissue when the needle is inserted, which can pierce the arc trajectory, and the flexibility of the needle is used. Bend to avoid obstacles such as nerves, blood vessels and other vital organs and bones, and flexibly and accurately reach the...

Claims

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Application Information

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Patent Type & Authority Patents(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