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Flexible needle puncture mechanism for tail end of mechanical arm

A flexible needle and robotic arm technology, applied in the field of medical devices, can solve the problems of needle puncture accuracy, easy bending of the needle body, etc., and achieve the effect of avoiding puncture errors and preventing warping

Active Publication Date: 2021-08-06
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

During the puncture process, due to the flexibility of the flexible needle in vitro, the needle body is prone to bending, which affects the puncture accuracy of the needle

Method used

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  • Flexible needle puncture mechanism for tail end of mechanical arm
  • Flexible needle puncture mechanism for tail end of mechanical arm
  • Flexible needle puncture mechanism for tail end of mechanical arm

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0017] see figure 1 , a flexible needle puncture mechanism for the end of the mechanical arm, which consists of two parts: a fine-adjustment mechanism for the entry point and a flexible needle feeding mechanism; the fine-adjustment mechanism for the entry point is used to precisely adjust the position of the entry point of the flexible needle, and the flexible needle The puncturing mechanism realizes the function of driving the flexible needle to puncture the human body.

[0018] Further, a needle entry point fine-tuning mechanism used in the puncture mechanism at the end of the mechanical arm consists of a base (1), a light bar one (2), a light bar two (3), a light bar support one (4), a light bar Bracket two (5), light rod support three (6), light rod support four (7), motor support (9), x-direction feed motor (10), x-direction screw (8), x-direction slider ( 11), z-direction sliding table (14); the whole mechanism is installed at the end of the mechanical arm through the b...

specific Embodiment approach 2

[0021] Through the reverse rotation of the puncture feeding motor (17), the needle seat (20) is fed in the opposite direction along the slideway, and this motion is continued until the flexible needle (22) completely withdraws from the human body.

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Abstract

The invention discloses a flexible needle puncture mechanism for the tail end of a mechanical arm. The flexible needle puncture mechanism is mounted at the tail end of the mechanical arm. The flexible needle puncture mechanism comprises a base, a cylindrical slide way, four slide way supports, a motor support, an x-direction feeding motor, an x-direction lead screw, an x-direction sliding block, a z-direction sliding table, a slide way shell, a y-direction slide way, a puncture feeding motor, a y-direction lead screw, a needle seat, a flexible needle, a spring supporting mechanism, a steering motor and a cylindrical shell. The x-direction feeding motor rotates to drive the flexible needle to move in the x direction, a z-direction feeding motor drives the position of the flexible needle in the z direction, and the x-direction feeding motor and the z-direction feeding motor are combined so that the flexible needle can accurately reach the needle entering point position in the xoz plane; the feeding motor rotates to drive the flexible needle to puncture, in the puncture process, the spring supporting mechanism is compressed and supports the flexible needle all the time, so that the flexible needle is prevented from warping; and a steering motor on the needle seat is connected with the flexible needle, so that the flexible needle can rotate in the puncture process.

Description

technical field [0001] The invention relates to the field of medical devices, in particular to a flexible needle puncture mechanism that can be installed at the end of a mechanical arm. Background technique [0002] Minimally invasive interventional therapy technology is a new medical technology developed rapidly in recent years. It is widely used in biopsy pathological examination, local tissue and organ drug delivery and surgery. Minimally invasive medicine will become an inevitable trend in the development of surgical clinical medicine in the future. The oblique-tipped flexible needle has enough 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 an arc trajectory can be pierced. And use the flexible bending of the needle to avoid obstacles such as nerves, blood vessels and other important organs and bones, and flexibly and accurately reach the target position th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B34/00A61B17/34
CPCA61B34/30A61B34/70A61B17/3403
Inventor 赵燕江车广金张永德祁奇邵国庆
Owner HARBIN UNIV OF SCI & TECH
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