Flexible needle pulling mechanical arm and using method thereof

Abstract

The flexible needle pulling mechanical arm comprises a needle pulling device and a mechanical arm body, the needle pulling device comprises a base and a clamping mechanism, the clamping mechanism is used for clamping or hooking a puncture needle, and the free end of the base is connected with the clamping mechanism through a flexible extension rod; the mechanical arm realizes the movement of at least three degrees of freedom of the needle pulling device in the space, and drives the needle pulling device to move in the axial direction of the puncture needle, so that the puncture needle is pulled out by a target distance; a supporting adjusting mechanism is further arranged at the free end of the base, and the supporting adjusting mechanism conducts axial supporting operation on the flexible extension rod before the clamping mechanism and the puncture needle are in butt joint, so that the flexible extension rod is in a hard supporting state, and accurate butt joint of the clamping mechanism and the puncture needle is achieved; after the clamping mechanism and the puncture needle are in butt joint, the supporting and adjusting mechanism can enable the flexible extending rod to restore to the flexible state. According to the needle withdrawing device, the needle withdrawing operation efficiency and the needle withdrawing operation effect in the radioactive particle implantation operation can be guaranteed, and radiation injury to doctors is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a flexible needle extraction mechanical arm and a use method thereof. Background Art

[0002] The basic process of radioactive seed implantation is: first, positioning is performed under the guidance of imaging equipment (such as ultrasound and CT), and the implantation channel is determined; then, a treatment plan for seed implantation is formulated through the radiotherapy planning system (TPS), which mainly determines the number of seeds to be implanted, the position and the puncture angle (or needle insertion direction) based on the position and size of the patient's tumor target area, and calculates the effective isodose distribution of the tumor target area; finally, through surgery or under the guidance of imaging equipment, many puncture needles are percutaneously inserted into the predetermined position inside the tumor according to the needle insertion position and angle determined in the treatment plan. This process can be completed with the help of a puncture guide template to ensure that the spacing and direction between each needle are consistent with the preoperative plan. After confirming that all puncture needles have reached the target position through CT, the doctor then pushes each seed into the tumor according to the preoperative plan through the channel established by the puncture needle. Each time a seed is implanted, it is pulled out a short distance, and then implanted and pulled out again, gradually achieving uniform distribution of seeds and achieving the purpose of precise implantation and treatment. After all radioactive seeds are implanted, the puncture needle is pulled out from the patient's body to complete the operation. This type of surgery has a wide range of indications, including lung cancer, liver cancer, breast cancer, prostate cancer, etc. It has small incisions, little bleeding, relatively few surgical complications, and can effectively inhibit tumor growth. Its unique therapeutic effect has been effectively verified at home and abroad.

[0003] However, in the actual treatment process, the treatment plan is formulated based on factors such as the location and size of the patient's tumor target area. Usually, multiple particles need to be implanted, and the number may reach hundreds. Each particle usually needs to be implanted in a different position of the tumor target area, and there are also differences in the puncture angle when implanting each particle, which makes the actual puncture and implantation process of particles very time-consuming. Moreover, during the specific operation, the doctor needs to manually implant the particles and remove the puncture needle, which requires the doctor to come into close contact with the radioactive particles, causing the doctor to be exposed to radiation damage, which greatly limits the application and promotion of this type of surgery.

[0004] Therefore, how to ensure the efficiency and effect of needle removal during radioactive seed implantation surgery and reduce radiation damage to doctors is an important technical problem that technicians in this field currently need to solve. Summary of the invention

[0005] In order to solve the above-mentioned existing technical problems, defects and unattainable technical requirements, the purpose of the present invention is to provide a flexible needle removal robot arm and a method of using the same, which can ensure the efficiency and effect of the needle removal operation in radioactive particle implantation surgery and reduce the radiation damage to doctors.

[0006] The technical solution adopted by the present invention to achieve its invention object is:

[0007] A flexible needle extraction robot arm comprises a needle extraction device and a robot arm, wherein the needle extraction device comprises a base and a clamping mechanism, wherein the clamping mechanism is used to clamp or hook the puncture needle, and the free end of the base is connected to the clamping mechanism via a flexible extension rod; the robot arm realizes the movement of the needle extraction device in at least three degrees of freedom in space, and the robot arm drives the needle extraction device to move axially along the puncture needle, thereby pulling the puncture needle out of a target distance; a support adjustment mechanism is also provided at the free end of the base, and before the clamping mechanism and the puncture needle are connected, the support adjustment mechanism performs an axial support operation on the flexible extension rod, so that the flexible extension rod is in a hard support state, so as to realize precise connection between the clamping mechanism and the puncture needle; after the clamping mechanism and the puncture needle are connected, the support adjustment mechanism can restore the flexible extension rod to a flexible state; the support adjustment mechanism is a support sleeve assembly or a capsule assembly.

[0008] Preferably, the robotic arm adopts a multi-degree-of-freedom articulated robotic arm to realize the movement of the needle removal device with at least five degrees of freedom in space; the free end of the robotic arm is provided with a linear motion mechanism, which is directly or indirectly connected to the needle removal device, and the linear motion mechanism drives the needle removal device to move along the axial direction of the puncture needle.

[0009] Preferably, the clamping mechanism is one or a combination of a claw assembly, a hook assembly, a rotary clamping assembly, and a side clamping assembly;

[0010] When the clamping mechanism is a claw assembly, the claw assembly can clamp the puncture needle from the side, and the claw assembly includes a claw adapted to the puncture needle and a driving assembly capable of driving the claw to clamp or loosen the puncture needle; the opening and closing activity plane of the claw is set at an angle to the axis of the puncture needle, the claw has a clamping end that can clamp the puncture needle, and the claw has a control end connected to the driving assembly;

[0011] When the clamping mechanism is a hook assembly, the hook assembly can hook the puncture needle, and the hook assembly includes a hook that can be adapted to the step surface of the puncture needle. When the hook moves along the axial direction of the puncture needle, the hook and the step surface of the puncture needle are abutted and drive the puncture needle to move together. The hook assembly also includes a driving assembly that can drive the hook to move along the axial direction of the puncture needle;

[0012] When the clamping mechanism is a rotating clamping assembly, the rotating clamping assembly includes a puncture needle that can be clamped from the side, and the rotating clamping assembly includes a base frame arranged at the free end of the base, and a rotating member is rotatably arranged inside the base frame, and the rotating member is driven to rotate or bend by the driving assembly, and the rotating member is provided with a through hole, or a through groove, or a double protrusion, and when the rotating member rotates or bends, it will clamp the puncture needle passing through the through hole, or the through groove, or the double protrusion;

[0013] When the clamping mechanism is a side clamping assembly, the side clamping assembly includes a clamping piece, which is located on one side of the puncture needle. The clamping piece moves in a direction approaching or away from the puncture needle. The clamping piece can directly or indirectly apply pressure to the outer side of the puncture needle, thereby relying on friction to drive the puncture needle to be pulled out. The side clamping assembly also includes a driving assembly that can drive the clamping piece to move.

[0014] Preferably, the driving assembly is one or a combination of a connecting rod mechanism, a gear rack mechanism, a worm gear mechanism, a screw nut mechanism, a linear drive mechanism, a hydraulic mechanism, a pneumatic mechanism, and a motor.

[0015] Preferably, it also includes an external device for guiding and / or clamping the puncture needle, the external device includes a guide template cooperating with the puncture needle and a needle clamping module installed on the guide template, and the guide template is provided with a positioning hole for the puncture needle to penetrate; or the external device is a needle clamping module installed on a robotic arm; the needle clamping module can clamp the puncture needle and perform damping adaptation.

[0016] Preferably, when the external device is a guide template matched with the puncture needle and a needle clamping module installed on the guide template, the needle clamping module includes a clamping mechanism, which is detachably arranged on the guide template; the clamping method of the clamping mechanism is at least one of a claw clamping method, a side clamping method, and a rotation clamping method, and the clamping mechanism is driven by a driving mechanism alone, which is a motor drive or a rope drive, or the clamping mechanism is clamped by manual adjustment;

[0017] Or when the external device is a needle clamping module installed on a robotic arm, the robotic arm is provided with a needle clamping rod, and the needle clamping module is installed at the end of the needle clamping rod; the needle clamping rod is telescopically arranged on the needle pulling device; the needle clamping module can adopt at least one of a rotating clamping assembly, a claw assembly, and a hook claw assembly.

[0018] Preferably, the length of the flexible extension rod is greater than 50 mm; a deformation sensor is arranged on the outside of the flexible extension rod, and the deformation sensor is one or a combination of a strain gauge, an FBG optical fiber sensor; or, a force sensing element for sensing whether the flexible extension rod is straightened is arranged inside the flexible extension rod, or between the base and the flexible extension rod, or between the flexible extension rod and the clamping mechanism, and the force sensing element is one or a combination of a force sensor, a torque sensor, and a current sensor; or, a sensing module is arranged on the outer sleeve of the puncture needle, and the sensing module can be used to sense the pull-out force of the puncture needle, and a single clamping portion and a single force sensor are provided on the sensing module, the single clamping portion semi-clamps at least one puncture needle, and the single force sensor measures the tension exerted on the single clamping portion.

[0019] Preferably, the support adjustment mechanism includes a support sleeve and a linear motion assembly. The support sleeve is sleeved on the flexible extension rod and is arranged on the free end of the base for forward and backward guiding movement. The linear motion assembly drives the support sleeve to move forward and backward. When the support sleeve moves forward, the flexible extension rod is axially supported, so that the flexible extension rod is in a hard support state; when the support sleeve moves backward, the flexible extension rod can be restored to a flexible state.

[0020] Preferably, the support and adjustment mechanism comprises a capsule and a charging and discharging assembly, the charging and discharging assembly can fill or discharge the medium into the capsule, the capsule is sheathed on the outer surface of the flexible extension rod, a through hole is provided in the middle of the capsule, and the flexible extension rod passes through the through hole;

[0021] Or the capsule is fixedly connected to the outer side of the flexible extension rod along the length direction of the flexible extension rod;

[0022] When the bladder is filled with medium and is in a filled state, the flexible extension rod is axially supported so that the flexible extension rod is in a hard support state; when the bladder is in a deflated and flexible state after the medium is discharged, the flexible extension rod loses its support function and returns to a flexible state.

[0023] A method for using a flexible needle extraction robot arm comprises the following steps:

[0024] S201, the user needs to manually puncture at least one puncture needle into the target position of the target object according to the preoperative plan;

[0025] S202, connecting each puncture needle to a corresponding delivery catheter, and the other end of the delivery catheter is connected to a radiation source implanter, and the radiation source implanter can transport the radiation source to the puncture needle along the delivery catheter, so that the radiation source is output from the front end of the puncture needle and implanted into the target object;

[0026] S203, first, the support adjustment mechanism at the free end of the base works to perform axial support operation on the flexible extension rod, the robotic arm adjusts the posture of the free end, drives the clamping mechanism to dock and clamp a puncture needle, and then the support adjustment mechanism works in the reverse direction to restore the flexible extension rod to a flexible state, ensuring that the puncture needle and the robotic arm are in a flexible connection state to avoid scratching the target object;

[0027] S204, each time the radioactive source implanter completes the implantation of a radioactive source, the robotic arm drives the clamping mechanism to move along the axis direction of the puncture needle, thereby pulling the puncture needle out to a target distance, so that the puncture needle tip is at the implantation position of the next radioactive source, or the needle is pulled out while the radioactive source is implanted, so that the radioactive source is accurately implanted at the target position;

[0028] S205, repeating step S204 until all radiation sources have been implanted into the target position of the target object.

[0029] In step S204, the robotic arm determines whether the flexible extension rod is in a straightened state based on one or a combination of a deformation sensor, a force sensing element, and a sensing module, thereby automatically adjusting the free end posture of the robotic arm, and the flexible extension rod remains in a straightened state, so that the clamping mechanism can accurately control the removal depth of the puncture needle.

[0030] The beneficial effects of the present invention are as follows:

[0031] 1. During the operation and use of the needle extraction device provided by the present invention, after the doctor or other operator completes the puncture insertion operation of the puncture needle at the corresponding puncture site, if the puncture needle needs to be extracted, the clamping mechanism can be used to coordinate with the puncture needle so that the puncture needle can be reliably clamped or hooked by the clamping mechanism. After that, the action of the mechanical arm can be used to drive the clamping mechanism to move. At this time, the clamping mechanism drives the puncture needle to be synchronously linked through clamping or hooking, so as to extract the puncture needle backward from the current working position and complete the needle extraction operation. As a result, the puncture needle extraction operation does not require direct on-site operation by doctors or other medical staff, effectively reducing the scene of close contact between doctors and radioactive particles, and reducing the radiation damage to doctors and other puncture needle operators accordingly, maintaining the health of medical staff, and the mechanical arm has higher needle extraction accuracy, making the particle distribution more accurate, and improving the surgical efficacy.

[0032] 2. Use the needle clamping module to clamp and damp the puncture needle, so that the puncture needle inserted on the needle clamping module can only be pulled out along its axial direction when it is subjected to a certain pulling force applied by the robotic arm. In this way, the robotic arm can only pull out the needle after the flexible extension rod is completely straightened, thereby improving the needle extraction accuracy and preventing the puncture needle from moving non-axially or dislocating when the operator makes a wrong operation, resulting in inaccurate implantation of the radiation source. At the same time, it effectively ensures the clamping and matching accuracy between the robotic arm assembly and the puncture needle, and optimizes the corresponding needle extraction operation effect and operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the overall coordination structure of the needle removal device and the needle removal robot system in Example 1;

[0034] Figure 2 for Figure 1 A magnified view of the matching structure between the middle clamping foot and the puncture needle;

[0035] Figure 3 for Figure 1 A schematic diagram of the structure of the middle positioning clamping assembly when it is not clamped with the puncture needle;

[0036] Figure 4 for Figure 3 A schematic diagram of the structure of the middle positioning clamping assembly and the puncture needle in a clamped state;

[0037] Figure 5 This is a schematic diagram of the structure of Example 2 of the present invention when the clamping claws are in an open state;

[0038] Figure 6 for Figure 5 A schematic diagram of the structure when the middle clamping claw and the puncture needle are clamped;

[0039] Figure 7 This is a schematic diagram of the structure of Example 3 of the present invention when the clamping claws are in an open state;

[0040] Figure 8 for Figure 7 A schematic diagram of the structure when the middle clamping claw and the puncture needle are clamped;

[0041] Fig. 9 This is a schematic diagram of the structure of Example 4 of the present invention when the hook claw does not hook the puncture needle;

[0042] Fig.10 for Fig. 9 Schematic diagram of the structure when the middle hook claw hooks the puncture needle;

[0043] Fig.11 This is a schematic diagram of the structure of the clamping mechanism in Example 5 of the present invention when it is not clamped with the puncture needle;

[0044] Fig.12 for Fig.11 A schematic diagram of the structure of the clamping mechanism and the puncture needle in a clamped state;

[0045] Fig.13 This is a schematic diagram of the structure of the side clamping assembly in Example 6 when it is not clamped with the puncture needle;

[0046] Fig.14 for Fig.13 A schematic diagram of the structure of the middle side clamping assembly and the puncture needle in a clamped state;

[0047] Fig.15 It is a structural schematic diagram of Example 7;

[0048] Fig.16 for Fig.15 A side cross-sectional view of the middle limit hole and the puncture needle in a state of tight fit;

[0049] Fig.17 for Fig.15 A side cross-sectional view of the middle limit hole and the puncture needle in a state of being released from compression;

[0050] Fig.18 The support adjustment mechanism of Example 8 is a structural schematic diagram of a support sleeve assembly;

[0051] Fig.19 This is one of the structural schematic diagrams of the support and adjustment mechanism of Example 9 as a capsule assembly;

[0052] Fig. 20 This is the second structural schematic diagram of the support and adjustment mechanism of Example 9 as a bladder assembly. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated connection, or even a connection that can move relatively; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] Example 1

[0056] A flexible needle extraction robot arm comprises a needle extraction device and a robot arm, wherein the needle extraction device comprises a base and a clamping mechanism, wherein the clamping mechanism is used to clamp or hook a puncture needle, and the free end of the base is connected to the clamping mechanism via a flexible extension rod; the robot arm realizes movement of the needle extraction device with at least three degrees of freedom in space, and the robot arm drives the needle extraction device to move axially along the puncture needle, thereby pulling the puncture needle out of a target distance; a support adjustment mechanism is also provided at the free end of the base, and before the clamping mechanism and the puncture needle are connected, the support adjustment mechanism performs an axial support operation on the flexible extension rod, so that the flexible extension rod is in a hard support state, so as to realize precise connection between the clamping mechanism and the puncture needle; after the clamping mechanism and the puncture needle are connected, the support adjustment mechanism can restore the flexible extension rod to a flexible state, so as to prevent the rigidly connected puncture needle from scratching the target object.

[0057] The robotic arm adopts a multi-degree-of-freedom articulated robotic arm to realize the movement of the needle removal device with at least five degrees of freedom in space; the free end of the robotic arm is provided with a linear motion mechanism, which is directly or indirectly connected to the needle removal device, and the linear motion mechanism drives the needle removal device to move along the axial direction of the puncture needle.

[0058] The clamping mechanism is one or a combination of a claw assembly, a hook assembly, a rotary clamping assembly, and a side clamping assembly;

[0059] When the clamping mechanism is a hook assembly, the hook assembly can hook the puncture needle, and the hook assembly includes a hook that can be adapted to the step surface of the puncture needle. When the hook moves along the axial direction of the puncture needle, the hook and the step surface of the puncture needle are abutted and drive the puncture needle to move together; the hook assembly also includes a driving assembly that can drive the hook to move along the axial direction of the puncture needle;

[0060] The driving assembly is one or a combination of a connecting rod mechanism, a gear rack mechanism, a worm gear mechanism, a screw nut mechanism, a wire drive mechanism, a hydraulic mechanism, a pneumatic mechanism, and a motor.

[0061] It also includes an external device for guiding and / or clamping the puncture needle, the external device includes a guide template that cooperates with the puncture needle and a needle clamping module installed on the guide template, and the guide template is provided with a positioning hole for the puncture needle to penetrate; or the external device is a needle clamping module installed on a robotic arm; the needle clamping module can clamp the puncture needle and perform damping adaptation.

[0062] When the external device is a guide template matched with the puncture needle and a needle clamping module installed on the guide template, the needle clamping module includes a clamping mechanism, which is detachably arranged on the guide template; the clamping method of the clamping mechanism is at least one of a claw clamping method, a side clamping method, and a rotation clamping method, and the clamping mechanism is driven by a driving mechanism alone, which is a motor drive or a rope drive, or the clamping mechanism is clamped by manual adjustment;

[0063] Or when the external device is a needle clamping module installed on a robotic arm, the robotic arm is provided with a needle clamping rod, and the needle clamping module is installed at the end of the needle clamping rod; the needle clamping rod is telescopically arranged on the needle pulling device; the needle clamping module can adopt at least one of a rotating clamping assembly, a claw assembly, and a hook claw assembly.

[0064] The length of the flexible extension rod is greater than 50 mm; a deformation sensor is arranged on the outside of the flexible extension rod, and the deformation sensor is one or a combination of a strain gauge, an FBG optical fiber sensor; or, a force sensing element for sensing whether the flexible extension rod is straightened is arranged inside the flexible extension rod, or between the base and the flexible extension rod, or between the flexible extension rod and the clamping mechanism, and the force sensing element is one or a combination of a force sensor, a torque sensor, and a current sensor; or, a sensing module is arranged on the outer sleeve of the puncture needle, and the sensing module can be used to sense the pull-out force of the puncture needle, and a single clamping part and a single force sensor are arranged on the sensing module, the single clamping part semi-clamps at least one puncture needle, and the single force sensor measures the tension exerted on the single clamping part.

[0065] The support adjustment mechanism includes a support sleeve and a linear motion component. The support sleeve is sleeved on the flexible extension rod and is arranged on the free end of the base for forward and backward guiding movement. The linear motion component drives the support sleeve to move forward and backward. When the support sleeve moves forward, the flexible extension rod is axially supported, so that the flexible extension rod is in a hard support state; when the support sleeve moves backward, the flexible extension rod can be restored to a flexible state.

[0066] The support and adjustment mechanism includes a capsule and a charging and discharging assembly, the charging and discharging assembly can fill or discharge the medium into the capsule, the capsule is jacketed on the outer surface of the flexible extension rod, a through hole is provided in the middle of the capsule, and the flexible extension rod passes through the through hole;

[0067] Or the capsule is fixedly connected to the outer side of the flexible extension rod along the length direction of the flexible extension rod;

[0068] When the bladder is filled with medium and is in a filled state, the flexible extension rod is axially supported so that the flexible extension rod is in a hard support state; when the bladder is in a deflated and flexible state after the medium is discharged, the flexible extension rod loses its support function and returns to a flexible state.

[0069] Specifically, Figure 1 to Figure 4 As shown, the mechanical arm 50 is provided with a linear motion mechanism 51, and a slider 511 is movably provided on the linear motion mechanism 51. A flexible extension rod 52 arranged parallel to the mechanical arm 50 is linked and connected between the slider 511 and the clamping mechanism. The mechanical arm 50 is also provided with a positioning clamping assembly 53 adapted for disassembly and assembly with the fifth puncture needle 500. Specifically, the position movement of the slider 511 can be achieved by controlling the linear motion mechanism 51. The first guide template 55 is provided with a first positioning hole 551 for the fifth puncture needle 500 to penetrate. During the specific operation, the fifth puncture needle 500 is first pre-clamped by the positioning clamping assembly 53, and the clamping mechanism and the fifth puncture needle 500 are pre-aligned and assembled, and then the slider 511 is controlled to move in a direction away from the clamping mechanism, thereby driving the end of the flexible extension rod 52 away from the clamping mechanism to move synchronously. During this process, the end of the flexible extension rod 52 connected to the clamping mechanism remains in position unchanged until the slider 511 drives one end of the flexible extension rod 52 to move to fully extend the main structure of the flexible extension rod 52. At this time, the clamping mechanism and the fifth puncture needle 500 complete a reliable clamping connection, and then the positioning clamping assembly 53 can be controlled to release the fifth puncture needle 500, and then the slider 511 is controlled to continue to move in a direction away from the clamping mechanism, so as to drive the flexible extension rod 52 and the clamping mechanism to move synchronously, thereby completing the corresponding needle removal operation through the clamping linkage between the clamping mechanism and the fifth puncture needle 500.

[0070] On this basis, a tension sensor 512 is connected between the flexible extension rod 52 and the slider 511 and is in communication with the linear motion mechanism 51. When the flexible extension rod 52 is fully extended under the drive of the slider 511, the tension sensor 512 detects a certain tension value, thereby determining that the flexible extension rod 52 has been extended to the right position, and then the tension sensor 512 feeds back a signal to the linear motion mechanism 51 to stop the movement of the slider 511, and after the positioning clamping assembly 53 is out of contact with the fifth puncture needle 500, the slider 511 is driven by the linear motion mechanism 51 to continue to move, thereby realizing the needle removal operation.

[0071] In addition, when the clamping mechanism is a hook assembly, the clamping mechanism is a clamping foot 54, and the clamping foot 54 has a U-shaped clamping groove 541 that is clamped and matched with the fifth puncture needle 500. The U-shaped clamping groove 541 can achieve reliable alignment and adaptation with the tail step surface structure of the fifth puncture needle 500, thereby ensuring the stable clamping assembly of the clamping foot 54 and the fifth puncture needle 500, and ensuring the clamping linkage effect of the fifth puncture needle 500 and the clamping mechanism.

[0072] On the other hand, the positioning clamping assembly 53 is a clamping jaw with an opening and closing arrangement. This clamping jaw can be a conventional clamping jaw with a certain opening and closing ability, or it can be a clamping jaw assembly structure as described above and shown in the accompanying drawings, or it can adopt other action assemblies that can realize disassembly and assembly with the fifth puncture needle 500. The staff can flexibly select and adjust the specific structural form of the clamping jaw according to the actual working conditions. In principle, as long as it can meet the actual application needs of the needle removal device, it can be used.

[0073] Example 2

[0074] The parts of this embodiment that have the same structure as that of embodiment 1 will not be described in detail, and the differences are as follows:

[0075] When the clamping mechanism is a claw assembly, the claw assembly can clamp the puncture needle from the side, and the claw assembly includes a claw adapted to the puncture needle and a driving assembly that can drive the claw to clamp or loosen the puncture needle; the opening and closing activity plane of the claw is set at an angle to the axis of the puncture needle, the claw has a clamping end that can clamp the puncture needle, and the claw has a control end connected to the driving assembly.

[0076] Furthermore, the opening and closing rotation plane of the claw is perpendicular to the axis of the puncture needle, one end of the claw has a clamping end that can be clamped with the puncture needle, and the other end of the claw has a control end connected to the drive assembly. The opening and closing rotation plane of the claw is perpendicular to the axis of the puncture needle, which can form a moderate structural avoidance between the claw and the puncture needle, thereby avoiding accidental contact or structural interference with the main structure of the puncture needle during the opening and closing process of the claw, ensuring that the opening and closing action of the claw is smoother and more efficient, while avoiding structural damage to the puncture needle.

[0077] Specifically, Figure 5 and Figure 6As shown, when the clamping mechanism is a claw assembly, the claw is a clamp-type claw 11, and the hinge axis between the two claw bodies 111 of the clamp-type claw 11 is located in the middle of the clamp-type claw 11. The folding member includes a hinge seat 12 arranged on the first base 10, and two rotating arms 121 are hinged on the hinge seat 12. The two rotating arms 121 are symmetrically arranged and open and fit. The two rotating arms 121 are respectively connected to the control ends of the two claw bodies 111 of the clamp-type claw 11 in a one-to-one linkage manner. The driving member is a pull rope 13 for linkage control of the folding of the rotating arms 121, and the reset member is an elastic element 14 that is aligned and embedded between the control ends of the two claw bodies 111 of the clamp-type claw 11. During the operation, by pulling the pull rope 13, the two rotating arms 121 are driven to fold, thereby driving the two claw bodies 111 of the clamp-type claw 11 to clamp in alignment, so as to implement reliable clamping linkage on the first puncture needle 100 through the clamping end of the clamp-type claw 11. In specific applications, a contact sensor 15 can also be arranged at the clamping end of the two claws 111 of the clamp-type clamp 11 to determine whether the clamp-type clamp 11 is completely closed and has contacted the puncture needle. When it is necessary to release the clamp-type clamp 11 from clamping the first puncture needle 100, it is only necessary to loosen the pull rope 13 to reset the elastic element 14, which can drive the rotating arm 121 to open and reset, thereby driving the clamp-type clamp 11 to open in conjunction, so that the clamp-type clamp 11 and the first puncture needle 100 are released from the clamp, so that subsequent related operations can be smoothly implemented.

[0078] In practical applications, the contact sensor 15 can be a conductive probe assembly that determines whether contact is present by conducting the on-off state, or other more sensitive trigger-type contact sensing elements or pressure sensing elements. The elastic element 14 can generally be a spring, or other elements with a certain elastic reset capability, and can be made of plastic or rubber, or other materials can be flexibly selected according to actual working conditions.

[0079] Example 3

[0080] The parts of this embodiment that have the same structure as that of embodiment 2 will not be described in detail, and the differences are as follows:

[0081] Specifically, Figure 7 and Figure 8As shown in the figure, when the clamping mechanism is a claw assembly, the claw includes a claw seat 21 and two elastic claw bodies 211 symmetrically arranged on the front end surface of the claw seat 21, and the spacing between the two elastic claw bodies 211 in the natural extension state increases from the end close to the claw seat 21 to the end away from the clamping seat 21. The retracting member is a clamping table 22 arranged on the free end of the second base 20, and the middle part of the clamping table 22 has a retracting hole 221 for the two elastic claws to pass through; the driving member includes a transmission plate 23 hinged on the free end of the second base 20, and the transmission plate 23 includes a plurality of elastic claws arranged in sequence from front to back. The first plate body 231 and the second plate body 232 are arranged, and a non-zero angle is formed between the first plate body 231 and the second plate body 232, and the hinge axis of the transmission plate 23 is located at the connection between the first plate body 231 and the second plate body 232, and the rotation axis of the transmission plate 23 is perpendicular to the axis of the second puncture needle 200, and the front portion of the first plate body 231 is hingedly connected to the claw seat 21, and the driving member also includes a second pull rope 233 linked to the rear portion of the second plate body 232, and the reset member is a second elastic element 234 that is counter-embedded between the rear end surface of the second plate body 232 and the second base 20. During specific operation, the second pull rope 233 is pulled a certain distance, so that the second plate body 232 swings synchronously with the second pull rope 233, thereby driving the first plate body 231 to swing accordingly, so that the transmission plate 23 is synchronously and appropriately flipped as the second pull rope 233 is pulled, so that the two elastic claw bodies 211 can be driven to move toward the card table 22 as the transmission plate 23 flips. In this process, the main structure of the two elastic claw bodies 211 gradually passes through the gathering hole 221, so that the two elastic claw bodies 211 are swung toward each other and gradually gathered by utilizing the limiting effect of the inner wall of the gathering hole 221, so that the claws can reliably clamp the second puncture needle 200. When the claw needs to release the second puncture needle 200, the second pull rope 233 is loosened, and the elastic reset force of the second elastic element 234 is used to lift and rotate the second plate body 232, thereby driving the transmission plate 23 to flip back as a whole, and then the transmission plate 23 is used to push the two elastic claws 211 through the retraction hole 221 in the opposite direction, and re-extend and reset, thereby realizing the opening of the claw, so that the claw and the second puncture needle 200 are released from the clamping.

[0082] In practical applications, the second elastic element 234 may be a spring. If so, the second pull rope 233 may be passed through the spring arrangement to form a substantially coaxial fit between the second pull rope 233 and the spring, thereby further optimizing the linkage control effect and movement accuracy of the second pull rope 233 and the spring on the transmission plate 23 and the claw.

[0083] Specifically, no matter what the structural form of the claw is in actual application, a contact sensor can be set at its clamping end so that when the claw is closed and tightened, the contact sensor can feedback a contact signal to the controller of the needle removal device, so as to determine the clamping effect and contact status of the claw on the second puncture needle 200, thereby helping the operator of the needle removal device to accurately judge the current working status and ensure the accuracy and reliability of the corresponding clinical operation.

[0084] Generally, the contact sensor can be one or a combination of a conductive spring device, a conductive elastic needle device, an enameled wire assembly, a force sensor, a torque sensor, and a current sensor. It can be flexibly selected and adjusted according to actual working conditions. In principle, any device that can meet the actual application requirements of the needle removal device is acceptable.

[0085] Example 4

[0086] The parts of this embodiment that have the same structure as that of embodiment 1 will not be described in detail, and the differences are as follows:

[0087] When the clamping mechanism is a hook assembly, the hook assembly can hook the puncture needle, and the hook assembly includes a hook that can be adapted to the step surface of the puncture needle. When the hook moves along the axial direction of the puncture needle, the hook and the step surface of the puncture needle are abutted and drive the puncture needle to move together; the hook assembly also includes a driving assembly that can drive the hook to move along the axial direction of the puncture needle;

[0088] Specifically, Fig. 9 and Fig.10As shown, when the clamping mechanism is a hook claw assembly, the driving assembly includes a guide cylinder 31 arranged on the base and a guide rod 32 inserted in the guide cylinder 31, the axis of the guide cylinder 31 is parallel to the axis of the third puncture needle 300, and the guide rod 32 can reciprocate along the axial direction of the guide cylinder 31, and a moving claw body 321 is arranged on the side of the extended end of the guide rod 32, and a reference claw body 311 axially aligned with the moving claw body 321 is arranged on the guide cylinder 31, and a locking gap 331 for the handle of the third puncture needle 300 to be embedded and clamped is formed between the moving claw body 321 and the reference claw body 311, and the middle part of the moving claw body 321 and the middle part of the reference claw body 311 both have an accommodating gap 332 for the third puncture needle 300 to pass through, and the moving claw body 321 and the reference claw body 311 are openly matched to form a claw; the driving assembly is a push-pull rod that drives the guide rod 32 to reciprocate along its axial direction. In actual operation, the guide rod 32 is controlled by the push-pull rod to move axially toward the direction where the reference claw body 311 is located, so as to drive the moving claw body 321 and the reference claw body 311 to gradually approach each other, and ensure that the step surface of the tail of the third puncture needle 300 is between the moving claw body 321 and the reference claw body 311, so that the moving claw body 321 and the reference claw body 311 continue to approach each other until the moving claw body 321 and the reference claw body 311 align and press the step surface of the third puncture needle 300, thereby completing the reliable clamping linkage assembly of the clamping claw and the third puncture needle 300. When it is necessary to release the clamping claw and the third puncture needle 300, the guide rod 32 is controlled by the push-pull rod to move in the opposite direction and reset, so as to drive the moving claw body 321 to move back synchronously, until the moving claw body 321 and the reference claw body 311 are released from the aligned and pressed state, and the gap between the moving claw body 321 and the reference claw body 311 is sufficient for the third puncture needle 300 to be smoothly taken out.

[0089] Example 5

[0090] The parts of this embodiment that have the same structure as that of embodiment 1 will not be described in detail, and the differences are as follows:

[0091] When the clamping mechanism is a rotating clamping assembly, the rotating clamping assembly includes a puncture needle that can be clamped from the side, and the rotating clamping assembly includes a base frame arranged at the free end of the base, and a rotating member is rotatably arranged inside the base frame, and the rotating member is driven to rotate or bend by the driving assembly, and the rotating member is provided with a through hole, or a through groove, or a double protrusion, and when the rotating member rotates or bends, it will clamp the puncture needle passing through the through hole, or the through groove, or the double protrusion;

[0092] Specifically, Fig.11 and Fig.12As shown, when the clamping mechanism is a rotating clamping assembly, the clamping mechanism includes a base frame 41 arranged at the free end of the third base 40, a chuck 42 is rotatably arranged on the base frame 41, the rotation axis of the chuck 42 is perpendicular to the axis of the fourth puncture needle 400, and two clamping columns 421 are protruding along the axial direction of the chuck 42, the two clamping columns 421 are symmetrically arranged along the radial direction of the chuck 42 and are linked to the chuck 42, and a locking groove 422 for the fourth puncture needle 400 to pass through is formed between the two clamping columns 421, and the clamping mechanism also includes a driving assembly for driving the chuck 42 to rotate on a fixed axis. In the conventional non-operating state, the chuck 42 is in the original position, and the axis line of the two guide columns is substantially perpendicular to the axis of the third base 40. When it is necessary to clamp the fourth puncture needle 400, the fourth puncture needle 400 is placed in the middle position of the locking groove 422, and the chuck 42 is driven by the driving assembly to rotate appropriately, thereby driving the two clamping columns 421 to rotate synchronously until the two guide columns are fully in contact with the fourth puncture needle 400 and are reliably pressed. At this time, the two guide columns are respectively located on both sides of the fourth puncture needle 400, thereby allowing the two clamping columns 421 to form a clamping force on the fourth puncture needle 400 toward the axial direction of the fourth puncture needle 400. Since the clamping forces applied by the two clamping columns 421 to the fourth puncture needle 400 are in opposite directions, the two clamping columns 421 can cooperate with each other to form a reliable clamping of the fourth puncture needle 400, thereby reliably clamping the fourth puncture needle 400 and fixing it in the locking groove 422, so that subsequent needle removal and other operations can be smoothly implemented. When the fourth puncture needle 400 needs to be removed from the clamping mechanism, the control driving assembly drives the chuck 42 to rotate in the opposite direction, thereby driving the two clamping columns 421 to rotate and reset synchronously until the space between the two clamping columns 421 allows the fourth puncture needle 400 to be smoothly removed.

[0093] Specifically, the driving assembly includes a third pull rope 43 which is linked to the outer wall of the chuck 42, and also includes a reset spring embedded in the bottom of the chuck 42. In the normal non-operating state, the chuck 42 is in the original position under the action of the reset spring. When the chuck 42 needs to be rotated to achieve the clamping of the fourth puncture needle 400, it is only necessary to pull the third pull rope 43 to overcome the elastic reset force of the reset spring and drive the chuck 42 to rotate synchronously; when the clamping operation is completed and the chuck 42 needs to be reset, it is only necessary to loosen the third pull rope 43, and the elastic reset force of the reset spring can be used to drive the chuck 42 to rotate and reset, thereby releasing the fourth puncture needle 400 and completing the corresponding operation.

[0094] More specifically, the front end wall and the rear end wall of the base frame 41 are respectively provided with a limiting groove 411 for the fourth puncture needle 400 to be aligned and embedded. Before clamping, the fourth puncture needle 400 can be aligned and inserted into the limiting groove 411, so that the fourth puncture needle 400 and the locking groove 422 are pre-aligned, thereby forming a pre-assembly of the fourth puncture needle 400 and the chuck 42, and then the chuck 42 is rotated on a fixed axis, and the reliable clamping of the fourth puncture needle 400 by the two clamping columns 421 will be smoother and more accurate. It can be seen that the limiting groove 411 can greatly optimize the alignment and adaptation effect between the chuck 42 and its adapter and the fourth puncture needle 400, ensure the corresponding connection and matching accuracy, and improve the operating efficiency of the clamping mechanism accordingly.

[0095] Example 6

[0096] The parts of this embodiment that have the same structure as that of embodiment 1 will not be described in detail, and the differences are as follows:

[0097] When the clamping mechanism is a side clamping assembly, the side clamping assembly includes a clamping piece, which is located on one side of the puncture needle. The clamping piece moves in a direction approaching or away from the puncture needle. The clamping piece can directly or indirectly apply pressure to the outer side of the puncture needle, thereby relying on friction to drive the puncture needle to be pulled out. The side clamping assembly also includes a driving assembly that can drive the clamping piece to move.

[0098] Specifically, Fig.13 and Fig.14 As shown, the clamping mechanism is set in a side clamping component, the clamping mechanism includes a movable seat 1301 arranged at the free end of the base, the eleventh puncture needle 1302 is guided to pass through the movable seat 1301, the movable seat 1301 is provided with an inclined top block 1303 on the side of the eleventh puncture needle 1302, the inclined top block 1303 can be movably arranged on the movable seat 1301 in the direction close to or away from the eleventh puncture needle 1302, and a pushing block 1304 is arranged on the movable seat 1301 along the axial sliding of the eleventh puncture needle 1302, the pushing block 1304 is driven by the driving assembly to slide along the axial direction of the eleventh puncture needle 1302, the pushing block 1304 can squeeze and drive the inclined top block 1303 to move in the direction close to the eleventh puncture needle 1302, so that the inclined top block 1303 presses the outer side surface of the eleventh puncture needle 1302. The driving mode of the driving component is at least one of driving wire driving, pulling rod driving, micro motor driving, hydraulic driving and pneumatic driving.

[0099] Specifically: the inclined top block 1303 is slidably arranged on the movable seat 1301, and the inclined top block 1303 is provided with a pressing surface on the side close to the eleventh puncture needle 1302, and the pressing surface is an arcuate surface 13031. Of course, the pressing surface can also be of other shapes, and the arcuate surface 13031 can fit with the surface of the eleventh puncture needle 1302, and the inclined top block 1303 is provided with a first inclined surface 13032 on the side close to the pushing block 1304, and the pushing block 1304 is provided with a second inclined surface 13041. When the pushing block 1304 moves to one side, the first inclined surface 13032 can be squeezed by the second inclined surface 13041, thereby driving the inclined top block 1303 to move toward the direction close to the eleventh puncture needle 1302, and the inclined top block 1303 presses the eleventh puncture needle 1302 through the arc surface 13031; when the pushing block 1304 moves to the other side, the squeezing of the first inclined surface 13032 by the second inclined surface 13041 can be removed, and the inclined top block 1303 releases the pressure on the eleventh puncture needle 1302.

[0100] Example 7

[0101] The parts of this embodiment that have the same structure as that of embodiment 1 are not described in detail, and the differences are as follows:

[0102] It also includes an external device for guiding and / or clamping the puncture needle, the external device includes a guide template that cooperates with the puncture needle and a needle clamping module installed on the guide template, and the guide template is provided with a positioning hole for the puncture needle to penetrate;

[0103] When the external device is a guide template that cooperates with the puncture needle and a needle clamping module installed on the guide template, the needle clamping module includes a clamping mechanism, and the clamping mechanism is detachably arranged on the guide template.

[0104] Specifically, Figure 15 to Figure 17 As shown, the needle removal device also includes a guide template 60 that cooperates with the sixth puncture needle 600. The guide template 60 is provided with a plurality of positioning holes 601 for the sixth puncture needle 600 to penetrate, and the outer sleeve of the sixth puncture needle 600 is provided with a clamping needle module that can clamp the sixth puncture needle 600; the clamping needle module has a limiting hole 61 for the sixth puncture needle 600 to penetrate, the limiting hole 61 is aligned with the positioning hole 601, and the limiting hole 61 is clamped and damped with the sixth puncture needle 600, and the robotic arm assembly can drive the sixth puncture needle 600 to move axially along the limiting hole 61.

[0105] During operation, the sixth puncture needle 600 can be reliably limited and locked through the coordinated cooperation of the needle card module and the guide template 60, so as to ensure the position reliability of the sixth puncture needle 600 after being inserted into the corresponding part of the target object, so that the robot arm assembly clamps the sixth puncture needle 600 to drive the sixth puncture needle 600. During the needle withdrawal process, the structure of clamping and damping adaptation between the limiting hole 61 and the sixth puncture needle 600 is used, so that the sixth puncture needle 600 inserted in the limiting hole 61 can only be produced when it is subjected to a certain extraction force applied by the robot arm assembly. The sixth puncture needle 600 can be pulled out along its axial direction, so that the robot arm can only pull out the needle after the flexible extension rod is completely straightened, thereby improving the needle pulling accuracy and preventing the sixth puncture needle 600 from non-axial movement or dislocation when the operator performs a misoperation, so as to avoid causing damage to the target object; at the same time, through the coordinated cooperation of the positioning hole 601 and the limiting hole 61, the positioning accuracy of the sixth puncture needle 600 can be fully guaranteed, thereby ensuring the clamping and matching accuracy between the robot arm assembly and the sixth puncture needle 600, and the needle pulling operation effect implemented by the robot arm assembly can be correspondingly optimized.

[0106] It should be noted that the damping adaptation mentioned above means that the limiting hole 61 will form a certain structural resistance to the axial movement of the sixth puncture needle 600, and the resistance is usually mainly composed of the friction between the inner wall of the limiting hole 61 and the outer wall of the sixth puncture needle 600; in other words, after the limiting hole 61 and the sixth puncture needle 600 are clamped, all movement directions of the sixth puncture needle 600 are not locked, but a semi-clamping adaptation form with a certain movement resistance is formed between the limiting hole 61 and the sixth puncture needle 600. Specifically, the limiting hole 61 can effectively limit the non-axial movement tendency of the sixth puncture needle 600, so that the sixth puncture needle 600 can only produce a moderate axial movement effect under the influence of a certain axial force. Specifically, during the puncture operation, after the sixth puncture needle 600 is clamped by the robotic arm assembly, the sixth puncture needle 600 is gradually pulled out in a step-by-step manner using the extraction force applied by the robotic arm assembly, so that the needle head of the sixth puncture needle 600 reaches each operating position of the target object from the inside to the outside in sequence, thereby completing the corresponding puncture operation requirements. The rest of the content related to damping adaptation in this article can be understood by referring to the corresponding content here, and no further description will be given.

[0107] In addition, it should be pointed out that in actual applications, for working conditions where a flexible mechanism is used as the transmission or main action mechanism of the robotic arm assembly, a needle clamping module is used in coordination with a guide template 60 to improve the limiting effect of the sixth puncture needle 600. In this way, the robotic arm can remove the needle only after the flexible extension rod is completely straightened, which can effectively ensure the structural strength and stability of the sixth puncture needle 600 during the needle removal operation, thereby cooperating with the precise and efficient needle removal operation of the robotic arm assembly to optimize the surgical effect.

[0108] Furthermore, the needle module includes a limiting sleeve, a locking core is arranged inside the limiting sleeve, and a limiting hole 61 is arranged through the locking core; the locking core and the limiting sleeve cooperate along the radial clearance of the limiting sleeve, and the needle module also includes a locking member that can drive the locking core to move or rotate along the radial direction of the limiting sleeve so that the inner wall of the limiting hole 61 is sheared and clamped with the sixth puncture needle 600; or the limiting hole 61 itself is interference fit with the sixth puncture needle 600, thereby clamping and damping the sixth puncture needle 600.

[0109] In actual operation, after the sixth puncture needle 600 is inserted into the limiting hole 61, the locking core is driven by the locking piece to move moderately in the radial direction until the inner wall of the limiting hole 61 and the outer wall of the sixth puncture needle 600 are reliably pressed and fitted. At this time, the limiting hole 61 and the positioning hole 601 are in a non-coaxial alignment state, so that the inner wall of the limiting hole 61 forms a unilateral compression limit on the sixth puncture needle 600, that is, the lateral shear force formed by the limiting hole 61 on the sixth puncture needle 600 is used as the compression and locking force of the needle module on the sixth puncture needle 600.

[0110] On this basis, the needle module also includes a needle reset member that can drive the locking core to move radially along the limiting sleeve so that the inner wall of the limiting hole 61 and the sixth puncture needle 600 are released from the clamping. The movement direction of the locking core under the action of the needle reset member is opposite to the movement direction of the locking core under the action of the locking member. When it is necessary to release the compression lock of the sixth puncture needle 600, the force applied by the locking member to the locking core is released, and the needle reset member is used to apply a reverse force to the locking core, thereby driving the locking core to move in the opposite direction and reset, so that the compression and damping adaptation state between the limiting hole 61 and the sixth puncture needle 600 is released, so that the sixth puncture needle 600 can be smoothly pulled out to ensure operational efficiency.

[0111] The specific setting method is as follows: the limiting sleeve is a box body 62 that is aligned and buckled on the bottom of the guide template 60, the locking core is a locking plate 621 located in the inner cavity of the box body 62, the limiting hole 61 is opened on the locking plate 621, the limiting hole 61 is multiple and is aligned with the positioning hole 601 one by one, and the bottom wall of the box body 62 is penetrated with a plurality of positioning guide holes 622 that are coaxially aligned with the positioning holes 601 one by one; the side walls of the box body 62 are respectively penetrated with threaded holes 623 and limiting blind holes 624, and the openings of the limiting blind holes 624 are located at the box body On the inner wall of the body 62, the threaded hole 623 and the limiting blind hole 624 are respectively located on both sides of the locking plate 621, and the axis of the threaded hole 623 and the axis of the limiting blind hole 624 are located on the extension line of the same diameter line of the box body 62. The locking member is a locking screw 625 threadedly assembled in the threaded hole 623, or the locking member is any one or more combinations of a pull rope, an elastic wire, a hydraulic push rod, a pneumatic push rod, and an electric push rod. The pin reset member is an elastic element coaxially embedded in the limiting blind hole 624, and the elastic element is a compression spring 626. During specific operation, in the initial state, the limiting hole 61 corresponds to the positioning hole 601 one by one and is roughly coaxially aligned, so that the sixth puncture needle 600 can be smoothly inserted and penetrate the box body 62 and the locking plate 621, and the sixth puncture needle 600 is passed through the positioning hole 601, the limiting hole 61 and the positioning guide hole 622 in sequence, and then the locking screw 625 can be screwed forward so that the locking screw 625 is gradually extended inward along the threaded hole 623. At this time, the compression spring 626 is gradually compressed, and thereby the locking plate 621 is pushed to move radially through the inner end of the locking screw 625 until the limiting hole 61 and the corresponding positioning hole 601 are appropriately misaligned, so that the inner wall of the limiting hole 61 and the outer wall of the sixth puncture needle 600 are reliably pressed and fitted. At this time, the limiting hole 61 and the positioning hole 601 are It is in a non-coaxial alignment and matching state, so that the inner wall of the limiting hole 61 forms a unilateral compression limit on the sixth puncture needle 600, that is, the lateral shear force formed by the limiting hole 61 on the sixth puncture needle 600 is used as the compression and locking force of the needle module on the sixth puncture needle 600; when it is necessary to release the compression and locking of the sixth puncture needle 600, the locking screw 625 is reversed to make it gradually withdrawn outward along the threaded hole 623. At this time, the compression spring 626 gradually extends, and the locking plate 621 moves radially under the action of the reset force formed during the extension of the compression spring 626 until the locking plate 621 returns to the initial position. At this time, the limiting hole 61 and the positioning hole 601 are restored to a substantially coaxial alignment and matching state, so as to facilitate the alignment and insertion of the sixth puncture needle 600 in the next operation process. This kind of needle-stuck module structure formed by the box body 62 as the main structural part has a high degree of integration with the components of the guide template 60, and the component structure is regular and reliable, which not only optimizes the operating efficiency of the flexible needle-pulling robot device, but also makes the assembly space utilization of the guide template 60 and the needle-stuck module matching structure correspondingly improved. Of course, the locking member can also be the needle-stuck reset member.

[0112] A sensing module is also included between the box body 62 and the external bracket (not shown in the figure), which can be used to sense the pull-out force of the sixth puncture needle. Specifically: the locking plate 621 semi-clamps all the sixth puncture needles, and a single force sensor measures the tension exerted on the locking plate 621.

[0113] Alternatively, the sensing module is sleeved on the sixth puncture needle, and a single clamping part and a single force sensor are provided on the sensing module. The single clamping part semi-clamps all the multiple puncture needles, and the single force sensor measures the tension exerted on the single clamping part.

[0114] Example 8

[0115] The parts of this embodiment that have the same structure as that of embodiment 1 are not described in detail, and the differences are as follows:

[0116] like Fig.18 As shown, the support adjustment mechanism is a support sleeve assembly 700, which includes a support sleeve 7001 and a linear motion assembly 7002. The support sleeve 7001 is sleeved on the first flexible extension rod 7003 and is arranged at the free end of the fourth base 7004 for guiding movement forward and backward. The linear motion assembly 7002 drives the support sleeve 7001 to move forward and backward. When the support sleeve 7001 moves forward, the first flexible extension rod 7003 is axially supported, so that the first flexible extension rod 7003 is in a hard support state; when the support sleeve 7001 moves backward, the first flexible extension rod 7003 is restored to a flexible state, wherein the linear motion assembly 7002 is a friction motion assembly, a gear rack motion assembly, a screw nut motion assembly or a conveyor belt motion assembly. In this embodiment, a screw nut motion assembly is preferably used.

[0117] Example 9

[0118] The parts of this embodiment that have the same structure as that of embodiment 1 are not described in detail, and the differences are as follows:

[0119] The supporting and adjusting mechanism is a capsule assembly 800, which includes a capsule and a charging and discharging assembly 8001. The charging and discharging assembly can fill or discharge a medium into or out of the capsule. The medium is gas or liquid. The capsule has the following two settings:

[0120] like Fig.19 As shown, the first capsule 8002 is sheathed on the outer side of the second flexible extension rod 8003, a through hole is provided in the middle of the first capsule, the second flexible extension rod 8003 passes through the through hole, the first capsule is fixed to the free end of the fifth base through the capsule shell, and the first capsule is sealed in the capsule shell;

[0121] like Fig. 20As shown, the second capsule 8004 is fixedly connected to the outer side of the second flexible extension rod 8003 along the length direction of the second flexible extension rod 8003, a plurality of second capsules 8004 are provided, and are symmetrically arranged around the second flexible extension rod 8003, and each second capsule 8004 is fixedly connected to the second flexible extension rod 8003 by bonding or bundling;

[0122] When the first or second bladder is filled with gas or liquid and is in a filled state, the second flexible extension rod 8003 is axially supported to make the second flexible extension rod 8003 in a hard support state; when the first or second bladder is deflated after the gas or liquid is exhausted, the second flexible extension rod 8003 is restored to a flexible state. The charging and discharging assembly is a charging and discharging mechanism composed of a pneumatic joint and an air pipe.

[0123] The clamping needle module includes a clamping mechanism, which is detachably arranged on the guide template.

[0124] Furthermore, the clamping method of the clamping mechanism is a claw clamping method, a side clamping method or a rotation clamping method, wherein the specific structure of the clamping mechanism adopting the claw clamping method can be referred to the following embodiment fourteen, wherein the specific structure of the clamping mechanism adopting the side clamping method can be referred to the following embodiment fifteen, wherein the specific structure of the clamping mechanism adopting the rotation clamping method can be referred to the following embodiment sixteen.

[0125] Furthermore, the clamping mechanism is driven solely by a driving mechanism, which is driven by a motor or a rope, or the clamping mechanism is clamped by manual adjustment.

[0126] Furthermore, the clamping mechanism can be quickly clamped on the guide template, and the guide template is at least one of a 3D printing template, a thermoplastic template, a fish scale template, and an adjustable flexible template.

[0127] Example 10

[0128] A method for using a flexible needle extraction robot arm comprises the following steps:

[0129] S201, the user needs to manually puncture at least one puncture needle into the target position of the target object according to the preoperative plan;

[0130] S202, connecting each puncture needle to a corresponding delivery catheter, and the other end of the delivery catheter is connected to a radiation source implanter, and the radiation source implanter can transport the radiation source to the puncture needle along the delivery catheter, so that the radiation source is output from the front end of the puncture needle and implanted into the target object;

[0131] S203, first, the support adjustment mechanism at the free end of the base works to perform axial support operation on the flexible extension rod, the robotic arm drives the clamping mechanism to dock and clamp a puncture needle, and then the support adjustment mechanism works in the reverse direction to restore the flexible extension rod to a flexible state, ensuring that the puncture needle and the robotic arm are in a flexible connection state to avoid scratching the target object;

[0132] S204, each time the radioactive source implanter completes the implantation of a radioactive source, the robotic arm drives the clamping mechanism to move along the axis direction of the puncture needle, thereby pulling the puncture needle out to a target distance, so that the puncture needle tip is at the implantation position of the next radioactive source, or the needle is pulled out while the radioactive source is implanted, so that the radioactive source is accurately implanted at the target position;

[0133] S205, repeating step S204 until all radiation sources have been implanted into the target position of the target object.

[0134] In step S204, the robot arm determines whether the flexible extension rod is in a straightened state based on one or a combination of the deformation sensor, the force sensing element, and the sensing module, thereby automatically adjusting the free end posture of the robot arm, and the flexible extension rod remains in a straightened state, so that the clamping mechanism can accurately control the extraction depth of the puncture needle.

[0135] During the implementation of the above-mentioned puncture and needle removal operation method, through the various operation steps performed in sequence, the medical staff will perform the initial puncture in place and the final puncture needle removal, the two operation steps that require the highest operation experience and the target object's feelings, while the delivery of drugs and the gradual needle removal operations during the period are completed by the robotic arm assembly holding the puncture needle. In this way, the operation accuracy of the core operation steps is guaranteed, and the adverse effects on the overall operation are avoided by the medical staff's personal operation, avoiding discomfort or physical injury to the target object, and it can also avoid the medical staff from personally operating the relevant steps involving radioactive drugs, thereby protecting the medical staff. health; in addition, by utilizing the structure of clamping and damping adaptation between the limiting hole and the puncture needle, the puncture needle inserted in the limiting hole can only be pulled out along its axial direction when it is subjected to a certain pulling force applied by the robotic arm. In this way, the robotic arm can only pull out the needle after the flexible extension rod is completely straightened, thereby improving the needle pulling accuracy and preventing the puncture needle from non-axial movement or dislocation when the operator performs misoperation, so as to avoid causing damage to the target object. At the same time, the clamping and matching accuracy between the robotic arm assembly and the puncture needle is effectively guaranteed, and the corresponding needle pulling operation effect and efficiency are optimized.

[0136] In summary, it can be seen that during the operation and use of the flexible needle extraction mechanical arm provided in the present invention, after the doctor or other operator completes the puncture insertion operation of the puncture needle at the corresponding puncture site, if the puncture needle needs to be extracted, the clamping mechanism can be used to coordinate with the puncture needle so that the puncture needle can be reliably clamped or hooked by the clamping mechanism, and then the action of the mechanical arm or other linkage components can be used to drive the clamping mechanism to move. At this time, the clamping mechanism drives the puncture needle to be synchronously linked through clamping or hooking, so as to pull the puncture needle backward from the current working position to complete the needle extraction operation. As a result, the needle extraction operation process of the puncture needle does not require direct on-site operation by doctors or other medical staff, effectively reducing the scene of close contact between doctors and radioactive particles, and reducing the radiation damage to doctors and other puncture needle operators accordingly, maintaining the health of medical staff, and also effectively ensuring the efficiency and operation effect of the needle extraction operation of the puncture needle.

[0137] In addition, the method of using the flexible needle extraction robot arm provided by the present invention can ensure the efficiency and effect of the needle extraction operation in the radioactive particle implantation surgery and reduce the radiation damage to the doctor.

[0138] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0139] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0140] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A flexible needle extraction robot arm, characterized in that: The invention comprises a needle extraction device and a mechanical arm, wherein the needle extraction device comprises a base and a clamping mechanism, wherein the clamping mechanism is used to clamp or hook the puncture needle, and the free end of the base is connected to the clamping mechanism via a flexible extension rod; the mechanical arm realizes the movement of the needle extraction device with at least three degrees of freedom in space, and the mechanical arm drives the needle extraction device to move along the axial direction of the puncture needle, thereby pulling the puncture needle out of the target distance; a support adjustment mechanism is also provided at the free end of the base, and before the clamping mechanism and the puncture needle are connected, the support adjustment mechanism performs an axial support operation on the flexible extension rod, so that the flexible extension rod is in a hard support state, so as to realize the precise connection between the clamping mechanism and the puncture needle; after the clamping mechanism and the puncture needle are connected, the support adjustment mechanism can restore the flexible extension rod to a flexible state.

2. A flexible needle extraction robot according to claim 1, characterized in that: The robotic arm adopts a multi-degree-of-freedom articulated robotic arm to realize the movement of the needle removal device with at least five degrees of freedom in space; the free end of the robotic arm is provided with a linear motion mechanism, which is directly or indirectly connected to the needle removal device, and the linear motion mechanism drives the needle removal device to move along the axial direction of the puncture needle.

3. The flexible needle extraction robot arm according to claim 1, characterized in that: The clamping mechanism is one or a combination of a claw assembly, a hook assembly, a rotary clamping assembly, and a side clamping assembly; When the clamping mechanism is a claw assembly, the claw assembly can clamp the puncture needle from the side, and the claw assembly includes a claw adapted to the puncture needle and a driving assembly capable of driving the claw to clamp or loosen the puncture needle; the opening and closing activity plane of the claw is set at an angle to the axis of the puncture needle, the claw has a clamping end that can clamp the puncture needle, and the claw has a control end connected to the driving assembly; When the clamping mechanism is a hook assembly, the hook assembly can hook the puncture needle, and the hook assembly includes a hook that can be adapted to the step surface of the puncture needle. When the hook moves along the axial direction of the puncture needle, the hook and the step surface of the puncture needle are abutted and drive the puncture needle to move together. The hook assembly also includes a driving assembly that can drive the hook to move along the axial direction of the puncture needle; When the clamping mechanism is a rotating clamping assembly, the rotating clamping assembly includes a puncture needle that can be clamped from the side, and the rotating clamping assembly includes a base frame arranged at the free end of the base, and a rotating member is rotatably arranged inside the base frame, and the rotating member is driven to rotate or bend by the driving assembly, and the rotating member is provided with a through hole, or a through groove, or a double protrusion, and when the rotating member rotates or bends, it will clamp the puncture needle passing through the through hole, or the through groove, or the double protrusion; When the clamping mechanism is a side clamping assembly, the side clamping assembly includes a clamping piece, which is located on one side of the puncture needle. The clamping piece moves in a direction approaching or away from the puncture needle. The clamping piece can directly or indirectly apply pressure to the outer side of the puncture needle, thereby relying on friction to drive the puncture needle to be pulled out. The side clamping assembly also includes a driving assembly that can drive the clamping piece to move.

4. The flexible needle extraction robot arm according to claim 1, characterized in that: It also includes an external device for guiding and / or clamping the puncture needle, the external device includes a guide template that cooperates with the puncture needle and a needle clamping module installed on the guide template, and the guide template is provided with a positioning hole for the puncture needle to penetrate; or the external device is a needle clamping module installed on a robotic arm; the needle clamping module can clamp the puncture needle and perform damping adaptation.

5. The flexible needle extraction robot according to claim 4, characterized in that: When the external device is a guide template matched with the puncture needle and a needle clamping module installed on the guide template, the needle clamping module includes a clamping mechanism, which is detachably arranged on the guide template; the clamping method of the clamping mechanism is at least one of a claw clamping method, a side clamping method, and a rotation clamping method, and the clamping mechanism is driven by a driving mechanism alone, which is a motor drive or a rope drive, or the clamping mechanism is clamped by manual adjustment; Or when the external device is a needle clamping module installed on a robotic arm, the robotic arm is provided with a needle clamping rod, and the needle clamping module is installed at the end of the needle clamping rod; the needle clamping rod is telescopically arranged on the needle pulling device; the needle clamping module can adopt at least one of a rotating clamping assembly, a claw assembly, and a hook claw assembly.

6. The flexible needle extraction robot arm according to claim 1, characterized in that: The length of the flexible extension rod is greater than 50 mm; a deformation sensor is arranged on the outside of the flexible extension rod, and the deformation sensor is one or a combination of a strain gauge, an FBG optical fiber sensor; or, a force sensing element for sensing whether the flexible extension rod is straightened is arranged inside the flexible extension rod, or between the base and the flexible extension rod, or between the flexible extension rod and the clamping mechanism, and the force sensing element is one or a combination of a force sensor, a torque sensor, and a current sensor; or, a sensing module is arranged on the outer sleeve of the puncture needle, and the sensing module can be used to sense the pull-out force of the puncture needle, and a single clamping part and a single force sensor are arranged on the sensing module, the single clamping part semi-clamps at least one puncture needle, and the single force sensor measures the tension exerted on the single clamping part.

7. The flexible needle extraction robot arm according to claim 1, characterized in that: The support adjustment mechanism includes a support sleeve and a linear motion component. The support sleeve is sleeved on the flexible extension rod and is arranged on the free end of the base for forward and backward guiding movement. The linear motion component drives the support sleeve to move forward and backward. When the support sleeve moves forward, the flexible extension rod is axially supported, so that the flexible extension rod is in a hard support state; when the support sleeve moves backward, the flexible extension rod can be restored to a flexible state.

8. The flexible needle extraction robot arm according to claim 1, characterized in that: The support and adjustment mechanism includes a capsule and a charging and discharging assembly, the charging and discharging assembly can fill or discharge the medium into the capsule, the capsule is jacketed on the outer surface of the flexible extension rod, a through hole is provided in the middle of the capsule, and the flexible extension rod passes through the through hole; Or the capsule is fixedly connected to the outer side of the flexible extension rod along the length direction of the flexible extension rod; When the capsule is filled with the medium and is in a filled state, an axial support operation is performed on the flexible extension rod, so that the flexible extension rod is in a hard support state; When the capsule is in a deflated and flexible state after the medium is discharged, the flexible extension rod loses its supporting function and returns to a flexible state.

9. A method for using the flexible needle removal robot arm as claimed in any one of claims 1 to 8, characterized in that: The steps include: S201, the user needs to manually puncture at least one puncture needle into the target position of the target object according to the preoperative plan; S202, connecting each puncture needle to a corresponding delivery catheter, and the other end of the delivery catheter is connected to a radiation source implanter, and the radiation source implanter can transport the radiation source to the puncture needle along the delivery catheter, so that the radiation source is output from the front end of the puncture needle and implanted into the target object; S203, first, the support adjustment mechanism at the free end of the base works to perform axial support operation on the flexible extension rod, the robotic arm adjusts the posture of the free end, drives the clamping mechanism to dock and clamp a puncture needle, and then the support adjustment mechanism works in the reverse direction to restore the flexible extension rod to a flexible state, ensuring that the puncture needle and the robotic arm are in a flexible connection state to avoid scratching the target object; S204, each time the radioactive source implanter completes the implantation of a radioactive source, the robotic arm drives the clamping mechanism to move along the axis direction of the puncture needle, thereby pulling the puncture needle out to a target distance, so that the puncture needle tip is at the implantation position of the next radioactive source, or the needle is pulled out while the radioactive source is implanted, so that the radioactive source is accurately implanted at the target position; S205, repeating step S204 until all radiation sources have been implanted into the target position of the target object.

10. The method for using the flexible needle extraction robot according to claim 9, characterized in that: Step S204 In the process, the robotic arm determines whether the flexible extension rod is in a straightened state based on one or a combination of deformation sensors, force sensing elements, and sensing modules, thereby automatically adjusting the free end posture of the robotic arm, and the flexible extension rod remains in a straightened state, so that the clamping mechanism can accurately control the extraction depth of the puncture needle.

Images