Piercing device and automatic piercing terminal thereof

Abstract

The present application relates to a puncture device and its automatic puncture terminal, the puncture device comprises an automatic puncture terminal, the automatic puncture terminal comprises two rolling members, a needle insertion mechanism and a needle rotation mechanism.The axes of the two rolling members are parallel to each other, and at least one rolling member is connected with the needle insertion mechanism.At least one rolling member is connected with the needle rotation mechanism.The puncture needle is clamped between the two rolling members, and when the rolling members rotate, friction will be generated between the rolling members and the puncture needle, which is used to drive the puncture needle to insert or pull out the tissue to be punctured.Similarly, when the rolling members move axially, friction will be generated between the rolling members and the puncture needle, which is used to drive the puncture needle to rotate.That is, when the needle insertion mechanism and the needle rotation mechanism act on the rolling members at the same time, the rolling members can drive the puncture needle to rotate and insert at the same time.The puncture needle is inserted into the tissue to be punctured with high resistance by rotating forward, and the puncture needle is not easy to bend and deform, and the puncture precision is high.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a puncture device and its automatic puncture terminal. Background Technology

[0002] Interventional surgery is a minimally invasive treatment that utilizes modern high-tech methods. Specifically, under the guidance of medical imaging equipment, specialized catheters, guidewires, puncture needles, and other precision instruments are introduced into the human body to diagnose and treat diseases locally.

[0003] Currently, automated puncture devices are typically used to guide the puncture needle into the tissue to be punctured. However, when the resistance from the tissue is high, the puncture needle may bend and deform, affecting the accuracy of the puncture. Summary of the Invention

[0004] Therefore, it is necessary to propose a puncture device and its automatic puncture terminal to address the problem that the puncture needle may bend and deform when the resistance of the tissue to be punctured is high, thereby affecting the puncture accuracy.

[0005] An automated puncture terminal, comprising:

[0006] Two rolling elements, the axes of the two rolling elements are parallel to each other, and the two rolling elements are spaced apart;

[0007] A needle insertion mechanism, wherein at least one of the rolling elements is connected to the needle insertion mechanism, and the needle insertion mechanism is used to drive the rolling element to rotate; and

[0008] A needle-spinning mechanism, at least one of the rolling elements is connected to the needle-spinning mechanism, the needle-spinning mechanism being used to drive the rolling element connected thereto to move along its own axial direction.

[0009] In one embodiment, the needle feeding mechanism includes a needle feeding rope and a first power mechanism. The needle feeding rope is directly or indirectly connected to the rolling element, and the first power mechanism is used to drive the needle feeding rope to move so that the needle feeding rope drives the rolling element to rotate.

[0010] In one embodiment, the automatic puncture terminal further includes a limiting component, and at least one of the rolling elements is connected to the needle insertion mechanism, the needle rotation mechanism, and the limiting component;

[0011] The limiting component includes:

[0012] The transmission rod is fixedly connected to the rolling element;

[0013] A drive wheel, sleeved on the drive rod, rotates synchronously with the drive rod and is movably engaged along the axial direction of the drive wheel; the needle thread is connected to the drive wheel; and

[0014] A fixed bracket is provided, and the transmission wheel is rotatably connected to the fixed bracket, which is used to fix the base.

[0015] In one embodiment, the needle cord is wound around the drive wheel circumferentially, and both ends of the needle cord are connected to the first power mechanism, which is used to tighten one end of the needle cord.

[0016] In one embodiment, the transmission wheel is provided with a sliding hole, the transmission rod is movably engaged with the sliding hole along the axial direction of the transmission wheel, and the shape of the sliding hole is non-circular, and the transmission rod is adapted to the sliding hole.

[0017] In one embodiment, the needle-spinning mechanism includes a needle-spinning rope and a second power mechanism. The needle-spinning rope is connected to the transmission rod, and the second power mechanism is used to drive the needle-spinning rope to move, so that the needle-spinning rope drives the transmission rod to move axially along the transmission wheel.

[0018] In one embodiment, the two ends of the transmission rod are respectively connected to the spiral cord, and the spiral cord is connected to the second power mechanism.

[0019] In one embodiment, the needle-spinning mechanism further includes a guide wheel for rotatably connecting to a base, and the needle-spinning rope is wound around the guide wheel.

[0020] In one embodiment, the rolling element is provided with the transmission wheel on both sides along the axial direction.

[0021] In one embodiment, the two rolling elements are respectively connected to the needle insertion mechanism, the needle rotation mechanism, and the limiting component;

[0022] The two rolling elements are able to rotate under the drive of the needle feeding mechanism, and the two rolling elements rotate in opposite directions.

[0023] In one embodiment, the automatic puncture terminal further includes a first clamping assembly and a second clamping assembly. The two rolling elements are a first rolling element and a second rolling element, respectively. The first rolling element has a first side and a second side along its own axis, and the second rolling element has a first side and a second side along its own axis. The fixed bracket located on the first side of the first rolling element and the fixed bracket located on the first side of the second rolling element are connected through the first clamping assembly. The first clamping assembly is used to drive the two fixed brackets connected thereto to move closer or further apart. The fixed bracket located on the second side of the first rolling element and the fixed bracket located on the second side of the second rolling element are connected through the second clamping assembly. The second clamping assembly is used to drive the two fixed brackets connected thereto to move closer or further apart.

[0024] In one embodiment, the automatic puncture terminal further includes a first clamping assembly and a second clamping assembly. The two rolling elements are a first rolling element and a second rolling element, respectively. The first rolling element has a first side and a second side along its own axis, and the second rolling element has a first side and a second side along its own axis. The fixing bracket located on the first side of the first rolling element and the fixing bracket located on the second side of the first rolling element are connected through the first clamping assembly, and the fixing bracket located on the first side of the second rolling element and the fixing bracket located on the second side of the second rolling element are connected through the second clamping assembly. The first clamping assembly and the second clamping assembly can move closer to or further away from each other.

[0025] In one embodiment, the automated puncture terminal further includes a guide frame and a guide device. The guide frame is fixed on the base, and the guide device is disposed on the guide frame. The guide device has a needle hole for engaging with a puncture needle.

[0026] A puncture device includes a positioning platform, a base, and the aforementioned automatic puncture terminal. The automatic puncture terminal is mounted on the positioning platform via the base, and the positioning platform is used to move the automatic puncture terminal.

[0027] The aforementioned puncture device and its automatic puncture terminal include an automatic puncture terminal. The automatic puncture terminal is equipped with two rolling elements, a needle insertion mechanism, and a needle rotation mechanism. The puncture needle is held between the two rolling elements. When either rolling element rotates or the two rolling elements rotate in opposite directions, the friction between at least one rolling element and the puncture needle drives the puncture needle to insert or withdraw from the tissue to be punctured. Similarly, when either rolling element moves axially or the two rolling elements move in opposite directions, the friction between at least one rolling element and the puncture needle drives the puncture needle to rotate. That is, when the needle insertion mechanism and the needle rotation mechanism act simultaneously on the rolling elements, the rolling elements can simultaneously drive the puncture needle to rotate and insert. The puncture needle inserts into the tissue with greater resistance by rotating forward, making it less prone to bending and deformation, resulting in higher puncture accuracy. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the automatic puncture terminal structure in one embodiment;

[0029] Figure 2 for Figure 1 A schematic diagram of the structure along direction A.

[0030] Reference numerals: 100 - Rolling element; 110 - First rolling element; 120 - Second rolling element;

[0031] 200 - Needle insertion mechanism; 210 - Needle cord; 220 - Limiting component; 221 - Transmission rod; 222 - Transmission wheel; 223 - Fixed bracket; 2231 - Fixed seat; 2232 - Annular retaining ring; 224 - Bearing;

[0032] 300 - Needle-spinning mechanism; 310 - Needle-spinning rope; 320 - Guide wheel;

[0033] 400 - Guide frame; 410 - Guide device;

[0034] 500-puncture needle; Detailed Implementation

[0035] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0036] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0038] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0040] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0041] See Figure 1 An embodiment of the present invention provides an automatic puncture terminal, which includes two rolling elements 100, a needle insertion mechanism 200, and a needle rotation mechanism 300. The axes of the two rolling elements 100 are parallel to each other. At least one rolling element 100 is connected to the needle insertion mechanism 200, which drives the connected rolling element 100 to rotate. At least one rolling element 100 is connected to the needle rotation mechanism 300, which drives the connected rolling element 100 to move along its own axis. When the needle rotation mechanism 300 drives one or both rolling elements 100 to move along their own axes until the distance between the two rolling elements 100 is at its maximum, there is still an overlapping portion between the two rolling elements 100. At this time, the puncture needle 500 is located between the overlapping portions of the two rolling elements 100. In addition, the puncture needle 500 is inserted between the two rolling elements 100 in a direction perpendicular to the axis of the rolling element 100, or it can be inserted between the two rolling elements 100 at an angle to the axis of the rolling element 100, without any specific limitation.

[0042] By incorporating two rolling elements 100, a needle insertion mechanism 200, and a needle rotation mechanism 300, the puncture needle 500 is clamped between the two rolling elements 100. When either rolling element 100 rotates or the two rolling elements 100 rotate in opposite directions, the friction between at least one rolling element 100 and the puncture needle 500 drives the puncture needle 500 to insert into or withdraw from the tissue to be punctured. Similarly, when either rolling element 100 moves axially or the two rolling elements 100 move in opposite directions, the friction between at least one rolling element 100 and the puncture needle 500 drives the puncture needle 500 to rotate. That is, when the needle insertion mechanism 200 and the needle rotation mechanism 300 act simultaneously on the rolling elements 100, the rolling elements 100 can simultaneously drive the puncture needle 500 to rotate and insert. The puncture needle 500 inserts into the tissue with greater resistance by rotating forward, making it less prone to bending and deformation, resulting in higher puncture accuracy.

[0043] To enhance the friction between the rolling element 100 and the puncture needle 500, each rolling element 100 is connected to a needle insertion mechanism 200. During use, the two needle insertion mechanisms 200 drive the two rolling elements 100 to rotate in opposite directions, ensuring that the frictional forces applied by the two rolling elements 100 to the puncture needle 500 are in the same direction, thus facilitating the insertion of the puncture needle 500. Similarly, each rolling element 100 is connected to a needle rotation mechanism 300, which drives the two rolling elements 100 to move in opposite directions, ensuring that the frictional forces applied by the two rolling elements 100 to the puncture needle 500 are in opposite directions, thus facilitating the rotation of the puncture needle 500.

[0044] In some embodiments, the needle insertion mechanism 200 includes a needle insertion rope 210 and a first power mechanism. The needle insertion rope 210 is directly or indirectly connected to the rolling element 100, and the first power mechanism is used to drive the needle insertion rope to move, so that the needle insertion rope 210 drives the rolling element 100 to rotate. Using the needle insertion rope to drive the rolling element 100 to rotate allows the first power mechanism to be separated from the clamping portion of the puncture needle (i.e., the location where the rolling element is set), which helps to reduce the volume of the clamping portion of the puncture needle. This allows the clamping portion of the puncture needle to operate within the aperture of the imaging device, thereby facilitating the acquisition of the puncture needle's position through imaging and improving puncture accuracy.

[0045] In some embodiments, when the same rolling element 100 is connected to both the needle insertion mechanism 200 and the needle rotation mechanism 300, since the needle rotation mechanism 300 is used to drive the rolling element 100 to move along its own axial direction, and the needle insertion rope 210 is used to drive the rolling element 100 to rotate, when the needle rotation mechanism 300 drives the rolling element 100 to move, it will also drive the needle insertion rope 210 and the first power mechanism to move synchronously. This results in the need to set up a related mechanism to drive the first power mechanism to move, making the structure of the needle insertion mechanism 200 complex.

[0046] Therefore, in this embodiment, the automatic puncture terminal further includes a limiting component 220, which is used to limit the movement of the needle insertion cord 210 and the first power mechanism. Specifically, the limiting component 220 includes a transmission rod 221, a transmission wheel 222, and a fixed bracket 223. The transmission rod 221 is fixedly connected to the rolling element 100, which can be a roller. The rolling element 100 is sleeved on the transmission rod 221 and fixedly connected to it; or the transmission rod 221 is divided into two sections, and the two ends of the rolling element 100 are respectively fixedly connected to one section of the transmission rod 221. The transmission wheel 222 rotates synchronously with the transmission rod 221 and is movably engaged along the axial direction of the transmission wheel 222. The needle insertion cord 210 is connected to the transmission wheel 222. The transmission wheel 222 is rotatably connected to the fixed bracket 223.

[0047] It should be noted that the automatic puncture terminal can be mounted on a base, wherein the fixed bracket 223 is mounted on the base, meaning the position of the transmission wheel 222, which is rotatably connected to the fixed bracket 223, is also fixed. Specifically, the fixed bracket 223 includes a fixed seat 2231 and two annular retaining rings 2232 mounted on the fixed seat 2231. The transmission wheel 222 is positioned between the two annular retaining rings 2232, and the transmission rod 221 passes sequentially through one annular retaining ring 2232, the transmission wheel 222, and the other annular retaining ring 2232. A bearing 224 is provided inside the annular retaining ring 2232, and the annular retaining ring 2232 is rotatably connected to the transmission rod 221 through the bearing 224. The bearing 224 can be a circular bearing, as long as its inner diameter is larger than the maximum cross-sectional dimension of the transmission rod 221.

[0048] When the needle-spinning mechanism 300 drives the rolling element 100 to move, since the position of the transmission wheel 222 is fixed and the transmission wheel 222 and the transmission rod 221 are movably engaged along the axial direction of the transmission wheel 222, the rolling element 100 can drive the transmission rod 221 to slide within the transmission wheel 222. The positions of the transmission wheel 222, the needle thread 210 wound around the transmission wheel 222, and the first power mechanism remain unchanged, thus preventing the first power mechanism from shifting due to the movement of the rolling element 100. When the first power mechanism drives the needle thread 210 to rotate, since the transmission wheel 222 and the transmission rod 221 rotate synchronously, and the transmission wheel 222 is rotatably connected to the fixed bracket 223, the needle thread 210 can drive the rolling element 100 to rotate via the transmission wheel 222.

[0049] Furthermore, the transmission wheel 222 is provided with a sliding hole, and the transmission rod 221 is movably engaged with the sliding hole along the axial direction of the transmission wheel 222. The sliding hole is non-circular in shape, and the transmission rod 221 is adapted to fit the sliding hole. For example, the cross-section of the transmission rod 221 is elliptical, and the sliding hole is elliptical in shape to fit the transmission rod 221. When the transmission wheel 222 rotates, it can drive the transmission rod 221 to rotate simultaneously. At the same time, when the rolling element 100 and the transmission rod 221 move along the axial direction of the transmission wheel 222, the transmission rod 221 can slide relative to the transmission wheel 222.

[0050] In one embodiment, the needle cord 210 is wound around the drive wheel 222 circumferentially. Both ends of the needle cord 210 are connected to a first power mechanism, which tightens one end of the needle cord 210. In actual use, the two ends of the needle cord 210 can be connected to opposite sides of the same rotating wheel. That is, when the wheel rotates, tightening one end of the needle cord 210 and loosening the other end allows the needle cord 210 to drive the drive wheel 222 to rotate.

[0051] In another embodiment, a torsion spring may be provided on the transmission wheel, with one end of the needle thread connected to the transmission wheel and the other end connected to the first power mechanism. When the first power mechanism pulls the needle thread, the needle thread drives the transmission wheel to rotate. When the first power mechanism releases the needle thread, the transmission wheel rotates in the opposite direction under the action of the torsion spring.

[0052] In some embodiments, the needle-spinning mechanism 300 includes a needle-spinning rope 310 and a second power mechanism. The needle-spinning rope 310 is connected to the transmission rod 221, and the second power mechanism is used to drive the needle-spinning rope 310 to move. Similarly, the needle-spinning rope 310 separates the second power mechanism from the clamping part of the puncture needle, and the arrangement of the needle-spinning mechanism 300 does not increase the volume of the clamping part of the puncture needle, making it convenient for the clamping part of the puncture needle to perform puncture in a confined space.

[0053] In one embodiment, the two ends of the transmission rod 221 are respectively connected to a needle rope 310, which is connected to the second power mechanism. In actual use, the two needle ropes 310 can be connected to opposite sides of the same rotating wheel. That is, when the rotating wheel rotates, one needle rope 310 is tightened and the other needle rope 310 is loosened, so that the needle rope 310 drives the rolling element 100 to move along its own axis.

[0054] In another embodiment, one end of the transmission rod can be fixed by an elastic element, and the other end can be connected to a needle rope. When the second power mechanism pulls the needle rope, the elastic element extends and the rolling element moves to one side along its own axis. When the second power mechanism releases the needle rope, the elastic element contracts and the rolling element moves to the other side along its own axis.

[0055] In some embodiments, the needle-spinning mechanism 300 includes a guide wheel 320, which is rotatably connected to the base, and the needle-spinning rope 310 is wound around the guide wheel 320. The guide wheel 320 is used to change the extension direction of the needle-spinning rope 310, that is, to change the setting position of the second power mechanism, so as to facilitate the flexible setting of the second power mechanism.

[0056] In one embodiment, the second power mechanism is set separately from the first power mechanism. The first power mechanism independently controls the needle insertion rope 210 to realize the insertion action of the puncture needle 500, and the second power mechanism independently controls the rotating needle rope 310 to realize the rotation action of the puncture needle 500. The two work together and proceed synchronously.

[0057] In another embodiment, the second power mechanism is combined with the first power mechanism. The needle cord can be connected to the same power mechanism as the needle insertion cord through some transmission methods such as winding. When the power mechanism is activated, the puncture needle 500 performs two movements simultaneously at a fixed needle insertion speed and rotation speed.

[0058] In some embodiments, the rolling element 100 is provided with drive wheels 222 on both sides along the axial direction. Correspondingly, each drive wheel 222 is wound with a corresponding needle insertion rope 210. The two needle insertion ropes 210 are used to drive the drive wheels 222 located on both sides of the rolling element 100 to move. In actual operation, the two needle insertion ropes 210 should be kept in sync, that is, the two drive wheels 222 should rotate at the same speed to ensure the balance of the rolling element 100 and the stability of the puncture needle 500.

[0059] Furthermore, the two rolling elements 100 are respectively connected to the needle insertion mechanism 200, the needle rotation mechanism 300, and the limiting component 220. The two rolling elements 100 can rotate under the drive of the needle insertion mechanism 200, and the two rolling elements 100 rotate in opposite directions. That is, both rolling elements 100 can provide downward puncture force to the puncture needle 500, which is beneficial for the insertion of the puncture needle 500.

[0060] In some embodiments, the automatic puncture terminal further includes a first clamping assembly and a second clamping assembly. The two rolling elements 100 are a first rolling element 110 and a second rolling element 120, respectively. The first rolling element 110 has a first side and a second side along its own axis, and the second rolling element 120 has a first side and a second side along its own axis. A fixed bracket 223 located on the first side of the first rolling element 110 and a fixed bracket 223 located on the first side of the second rolling element 120 are connected through the first clamping assembly. The first clamping assembly is used to drive the two fixed brackets 223 connected thereto to move closer or further apart. A fixed bracket 223 located on the second side of the first rolling element 110 and a fixed bracket 223 located on the second side of the second rolling element 120 are connected through the second clamping assembly. The second clamping assembly is used to drive the two fixed brackets 223 connected thereto to move closer or further apart. The fixing bracket 223 located on the first side of the first rolling element 110 and the fixing bracket 223 located on the first side of the second rolling element 120 can be positioned opposite each other in a direction perpendicular to the axis of the rolling element, or they can be offset in a direction perpendicular to the axis of the rolling element. Similarly, the fixing bracket 223 located on the second side of the second rolling element 120 can be positioned opposite each other in a direction perpendicular to the axis of the rolling element, or they can be offset in a direction perpendicular to the axis of the rolling element, as long as the first clamping assembly can achieve the mutual approach or distance of the two fixing brackets connected to it.

[0061] In this embodiment, the clamping component can be a connecting rod. The connecting rod passes through the two fixed supports that need to be clamped in sequence. The connecting rod includes a smooth rod section and a threaded rod section. One fixed support is sleeved on the smooth rod section and close to the threaded rod section. The other fixed support is screwed to the threaded rod section. That is, when the connecting rod is rotated, the fixed support located on the threaded rod section can move along the threaded rod, which can realize the relative approach and distance of the two fixed supports to facilitate the clamping or release of the puncture needle.

[0062] In some other embodiments, the automatic puncture terminal further includes a first clamping assembly and a second clamping assembly. The two rolling elements 100 are a first rolling element 110 and a second rolling element 120, respectively. The first rolling element 110 has a first side and a second side along its own axis, and the second rolling element 120 has a first side and a second side along its own axis. The fixed bracket 223 located on the first side of the first rolling element 110 and the fixed bracket 223 located on the second side of the first rolling element 110 are connected through the first clamping assembly. The fixed bracket 223 located on the first side of the second rolling element 120 and the fixed bracket 223 located on the second side of the second rolling element 120 are connected through the second clamping assembly. The first clamping assembly and the second clamping assembly can move closer to or further away from each other. The fixing bracket 223 located on the first side of the first rolling element 110 and the fixing bracket 223 located on the first side of the second rolling element 120 can be positioned opposite each other in a direction perpendicular to the axis of the rolling elements, or they can be offset along the axis of the rolling elements. Similarly, the fixing bracket 223 located on the second side of the first rolling element 110 and the fixing bracket 223 located on the second side of the second rolling element 120 can be positioned opposite each other in a direction perpendicular to the axis of the rolling elements, or they can be offset along the axis of the rolling elements. The first clamping assembly and the second clamping assembly are sufficient to move the first rolling element 110 and the second rolling element 120 closer together or further apart when they approach each other.

[0063] In this embodiment, the automatic puncture terminal further includes a telescopic component. The first clamping component and the second clamping component are respectively connected to the telescopic component, and the two telescopic components are respectively located on the side where the first clamping component and the second clamping component are far apart from each other. When the two telescopic components extend at the same time, that is, the first clamping component and the second clamping component move closer to each other. When at least one of the two telescopic components retracts, the first clamping component and the second clamping component move away from each other.

[0064] In some embodiments, the automatic puncture terminal further includes a guide frame 400 and a guide 410. The guide 410 is disposed on the guide frame 400 and has a needle hole for engaging with a puncture needle 500.

[0065] Specifically, when the puncture needle 500 punctures in a vertical direction, the guide frame 400 can be set below the rolling element 100. One end of the puncture needle 500 is located between the two rolling elements 100, and the other end passes through the needle hole. The guide 410 is used to prevent the puncture needle 500 from tilting during the puncture process, which would lead to poor puncture accuracy.

[0066] One embodiment of the present invention provides a puncture device, including a positioning platform, a base, and an automatic puncture terminal. The automatic puncture terminal is mounted on the positioning platform via the base, and the positioning platform is used to move the automatic puncture terminal so that the puncture needle 500 is aligned with the tissue to be punctured. A fixing bracket 223 is fixedly connected to the base. A first power mechanism and a second power mechanism are also disposed on the base.

[0067] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0068] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. An automatic puncture terminal, characterized in that, The automated puncture terminal includes: Two rolling elements (100) have their axes parallel to each other and are spaced apart. A needle insertion mechanism (200), at least one of the rollers (100) is connected to the needle insertion mechanism (200), the needle insertion mechanism (200) being used to drive the rollers (100) connected thereto to rotate; and A needle-spinning mechanism (300) is provided, at least one of the rolling elements (100) is connected to the needle-spinning mechanism (300), the needle-spinning mechanism (300) is used to drive the rolling element (100) connected to it to move along its own axis; the needle-feeding mechanism (200) includes a needle-feeding rope (210) and a first power mechanism, the needle-feeding rope (210) is directly or indirectly connected to the rolling element (100), the first power mechanism is used to drive the needle-feeding rope (210) to move so that the needle-feeding rope (210) drives the rolling element (100) to rotate; The limiting component (220) is at least one of the rolling elements (100) connected to the needle insertion mechanism (200), the needle rotation mechanism (300) and the limiting component (220).

2. The automatic puncture terminal according to claim 1, characterized in that, The limiting component (220) includes: The transmission rod (221) is fixedly connected to the rolling element (100); A drive wheel (222) is sleeved on the drive rod (221). The drive wheel (222) rotates synchronously with the drive rod (221) and is movably engaged along the axial direction of the drive wheel (222). The needle thread (210) is connected to the drive wheel (222). A fixed bracket (223) is provided, wherein the transmission wheel (222) is rotatably connected to the fixed bracket (223), and the fixed bracket (223) is used to fix it on the base.

3. The automatic puncture terminal according to claim 2, characterized in that, The needle cord (210) is wound around the drive wheel (222) circumferentially. The two ends of the needle cord (210) are respectively connected to the first power mechanism, which is used to tighten one end of the needle cord (210).

4. The automatic puncture terminal according to claim 2, characterized in that, The transmission wheel (222) is provided with a sliding hole, and the transmission rod (221) is movably engaged with the sliding hole along the axial direction of the transmission wheel (222). The shape of the sliding hole is non-circular, and the transmission rod (221) is adapted to the sliding hole.

5. The automatic puncture terminal according to claim 2, characterized in that, The needle-spinning mechanism (300) includes a needle-spinning rope (310) and a second power mechanism. The needle-spinning rope (310) is connected to the transmission rod (221). The second power mechanism is used to drive the needle-spinning rope (310) to move, so that the needle-spinning rope (310) drives the transmission rod (221) to move along the axial direction of the transmission wheel (222).

6. The automatic puncture terminal according to claim 5, characterized in that, The two ends of the transmission rod (221) are respectively connected to the spiral needle rope (310), and the spiral needle rope (310) is connected to the second power mechanism.

7. The automatic puncture terminal according to claim 6, characterized in that, The needle-spinning mechanism (300) further includes a guide wheel (320) for rotatably connecting to the base, and the needle-spinning rope (310) is wound around the guide wheel (320).

8. The automatic puncture terminal according to claim 2, characterized in that, The rolling element (100) is provided with the transmission wheel (222) on both sides along the axial direction.

9. The automatic puncture terminal according to claim 8, characterized in that, The two rolling elements (100) are respectively connected to the needle insertion mechanism (200), the needle rotation mechanism (300), and the limiting component (220). The two rollers (100) are able to rotate under the drive of the needle feeding mechanism (200), and the two rollers (100) rotate in opposite directions.

10. The automatic puncture terminal according to claim 9, characterized in that, The automatic puncture terminal further includes a first clamping assembly and a second clamping assembly. The two rolling elements (100) are a first rolling element (110) and a second rolling element (120), respectively. The first rolling element (110) has a first side and a second side along its own axis. The second rolling element (120) has a first side and a second side along its own axis. The fixed bracket (223) located on the first side of the first rolling element (110) and the fixed bracket (223) located on the first side of the second rolling element (120) are connected through the first clamping assembly. The first clamping assembly is used to drive the two fixed brackets (223) connected thereto to move closer or further away from each other. The fixed bracket (223) located on the second side of the first rolling element (110) and the fixed bracket (223) located on the second side of the second rolling element (120) are connected through the second clamping assembly. The second clamping assembly is used to drive the two fixed brackets (223) connected thereto to move closer or further away from each other.

11. The automatic puncture terminal according to claim 9, characterized in that, The automatic puncture terminal further includes a first clamping assembly and a second clamping assembly. The two rolling elements (100) are a first rolling element (110) and a second rolling element (120), respectively. The first rolling element (110) has a first side and a second side along its own axis. The second rolling element (120) has a first side and a second side along its own axis. The fixed bracket (223) located on the first side of the first rolling element (110) and the fixed bracket (223) located on the second side of the first rolling element (110) are connected through the first clamping assembly. The fixed bracket (223) located on the first side of the second rolling element (120) and the fixed bracket (223) located on the second side of the second rolling element (120) are connected through the second clamping assembly. The first clamping assembly and the second clamping assembly can move closer to or further away from each other.

12. The automatic puncture terminal according to claim 1, characterized in that, The automatic puncture terminal also includes a guide frame (400) and a guide (410). The guide frame (400) is fixed on the base, and the guide (410) is disposed on the guide frame (400). The guide (410) has a needle hole for engaging with a puncture needle (500).

13. A puncture device, characterized in that, The device includes a positioning platform, a base, and an automatic puncture terminal as described in any one of claims 1-12, wherein the automatic puncture terminal is mounted on the positioning platform via the base, and the positioning platform is used to move the automatic puncture terminal.

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