Medical device, medical robot, needle-assisted insertion device and method

Abstract

The present application relates to an auxiliary needle insertion device and method for a medical device or a medical robot. The auxiliary needle insertion device in the present application includes a support structure and at least two needle guide assemblies respectively arranged on the support structure; wherein the needle guide assembly includes: a slide rail connected to the support structure; a clamping structure slidably mounted on the slide rail for clamping the surgical needle, and the surgical needles clamped by the clamping structures in each of the needle guide assemblies remain parallel. The auxiliary needle insertion device in the present application solves the problem that surgical needles are difficult to fix during parallel needle insertion, reduces surgical risks, and avoids defects such as cumbersome, complicated or poor repeatability caused by fixing using other methods; and can improve the efficiency of multi-needle surgery and reduce the difficulty and intensity of doctors' work brought by traditional fixing methods.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a medical device, a medical robot, an auxiliary needle insertion device and method. Background Art

[0002] The surgical needle achieves linear motion during the puncture process, which can be done manually or automatically. It is an important factor to consider when medical devices or medical robots complete puncture operations. Its stability determines whether the surgical needle can be safely, accurately and effectively inserted into the designated lesion target, which directly affects the therapeutic effect of the operation.

[0003] Since the surgical needle is very long, the traditional parallel needle insertion faces the problem of how to fix the needle during surgery. The traditional method is to fix it with a template or tie it with tape, which is cumbersome, complicated and has poor repeatability. At the same time, parallel needle insertion requires a high degree of parallelism, and the method of multiple doctors holding it has low accuracy.

[0004] However, the handheld method not only occupies the doctor's hands, increasing the doctor's workload and work intensity; in situations where there are multiple needles, multiple doctors are also required to operate the needles hand-held and fix them using other methods, which is time-consuming and labor-intensive, and there is a possibility of accidental touch causing the needles to deviate, increasing the risk of the operation. Summary of the invention

[0005] Based on this, it is necessary to address the deficiencies in the above-mentioned prior art and provide a medical device, a medical robot, an auxiliary needle insertion device and method.

[0006] According to some embodiments, the present application provides a needle insertion auxiliary device, comprising: a support structure and at least two needle guide assemblies respectively arranged on the support structure; wherein the needle guide assemblies include:

[0007] A slide rail connected to the support structure;

[0008] The clamping structure is slidably mounted on the slide rail and is used to clamp the surgical needle, and the surgical needles clamped by the clamping structures in each needle guide assembly are kept parallel.

[0009] The above-mentioned auxiliary needle insertion device, through the clamping structure, enables the surgical needles clamped in each needle guide assembly to remain parallel, and can achieve stable support and fixation of each surgical needle, solving the problem that the surgical needles are difficult to fix during parallel needle insertion, reducing surgical risks, and avoiding defects such as cumbersome, complicated or poor repeatability caused by fixation using other methods; it can also improve the efficiency of multi-needle surgery and reduce the difficulty and intensity of the doctor's work brought by traditional fixation methods.

[0010] In one embodiment, the slide rail is rotatably connected to the support structure and cantilevers in a direction away from the support structure.

[0011] In the above-mentioned auxiliary needle insertion device, the slide rail can be rotatably connected to the supporting structure, and the clamping structure can be slidably mounted on the slide rail, so that the spacing between the surgical needles clamped by the clamping structure is adjustable. Compared with the traditional fixing method, the above-mentioned auxiliary needle insertion device has strong flexibility and higher precision, and can meet a variety of application requirements.

[0012] In one embodiment, the slide rail rotates with the support structure as the center;

[0013] The slide rail is provided with a first scale mark for marking the distance from the clamping structure to the supporting structure.

[0014] In one embodiment, the support structure includes: a support column and a slide rail sleeve portion and a slide rail fixing portion disposed at one end of the support column; wherein,

[0015] One end of the slide rail is provided with a sleeve hole matching the slide rail sleeve portion, and the slide rail is installed on the slide rail sleeve portion through the sleeve hole;

[0016] The slide rail fixing portion is threadedly connected to the slide rail sleeve portion, and is used to fix the slide rail on the supporting structure after the slide rail is rotated to a preset position.

[0017] In one of the embodiments, the side wall of the slide rail fixing portion is columnar, and a second scale mark is provided on the side wall for marking the angle between adjacent slide rails.

[0018] In one embodiment, the clamping structure comprises:

[0019] A slider, slidably connected to the slide rail;

[0020] A clamp, disposed on the slider;

[0021] The fixing structure is clamped by the clamp and is used to fix the surgical needle.

[0022] In one embodiment, the fixing structure comprises:

[0023] ontology;

[0024] a needle guide hole, which passes through the body, and the diameter of the needle guide hole near the first end of the body is the same as the diameter of the surgical needle;

[0025] A positioning portion is arranged at the second end of the body and is used to match the clamp to limit the clamping position; the second end is opposite to the first end.

[0026] In one embodiment, the needle guide hole comprises a tapered hole; the diameter of the tapered hole increases in a direction away from the first end.

[0027] In one embodiment, the auxiliary needle insertion device also includes a bracket; one end of the bracket is connected to the supporting structure, and the other end is used to connect to the medical device.

[0028] According to some embodiments, the present application also provides a method for assisting needle insertion, comprising:

[0029] According to the number of surgical needles, select the same number of slide rails and clamping structures;

[0030] Installing the slide rail on the support structure and moving the slide rail relative to the support structure to a first preset position;

[0031] Installing the clamping structure on the slide rail and moving it along the slide rail to a second preset position;

[0032] Each of the surgical needles is clamped in parallel in the corresponding clamping structure.

[0033] The above-mentioned auxiliary needle insertion method can achieve stable support and fixation of each surgical needle by clamping each surgical needle in parallel in the corresponding clamping structure, thereby solving the problem that the surgical needle is difficult to fix during parallel needle insertion, reducing surgical risks, and avoiding defects such as cumbersome, complicated or poor repeatability caused by fixation using other methods; it can also improve the efficiency of multi-needle surgery and reduce the difficulty and intensity of the doctor's work brought by traditional fixation methods.

[0034] In the above-mentioned auxiliary needle insertion method, the slide rail can be rotated to a first preset position relative to the supporting structure, and the clamping structure can move along the slide rail to a second preset position, which makes the spacing between the surgical needles clamped by the clamping structure adjustable. Compared with the traditional fixing method, the above-mentioned auxiliary needle insertion method is more flexible and more precise, and can meet a variety of application requirements.

[0035] According to some embodiments, the present application also provides a medical device, which includes the auxiliary needle insertion device as described in any of the aforementioned embodiments, and a surgical needle.

[0036] The above-mentioned medical device includes the auxiliary needle insertion device provided in the above-mentioned embodiment. Therefore, the technical effects that can be achieved by the above-mentioned auxiliary needle insertion device can also be achieved by this medical device, which will not be described in detail here.

[0037] According to some embodiments, the present application also provides a medical robot, which includes the auxiliary needle insertion device as described in any of the aforementioned embodiments, and a surgical needle.

[0038] The above-mentioned medical robot includes the auxiliary needle insertion device provided by the above-mentioned embodiment. Therefore, the technical effects that can be achieved by the above-mentioned auxiliary needle insertion device can also be achieved by the medical robot, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic diagram of the overall structure of the auxiliary needle insertion device in one embodiment of the present application;

[0040] Figure 2 This is a schematic structural diagram of a needle-insertion auxiliary device including two needle guide assemblies in one embodiment of the present application;

[0041] Figure 3 This is a schematic structural diagram of the auxiliary needle insertion device including three needle guide assemblies in one embodiment of the present application;

[0042] Figure 4 This is a schematic structural diagram of a needle-insertion auxiliary device including four needle guide assemblies in one embodiment of the present application;

[0043] Figure 5 This is a schematic structural diagram of a needle-insertion auxiliary device including five needle guide assemblies in one embodiment of the present application;

[0044] Figure 6 This is a schematic structural diagram of a needle-insertion auxiliary device including six needle guide assemblies in one embodiment of the present application;

[0045] Figure 7 This is a structural schematic diagram of a support structure in an embodiment of the present application;

[0046] Figure 8 This is a schematic diagram of the structure of the slide rail in one embodiment of the present application;

[0047] Fig. 9 This is a schematic structural diagram of a case in which the auxiliary needle insertion device in one embodiment of the present application includes four needle guide assemblies and the four surgical needles are at a maximum distance from each other;

[0048] Fig.10 This is a structural schematic diagram of a case in which the auxiliary needle insertion device in one embodiment of the present application includes four needle guide assemblies, and the lines connecting the four surgical needles form a square with a minimum distance;

[0049] Fig.11 This is a schematic structural diagram of an auxiliary needle insertion device in an embodiment of the present application, in which the connection line between the four surgical needles is an asymmetric trapezoid;

[0050] Fig.12 This is a schematic structural diagram of a needle-insertion auxiliary device in one embodiment of the present application, in which the four surgical needles are connected in a straight line with a minimum distance when the needle-insertion auxiliary device includes four needle guide assemblies;

[0051] Fig.13 This is a schematic structural diagram of a clamping structure in one embodiment of the present application;

[0052] Fig.14This is a structural schematic diagram of a fixed structure in an embodiment of the present application;

[0053] Fig.15 This is a schematic diagram of the structure of a bracket in one embodiment of the present application;

[0054] Fig.16 This is a schematic diagram of a bracket connected to a medical device in one embodiment of the present application;

[0055] Fig.17 This is a flow chart of an auxiliary needle insertion method in one embodiment of the present application;

[0056] Fig.18 This is a flow chart of a needle insertion assistance method in another embodiment of the present application.

[0057] Description of reference numerals:

[0058] 1. Support structure; 11. Support column; 12. Slide rail fixing part; 13. Slide rail fixing part; 2. Needle guide assembly; 21. Slide rail; 211. Sleeve hole; 22. Clamping structure; 221. Slider; 222. Clamp; 223. Fixing structure; 2231. Main body; 2232. Needle guide hole; 2233. Positioning part; 3. Bracket. DETAILED DESCRIPTION

[0059] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0060] In the description of the present application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0061] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; 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, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0062] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0063] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0064] According to some embodiments, the present application provides a needle insertion auxiliary device.

[0065] See also Figure 1 , Figure 1 The overall structural schematic diagram of the auxiliary needle insertion device in one embodiment of the present application is shown. The auxiliary needle insertion device provided in one embodiment of the present application may include a support structure 1 and at least two needle guide assemblies 2 respectively arranged on the support structure 1.

[0066] Specifically, the needle guide assembly 2 may include a slide rail 21 and a clamping structure 22. The slide rail 21 is connected to the support structure 1. The clamping structure 22 is slidably mounted on the slide rail 21 to clamp the surgical needle, and the surgical needles clamped by the clamping structure 22 in each needle guide assembly 2 can be kept parallel.

[0067] The above-mentioned auxiliary needle insertion device, through the clamping structure 22, enables the surgical needles clamped in each needle guide assembly 2 to remain parallel, and can achieve stable support and fixation of each surgical needle, solving the problem that the surgical needles are difficult to fix during parallel needle insertion, reducing surgical risks, and avoiding defects such as cumbersome, complicated or poor repeatability caused by fixation using other methods; it can also improve the efficiency of multi-needle surgery and reduce the difficulty and intensity of the doctor's work brought by traditional fixation methods.

[0068] In the above-mentioned auxiliary needle insertion device, the slide rail 21 can be rotatably connected to the support structure 1, and the clamping structure 22 can be slidably mounted on the slide rail 21, so that the spacing between the surgical needles clamped by the clamping structure 22 is adjustable. Compared with the traditional fixing method, the above-mentioned auxiliary needle insertion device has strong flexibility and higher precision, and can meet a variety of application requirements.

[0069] It can be understood that since each clamping structure 22 adopts an adjustable mechanism design, the distance between the needles can be adjusted individually before needle insertion, and multiple surgical needles can be synchronously adjusted through the slide rail 21 and the clamping structure 22 to achieve a more complex needle arrangement scheme, further improving the efficiency and reliability of multi-needle surgery.

[0070] The present application does not specifically limit the number of needle guide assemblies 2. The number of needle guide assemblies 2 can be adaptively selected according to actual needs; for example, in an actual embodiment, a corresponding number of needle guide assemblies 2 can be selected according to the number of needle insertions. Figures 2 to 6 .in, Figure 2 The structure diagram of the auxiliary needle insertion device in one embodiment of the present application includes two needle guide assemblies 2, Figure 3 The structure diagram of the auxiliary needle insertion device in one embodiment of the present application includes three needle guide assemblies 2, Figure 4 The structure diagram of the auxiliary needle insertion device in one embodiment of the present application includes four needle guide assemblies 2, Figure 5 The structure diagram of the auxiliary needle insertion device in one embodiment of the present application includes five needle guide assemblies 2, Figure 6 A schematic structural diagram of the auxiliary needle insertion device including six needle guide assemblies 2 in one embodiment of the present application is shown.

[0071] The present application does not specifically limit the manner in which the slide rail 21 is connected to the support structure 1. As an example, the slide rail 21 may be rotatably connected to the support structure 1 and cantilevered in a direction away from the support structure 1.

[0072] It is understandable that there is no limit on the number of clamping structures 22 mounted on the slide rail 21, and the number can be selected according to actual needs. For example, one clamping structure 22 can be mounted on one slide rail 21, or multiple clamping structures 22 can be mounted on one slide rail 21.

[0073] Combination Figure 7 As shown, Figure 7 The structural schematic diagram of the support structure 1 in one embodiment of the present application is shown. In one embodiment, the support structure 1 may include a support column 11, and a slide rail sleeve portion 13 and a slide rail fixing portion 12 disposed at one end of the support column 11.

[0074] Specific, combined Figure 8 As shown, Figure 8 The schematic diagram of the structure of the slide rail 21 in one embodiment of the present application is shown. One end of the slide rail 21 may be provided with a sleeve hole 211 matching the slide rail sleeve portion 13, and the slide rail 21 may be installed on the slide rail sleeve portion 13 through the sleeve hole 211. The slide rail fixing portion 12 may be threadedly connected to the slide rail sleeve portion 13, and is used to fix the slide rail 21 on the support structure 1 after rotating the slide rail 21 to a preset position.

[0075] It should be noted that the slide rail fixing portion 12 in the above-mentioned auxiliary needle insertion device can be located on the side of the slide rail 21 away from the support column 11; that is, the slide rail fixing portion 12 and the support column 11 can be located on opposite sides of the slide rail 21 respectively.

[0076] In the above-mentioned auxiliary needle insertion device, the support structure 1 has a slide rail sleeve portion 13 and a slide rail fixing portion 12. After the slide rail 21 is rotated to a preset position, the slide rail 21 can be fastened to the support structure 1 through the slide rail sleeve portion 13 and the slide rail fixing portion 12, thereby providing stable support and fixation for each surgical needle, and the structure is simple.

[0077] Please continue reading Figure 7 The present application does not specifically limit the shape of the slide rail fixing portion 12. As an example, the side wall of the slide rail fixing portion 12 may be columnar.

[0078] In one embodiment, a second scale mark may be provided on the side wall of the slide rail fixing portion 12. The second scale mark may be used to mark the angle between adjacent slide rails 21.

[0079] In the above-mentioned auxiliary needle insertion device, the second scale mark on the side wall of the slide rail fixing portion 12 can facilitate the adjustment of the angle between the slide rails 21 .

[0080] The present application does not specifically limit the form of the slide rail fixing portion 12. As an example, the slide rail fixing portion 12 may include but is not limited to a nut.

[0081] The present application does not specifically limit the form in which the slide rail 21 rotates relative to the support structure 1. As an example, the slide rail 21 can rotate with the support structure 1 as the center.

[0082] Please continue reading Figure 8In one embodiment, a first scale mark may be provided on the slide rail 21. The first scale mark may be used to mark the distance between the clamping structure 22 and the support structure 1, so as to adjust the relative position between the clamping structures 22 and the distance between the clamping structures 22 and the support structure 1, thereby making a more precise adjustment of the distance between the surgical needles.

[0083] See also Figures 9 to 12 By adjusting the distance from the clamping structure 22 to the supporting structure 1 and the angle between the slide rails 21, a variety of different needle arrangement schemes can be achieved, and the distance between the surgical needles can be adjusted more finely.

[0084] Taking the auxiliary needle insertion device including four needle guide components 2 as an example, Fig. 9 It shows the maximum distance between four surgical needles when the auxiliary needle insertion device includes four needle guide assemblies 2; at this time, the four surgical needles form a square. Fig.10 It shows the minimum distance between the four surgical needles when the auxiliary needle insertion device includes four needle guide assemblies 2 and the lines connecting the four surgical needles form a square. Fig.11 It shows that when the auxiliary needle insertion device includes four needle guide assemblies 2, an asymmetric trapezoid is formed by the connecting lines between four surgical needles. Fig.12 It shows the minimum distance when the auxiliary needle insertion device includes four needle guide assemblies 2 and the four surgical needles are connected in a straight line.

[0085] It can be understood that the connection lines between the surgical needles can be freely adjusted to shapes including but not limited to rhombus, rectangle or parallelogram, etc., which are not listed here one by one.

[0086] The present application does not impose any specific limitation on the length of the slide rail 21 . The length of the slide rail 21 may have various specifications, and in actual embodiments, it may be adaptively selected according to actual needs (eg, needle insertion distance).

[0087] As an example, a groove may be opened on the slide rail 21, and a first scale mark may be marked in the groove.

[0088] Combination Figure 13 to Figure 14 As shown, Fig.13 FIG. 2 is a schematic diagram showing a structure of a clamping structure 22 in an embodiment of the present application. In one embodiment, the clamping structure 22 may include a slider 221 , a clamp 222 and a fixing structure 223 .

[0089] The slider 221 is slidably connected to the slide rail 21. The slider 221 can move freely on the slide rail 21 and be locked after determining the position.

[0090] The clamp 222 is disposed on the slider 221. The fixing structure 223 can be clamped by the clamp 222 to fix the surgical needle.

[0091] It should be noted that the sizes of the clamps 222 in the auxiliary needle insertion device should be consistent.

[0092] Fig.14 FIG. 2 is a schematic diagram showing a structure of a fixing structure 223 in an embodiment of the present application. In one embodiment, the fixing structure 223 may include a body 2231 , a needle guide hole 2232 and a positioning portion 2233 .

[0093] The body 2231 has a first end a and a second end b opposite to the first end a.

[0094] The needle guide hole 2232 passes through the body 2231, and the diameter of the needle guide hole 2232 near the first end a of the body 2231 is the same as the diameter of the surgical needle. In this way, the fixing structure 223 can stably clamp the surgical needle to avoid shaking during needle insertion and ensure the parallelism of the needle insertion.

[0095] It should be noted that, since surgical needles have various diameters, the fixing structures 223 with different apertures of the needle guide hole 2232 near the first end a of the body 2231 can be matched according to the diameters of different surgical needles to meet the needs of various surgical needles. Even if the apertures of the needle guide holes 2232 near the first end a of the body 2231 of these fixing structures 223 are different, their outer diameters should be consistent so as to be applicable to all clamps 222.

[0096] The positioning portion 2233 is disposed at the second end b of the body 2231 . The positioning portion 2233 can be used to match the clamp 222 to limit the clamping position, so that the fixing structure 223 can be firmly positioned after passing through the clamp 222 .

[0097] The present application does not specifically limit the material of the fixing structure 223, as long as it ensures that the fixing structure 223 can stably fix the surgical needle. As an example, the material of the fixing structure 223 may include but is not limited to plastic, rubber or metal.

[0098] As an example, needle guide hole 2232 may include a tapered hole.

[0099] Specifically, in the above example, the diameter of the tapered hole can increase in the direction away from the first end a. In this way, the diameter of the needle guide hole 2232 can be formed into a conical structure with a narrower portion near the first end a of the body 2231 and a slightly wider portion near the first end b of the body 2231, so that the surgical needle can enter without obstacles.

[0100] As an example, the support structure 1 may be handheld, or may be fixedly supported by other medical device struts.

[0101] The auxiliary needle insertion device provided in one embodiment of the present application may also include a bracket 3.

[0102] See also Figure 15 to Figure 16 , Fig.15 The structure diagram of the bracket 3 in one embodiment of the present application is shown. Fig.16 A schematic diagram showing the connection of the bracket 3 to a medical device in an embodiment of the present application is shown.

[0103] Specifically, one end of the bracket 3 is connected to the supporting structure 1, and the other end is used to connect to the medical device.

[0104] The auxiliary needle insertion device can be installed on a medical device (such as a medical bed frame) through the bracket 3, which can further improve the efficiency and reliability of multi-needle surgery.

[0105] The present application also provides an auxiliary needle insertion method according to some embodiments.

[0106] See also Fig.17 , Fig.17 A flowchart of an auxiliary needle insertion method in an embodiment of the present application is shown, which may specifically include the following steps:

[0107] S1: Select the same number of slide rails 21 and clamping structures 22 according to the number of surgical needles.

[0108] S2: Install the slide rail 21 on the support structure 1 and move the slide rail 21 to a first preset position relative to the support structure 1 .

[0109] S3: Install the clamping structure 22 on the slide rail 21 and move along the slide rail 21 to a second preset position.

[0110] S4: Clamp each surgical needle in parallel in the corresponding clamping structure 22 .

[0111] The above-mentioned auxiliary needle insertion method can achieve stable support and fixation of each surgical needle by clamping each surgical needle in parallel in the corresponding clamping structure 22, thereby solving the problem that the surgical needle is difficult to fix during parallel needle insertion, reducing surgical risks, and avoiding defects such as cumbersome, complicated or poor repeatability caused by fixation using other methods; it can also improve the efficiency of multi-needle surgery and reduce the difficulty and intensity of the doctor's work brought by traditional fixation methods.

[0112] In the above-mentioned auxiliary needle insertion method, the slide rail 21 can be rotated to a first preset position relative to the support structure 1, and the clamping structure 22 can move along the slide rail 21 to a second preset position, which makes the spacing between the surgical needles clamped by the clamping structure 22 adjustable. Compared with the traditional fixing method, the above-mentioned auxiliary needle insertion method is more flexible and more precise, and can meet a variety of application requirements.

[0113] Combination Fig.18 As shown, Fig.18A flow chart of an auxiliary needle insertion method in another embodiment of the present application is shown.

[0114] For step S1, needle placement planning may be performed before surgery.

[0115] The process of needle arrangement planning can be specifically carried out by the following methods, for example: determining the number of needles to be inserted and clarifying the diameter of the surgical needle to be used. Among them, the corresponding number of slide rails 21 and clamping structures 2 can be selected according to the number of needles to be inserted; and the corresponding specification of the fixed structure 223 can be selected according to the diameter of the surgical needle to be used.

[0116] For step S2 , as an example, the selected slide rails 21 may be pre-fixed on the support structure 1 ; then, the slide rails 21 are rotated with the support structure 1 as the center to adjust the angles between the slide rails 21 .

[0117] For step S3 , as an example, the distance from the clamping structure 22 to the center of the supporting structure 1 may be adjusted.

[0118] The above auxiliary needle insertion method adjusts the distance between surgical needles through the combined action of the slide rail 21 and the clamping structure 22 .

[0119] Please continue reading Fig.18 In one embodiment, the auxiliary needle insertion method may further include the following steps:

[0120] The bracket 3 is fixed on a medical device (such as a medical bed frame).

[0121] After the support 3 is fixed on the medical device, the height and / or angle of the support 3 is adjusted.

[0122] After the height and / or angle adjustment of the bracket 3 is completed, the support structure 1 is connected to the bracket 3 .

[0123] The above-mentioned auxiliary needle insertion method can install the entire auxiliary needle insertion device on a medical device (such as a medical bed frame) through the bracket 3, which can further improve the efficiency and reliability of multi-needle surgery.

[0124] It should be noted that the auxiliary needle insertion devices in the embodiments of the present application can be used to implement the corresponding auxiliary needle insertion methods. Therefore, the technical features between the method embodiments and the device embodiments can be replaced and supplemented with each other without causing conflicts, so that those skilled in the art can understand the technical content of the present invention.

[0125] According to some embodiments, the present application also provides a medical device, which includes the auxiliary needle insertion device as described in any of the aforementioned embodiments, and a surgical needle.

[0126] The above-mentioned medical device includes the auxiliary needle insertion device provided in the above-mentioned embodiment. Therefore, the technical effects that can be achieved by the above-mentioned auxiliary needle insertion device can also be achieved by this medical device, which will not be described in detail here.

[0127] According to some embodiments, the present application also provides a medical robot, which includes the auxiliary needle insertion device as described in any of the aforementioned embodiments, and a surgical needle.

[0128] The above-mentioned medical robot includes the auxiliary needle insertion device provided by the above-mentioned embodiment. Therefore, the technical effects that can be achieved by the above-mentioned auxiliary needle insertion device can also be achieved by the medical robot, which will not be described in detail here.

[0129] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0130] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that the above are only some of the embodiments listed in the present application, and are not used to limit the present application. For ordinary technicians in this field, without departing from the concept of the present application, several deformations, modifications, equivalent substitutions and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A needle-assisted insertion device, characterized in that: include: A support structure and at least two needle guide assemblies respectively arranged on the support structure; wherein the needle guide assemblies include: A slide rail connected to the support structure; A clamping structure, which is slidably mounted on the slide rail and is used to clamp a surgical needle, and the surgical needles clamped by the clamping structures in each of the needle guide assemblies are kept parallel to each other; The slide rail is rotatably connected to the support structure and cantilevers in a direction away from the support structure; The slide rail rotates with the support structure as the center; The slide rail is provided with a first scale mark for marking the distance from the clamping structure to the supporting structure.

2. The needle-insertion auxiliary device according to claim 1, characterized in that: The support structure comprises: a support column and a slide rail sleeve portion and a slide rail fixing portion arranged at one end of the support column; wherein, One end of the slide rail is provided with a sleeve hole matching the slide rail sleeve portion, and the slide rail is installed on the slide rail sleeve portion through the sleeve hole; The slide rail fixing portion is threadedly connected to the slide rail sleeve portion, and is used to fix the slide rail on the supporting structure after the slide rail is rotated to a preset position.

3. The needle-insertion auxiliary device according to claim 2, characterized in that: The side wall of the slide rail fixing portion is columnar, and a second scale mark is provided on the side wall for marking the angle between adjacent slide rails.

4. The needle insertion auxiliary device according to claim 1, characterized in that: The clamping structure comprises: A slider, slidably connected to the slide rail; A clamp, disposed on the slider; The fixing structure is clamped by the clamp and is used to fix the surgical needle.

5. The needle insertion auxiliary device according to claim 4, characterized in that: The fixed structure comprises: ontology; a needle guide hole, which passes through the body, and the diameter of the needle guide hole near the first end of the body is the same as the diameter of the surgical needle; A positioning portion is arranged at the second end of the body and is used to match the clamp to limit the clamping position; the second end is opposite to the first end.

6. The needle-insertion auxiliary device according to claim 5, characterized in that: The needle guide hole comprises a tapered hole; a hole diameter of the tapered hole increases in a direction away from the first end.

7. The needle insertion auxiliary device according to any one of claims 1 to 6, characterized in that: The auxiliary needle insertion device also includes a bracket; one end of the bracket is connected to the supporting structure, and the other end is used to connect to the medical device.

8. A method for assisting needle insertion, characterized in that: Based on the auxiliary needle insertion device according to any one of claims 1 to 7, the auxiliary needle insertion method comprises: According to the number of surgical needles, select the same number of slide rails and clamping structures; Installing the slide rail on the support structure and moving the slide rail relative to the support structure to a first preset position; Installing the clamping structure on the slide rail and moving it along the slide rail to a second preset position; Each of the surgical needles is clamped in parallel in the corresponding clamping structure.

9. A medical device, characterized in that: The medical device comprises the auxiliary needle insertion device according to any one of claims 1 to 7, and a surgical needle.

10. A medical robot, characterized in that: The medical robot comprises the auxiliary needle insertion device as claimed in any one of claims 1 to 7, and a surgical needle.

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