A rope-driven active flexible needle piercing mechanism

Abstract

The present application relates to a kind of rope drive active flexible needle puncture mechanism, the functions of this mechanism include: the feed and back of flexible needle, needle tip deflection;The structure for driving flexible needle needle tip deflection is an entirety, rely on the rotation of rope wheel to tighten or release traction line, traction line pulls needle tip and realizes deflection;Motor for driving rope wheel rotation is installed on deflection motor base, deflection motor base relies on ball screw and linear guide rail to carry out linear motion, realizes the feed and back of flexible needle;The output shaft of deflection motor and rope wheel rely on the transmission of the motion of slot type coupling mechanism, this structure can realize the plug and play of the whole flexible needle drive mechanism, it is convenient to replace different kinds of flexible needle, it can also be realized to the accurate control of needle tip deflection, and puncture mechanism and deflection drive mechanism structure is compact, can adapt to narrow space, can be used with pose adjustment mechanism.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical devices, and relates to a rope-driven active flexible needle puncture mechanism. BACKGROUND

[0002] Minimally invasive interventional medicine is a new medical technology that has developed rapidly in recent years, and is a new medical method between surgery and internal medicine. Targeted puncture technology is one of the most promising medical methods. Under the guidance of medical imaging equipment, flexible puncture needles are used for targeted puncture for local treatment, and have the advantages of small incision, rapid recovery and good treatment effect. Because the rigidity of traditional rigid needles is large, the position of the needle tip cannot be effectively controlled during puncture, resulting in large puncture limitations. Therefore, flexible needles are rapidly developed and gradually applied to puncture surgery.

[0003] CN201911372847.1 discloses a method, which designs an active flexible needle driven by a flexible lock. The needle tip is swung around a spherical joint by driving the flexible lock, and the end is controlled by a driving wheel. This solution is technically effective, but it has some technical defects. First, because the driving wheel and the flexible lock rely on friction to transmit torque, insufficient tension of the flexible lock and the driving wheel will cause slipping, and the motion cannot be accurately transmitted. If the position of the needle tip cannot be accurately controlled, the ability to avoid dangerous tissues will be insufficient, and there will be limitations. Second, the axes of the two driving wheels are perpendicular, which requires a certain position for the driving motor, increases the volume of the driving system, and has insufficient ability to cope with small external spaces.

[0004] Based on the defects of the prior art, the technical problems to be solved by the present application are to solve the slipping problem of the driving wheel and the flexible lock, to achieve precise control of the needle tip, to reduce the volume requirement of the driving system, and to enhance the ability to cope with narrow spaces. SUMMARY

[0005] To solve the above problems, the technical problem to be solved by the present application is to provide a rope-driven active flexible needle puncture mechanism

[0006] The two compactly arranged motors on the yaw motor seat can control the clockwise and counterclockwise rotation of the two rope wheels to control the yaw of the needle tip, and realize flexible bending trajectory to avoid nerves and other important tissues.

[0007] A rope-driven active flexible needle puncture mechanism, wherein the flexible needle driving mechanism mainly consists of a high-degree-of-freedom flexible needle tip assembly, a transverse traction line, a longitudinal traction line, a guide pulley set, a rope wheel assembly, and a shell. One end of the traction line for controlling the transverse deflection of the tip is wound around a cylindrical rope wheel with a spiral groove, the other end is fixedly connected, the other side is guided through the guide pulley set to the tip assembly, passes through the inside of the tip assembly, enters the needle shaft, is compressed by the tip at the tip part, and is wound around the spiral groove at the opposite side of the needle shaft after being wound out of the needle shaft, and is fixedly connected to the end, and the longitudinal traction line is wound in the same way. The motor for driving the rope wheel and the rope wheel assembly rely on the shaft coupling mechanism to transmit rotation and realize the rotation control of the rope wheel. The transverse traction line drives the transverse deflection of the flexible needle tip, and the longitudinal traction line drives the longitudinal deflection of the tip. The deflection amplitude of the tip is controlled by the rotation angle of the motor. The combination of transverse and longitudinal deflection realizes the full-direction deflection of the tip.

[0008] The entire flexible needle driving mechanism is a whole, is installed on a specially-made ball screw nut, the deflection driving mechanism is also installed on the ball screw, is guided by a linear guide rail, and is driven by a feed motor to drive the screw rod of the ball screw through gear transmission, drives the deflection driving mechanism and the flexible needle driving mechanism to move linearly, realizes the feeding and retraction of the flexible needle, and the front end of the feeding mechanism shell is provided with a support structure of the flexible needle to prevent the flexible needle from being warped during feeding.

[0009] The present application has the following beneficial effects:

[0010] 1. The traction line is changed in arrangement mode by the guide pulley, interference and friction of the traction line are avoided, the axis of the driving rope wheel is changed from the original vertical arrangement to the parallel arrangement with the flexible needle core, the arrangement of the driving motor is more compact, the space of the driving structure is effectively reduced, the size of the overall mechanism is reduced, and the ability to cope with narrow environments is increased.

[0011] 2. The flexible rope for driving the tip is wound on the rope wheel with a spiral groove, and the end is fixedly connected to the rope wheel. This mode is a rigid connection, solves the problem of slippage of the driving wheel and the flexible lock, and can control the deflection of the flexible needle tip accurately by controlling the rotation angle of the deflection driving motor. DETAILED DESCRIPTION

[0012] Figure 1 A schematic diagram of a rope-driven active flexible needle puncture mechanism;

[0013] Figure 2 A schematic diagram of a puncture feeding mechanism and its components;

[0014] Figure 3 A schematic diagram of a deflection driving mechanism;

[0015] Figure 4 Yaw motor mount structure schematic;

[0016] Figure 5 Flexible needle drive mechanism and components schematic;

[0017] Figure 6 Flexible needle tip assembly exploded view;

[0018] Figure 7 Flexible needle drive mechanism front housing schematic;

[0019] Figure 8 Flexible needle drive mechanism rear housing schematic;

[0020] Figure 9 Guide pulley arrangement schematic;

[0021] Figure 10 Sheave assembly exploded view;

[0022] Figure 11 Traction line winding arrangement schematic;

[0023] Figure 12 Transverse traction line longitudinal traction line schematic.

[0024] In the figure: 1 puncture feeding mechanism, 2 yaw driving mechanism, 3 flexible needle driving mechanism, 1-1 feeding mechanism shell, 1-2 screw nut mechanism, 1-3 gear one, 1-4 gear two, 1-5 feeding motor, 1-6 linear guide rail, 1-7 guide rail slider, 1-2-1 nut, 2-1 yaw motor seat, 2-2 yaw motor one, 2-3 yaw motor two, 2-4 transmission one, 2-5 transmission two, 2-1-1 circular hole, 2-1-2 motor mounting hole one, 2-1-3 motor mounting hole two, 3-1 flexible needle tip assembly, 3-2 front shell, 3-3 rear shell, 3-4 guide pulley set, 3-5 rope wheel assembly one, 3-6 rope wheel assembly two, 3-7 horizontal traction line, 3-8 vertical traction line, 3-1-1 needle tip, 3-1-2 threaded sleeve, 3-1-3 needle tip ball joint, 3-1-4 needle shaft inner core, 3-1-5 needle shaft outer sleeve, 3-1-6 needle tip ball joint ball surface, 3-1-7 needle shaft inner core ball surface, 3-2-1 pin hole left one, 3-2-2 pin hole left two, 3-2-3 pin hole right one, 3-2-4 pin hole right two, 3-2-5 cylindrical groove one, 3-2-6 cylindrical groove two, 3-2-7 bearing hole one, 3-2-8 bearing hole two, 3-2-9 front shell mounting hole, 3-2-10 front shell through hole, 3-3-1 rear shell mounting plate, 3-4-1 pulley left one, 3-4-2 pulley left two, 3-4-3 pulley left three, 3-4-4 pulley left four, 3-4-5 pulley right one, 3-4-6 pulley right two, 3-4-7 pulley right three, 3-4-8 pulley right four, 3-5-1 rope wheel shaft one, 3-5-2 rope wheel one, 3-6-1 rope wheel shaft two, 3-6-2 rope wheel two. DETAILED DESCRIPTION

[0025] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be described below by specific embodiments shown in the drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present application. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present application.

[0026] As Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12As shown, the embodiment of the present application adopts the following technical scheme: a rope-driven active flexible needle puncture mechanism, which comprises a puncture feeding mechanism 1, a deflection driving mechanism 2, and a flexible needle driving mechanism 3; the puncture feeding mechanism 1 comprises a feeding mechanism shell 1-1, a screw nut mechanism 1-2, a gear one 1-3, a gear two 1-4, a feeding motor 1-5, a linear guide rail 1-6, and a guide rail slider 1-7; the linear guide rail 1-6 and the screw nut mechanism 1-2 are installed inside the feeding mechanism shell 1-1, the input end is connected with the gear one 1-3, the nut 1-2-1 in the screw nut mechanism 1-2 is a cylindrical body with a flange at one end, four counterbore holes and two threaded holes are arranged on the flange; the feeding motor 1-5 is installed at one end of the feeding mechanism shell 1-1, the output shaft is connected with the gear two 1-4, the gear two 1-4 is engaged with the gear one 1-3; the deflection driving mechanism 2 comprises a deflection motor seat 2-1, a deflection motor one 2-2, a deflection motor two 2-3, a transmission member one 2-4, and a transmission member two 2-5; the transmission member one 2-4 is installed on the output shaft of the deflection motor one 2-2, the transmission member two 2-5 is installed on the output shaft of the deflection motor two 2-3, both deflection motors are installed on the deflection motor seat 2-1, the deflection motor seat 2-1 is penetrated by the nut 1-2-1 in the screw nut mechanism 1-2 and is installed on the guide rail slider 1-7; the flexible needle driving mechanism 3 is installed on the threaded hole of the nut 1-2-1 in the screw nut mechanism 1-2 by screws; the rotation of the feeding motor 1-5 is transmitted to the screw nut mechanism 1-2 through the gear two 1-4 and the gear one 1-3, drives the deflection driving mechanism 2 and the flexible needle driving mechanism 3 to move linearly, and realizes the feeding and retraction of the flexible needle.

[0027] Further, the flexible needle driving mechanism 3 comprises: a flexible needle tip assembly 3-1, a front shell 3-2, a rear shell 3-3, a guide pulley set 3-4, a rope wheel assembly one 3-5, a rope wheel assembly two 3-6, a horizontal traction line 3-7, and a vertical traction line 3-8. The flexible needle tip assembly 3-1 comprises: a needle tip 3-1-1, a threaded sleeve 3-1-2, a needle tip ball joint 3-1-3, a needle shaft inner core 3-1-4, and a needle shaft outer sleeve 3-1-5. The needle tip 3-1-1 is connected to the needle tip counter-threaded sleeve 3-1-2 through a thread, and the needle tip ball joint 3-1-3. The joint spherical surface 3-1-6 of the needle tip ball joint 3-1-3 is connected to the needle shaft inner core spherical surface 3-1-7 of the needle shaft inner core 3-1-4. The needle shaft inner core 3-1-4 is connected to the needle shaft outer sleeve 3-1-5 through interference fit nesting. The needle tip ball joint 3-1-3 can swing around the needle shaft inner core 3-1-4, and is a ball and bowl pair mechanism. The needle shaft outer sleeve 3-1-5 is fixed to the circular hole of the front shell 3-2. The rope wheel assembly one 3-5 comprises a rope wheel shaft one 3-5-1 and a rope wheel one 3-5-2. The rope wheel shaft one 3-5-1 passes through a bearing, the rope wheel one 3-5-2, and another bearing in sequence, and is fixed at the tail by a washer and a screw. The rope wheel shaft one 3-5-1 is a D-shaped shaft, and the rope wheel one 3-5-2 has a D-shaped hole in the middle, which can transmit motion. The two rope wheel assemblies have the same structure, are fixed in the middle of the front shell 3-2 and the rear shell 3-3 by bearings, are distributed at specific positions of the shell, and the horizontal traction line 3-7 is wound at one end of the upper half helical groove of the rope wheel one 3-5-2, is guided to the needle shaft inner core 3-1-4 by the guide pulley set 3-5, is passed into the needle tip ball joint 3-1-3 from the line groove of the needle shaft inner core 3-1-4, is wound around the front end of the needle tip ball joint 3-1-3 from the line groove of the opposite side of the needle shaft inner core 3-1-4, is guided by the guide pulley set 3-4, and is wound at the end of the lower half helical groove of the rope wheel one 3-5-2. The vertical traction line 3-8 is wound around the rope wheel two 3-6-2 in the same way after passing through the inside of the needle tip assembly 3-1. The two rope wheel shafts have the same structure, have a concave groove at the front end, and have a flat cylindrical structure extending out of the front shell 3-2 and nested with the transmission member one 2-4 and the transmission member two 2-5. The deflection motor one 2-2 and the deflection motor two 2-3 drive the two rope wheel assemblies to rotate, contract and release the traction line, and pull the needle tip to swing in all directions with different amplitudes.

[0028] The guide pulley block 3-4, its composition includes pulley left one 3-4-1, pulley left two 3-4-2, pulley left three 3-4-3, pulley left four 3-4-4, pulley right one 3-4-5, pulley right two 3-4-6, pulley right three 3-4-7, pulley right four 3-4-8; pulley left one 3-4-1 and pulley left two 3-4-2 are same size, coaxial placement, using pin shaft to install on the cylindrical slot one 3-2-5 on the front shell 3-2, pulley right one 3-4-5 and pulley right two 3-4-6 are same size, its radius is at least smaller than the size of rope diameter, using pin shaft to install on the cylindrical slot two 3-2-6 on the front shell 3-2; pulley left three 3-4-3, pulley left four 3-4-4, pulley right three 3-4-7, pulley right four 3-4-8 are same size, pulley left three 3-4-3 uses pin shaft to install in pin hole left two 3-2-2, pulley left four 3-4-4 uses pin shaft to install in pin hole left one 3-2-1, pulley right three 3-4-7 uses pin shaft to install in pin hole right one 3-2-3, pulley right four 3-4-8 uses pin shaft to install in pin hole right two 3-2-4;

[0029] The rope wheel shaft 3-5-1 is a flat cylinder with a groove at the front end, the middle shaft is D-shaped, and the tail of the shaft is provided with a threaded hole; the rope wheel 3-5-2 is a cylindrical structure, the surface is provided with a spiral groove, and the cylindrical body is provided with a D-shaped hole; the rope wheel shaft 3-5-1 passes through the bearing, the rope wheel 3-5-2, the bearing, and the tail of the rope wheel shaft 3-5-1 in turn, and is fixed by a washer and a screw, the D-shaped shaft of the rope wheel shaft 3-5-1 is matched with the D-shaped hole of the rope wheel 3-5-2; the rope wheel assembly 3-5 and the rope wheel assembly 3-6 are of the same structure, the rope wheel assembly 2 is composed of the rope wheel shaft 3-6-1 and the rope wheel 3-6-2; one end of the horizontal traction line 3-7 is wound on the upper half of the spiral groove of the rope wheel 3-5-2 and is fixed at the tail end, the horizontal traction line 3-7 passes through the guide pulley left four 3-4-4, the guide pulley left 3-4-1, the wire slot in the needle shaft inner core 3-1-4, the front end of the needle tip ball joint 3-1-3, the wire slot on the opposite side of the needle shaft inner core 3-1-4, the needle shaft outer sleeve 3-1-5, the guide pulley right two 3-4-6, the guide pulley right three 3-4-7, and is tangent to the outer cylindrical surface of the rope wheel 3-5-2, is wound on the lower half of the spiral groove of the rope wheel 3-5-2 and is fixed at the tail end, and is stretched out from the needle shaft outer sleeve 3-1-5; one end of the longitudinal traction line 3-8 is wound on the upper half of the spiral groove of the rope wheel 3-6-2 and is fixed at the tail end, the longitudinal traction line 3-8 passes through the guide pulley left three 3-4-3, the guide pulley left two 3-4-2, the wire slot in the needle shaft inner core 3-1-4, the front end of the needle tip ball joint 3-1-3, the wire slot on the opposite side of the needle shaft inner core 3-1-4, the needle shaft outer sleeve 3-1-5, the guide pulley right one 3-4-5, the guide pulley right four 3-4-8, and is tangent to the outer cylindrical surface of the rope wheel 3-6-2, is wound on the lower half of the spiral groove of the rope wheel 3-6-2 and is fixed at the tail end; the needle shaft inner core 3-1-4 and the needle shaft outer sleeve 3-1-5 in the flexible needle needle tip assembly 3-1 are flexible, the rope wheel 3-5-2 rotates clockwise and counterclockwise to pull the horizontal traction line 3-7, the horizontal traction line 3-7 pulls the needle tip 3-1-1 to horizontally deviate, the rope wheel 3-6-2 rotates clockwise and counterclockwise to pull the longitudinal traction line 3-8, the longitudinal traction line 3-8 pulls the needle tip 3-1-1 to vertically deviate, and the combination of horizontal and vertical deviation of the needle tip 3-1-1 and the control of the deviation amplitude can realize the deviation of the needle tip 3-1-1 in all directions at different amplitudes.

[0030] Further, the horizontal traction line 3-7 and the longitudinal traction line 3-8 are guided through the guide pulley set 3-4, are staggered in space, and interference and friction are avoided; the needle shaft inner core 3-1-4 and the needle shaft outer sleeve 3-1-5 are flexible, so that the flexible needle is fed after the direction of the needle tip ball joint 3-1-3 in the human tissue is changed by pulling the traction line, the whole flexible needle is also bent, and the avoidance function of important tissues or organs in the human body can be realized by computer assistance.

[0031] The working principle of the embodiment of the present application is as follows:

[0032] The two yaw motors in the yaw driving mechanism are controlled by programs to rotate clockwise and counterclockwise, so as to realize the yaw control of the flexible needle tip around the needle shaft. The rotation angle of the yaw motor can control the yaw amplitude of the needle tip. With the needle structure penetrating into the muscle tissue, the flexible needle shaft moves along the yaw direction of the needle tip 3-1-1, and the penetration path into the muscle tissue can be changed through the control of the two yaw motors.

[0033] The basic principle and main features of the present application and the advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only to illustrate the principle of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A rope-driven active flexible needle piercing mechanism, consisting of: Puncture feeding mechanism (1), deflection drive mechanism (2) and flexible needle drive mechanism (3); Puncture feeding mechanism (1) includes feeding mechanism shell (1-1), screw nut mechanism (1-2), gear one (1-3), gear two (1-4), feeding motor (1-5), linear guide (1-6) and guide rail slider (1-7); Linear guide (1-6) is installed at the bottom end inside feeding mechanism shell (1-1) through screw; Screw nut mechanism (1-2) is installed on feeding mechanism shell (1-1) through bearing, the nut (1-2-1) in screw nut mechanism (1-2) is a cylinder with a screw rod mounting hole in the center, one end face of the cylinder is provided with a mounting flange, the flange is provided with four countersunk holes, and two threaded holes are arranged above the flange; The input end of screw nut mechanism (1-2) is connected with gear one (1-3); Feeding motor (1-5) is installed at one end of feeding mechanism shell (1-1), the output shaft is connected with gear two (1-4), gear one (1-3) is engaged with gear two (1-4); Deflection drive mechanism (2) includes deflection motor seat (2-1), deflection motor one (2-2), deflection motor two (2-3), transmission member one (2-4) and transmission member two (2-5); Deflection motor seat (2-1) is a U-shaped structure, a circular through hole (2-1-1) is arranged in the middle of the bottom of the U-shaped structure, four threaded holes are arranged around the circular through hole (2-1-1), four through holes are arranged on one side wall of the U-shaped structure, a protruding motor mounting plate is arranged on the other side wall of the U-shaped structure, and motor mounting hole one (2-1-2) and motor mounting hole two (2-1-3) are arranged on the motor mounting plate; The nut of screw nut mechanism (1-2) passes through the circular through hole (2-1-1) and is connected to the bottom of the U-shaped structure through a screw, and the deflection motor seat (2-1) is installed on the guide rail slider (1-7) through the four through holes by screws; Deflection motor one (2-2) is installed on the motor mounting hole one (2-1-2) on the deflection motor seat (2-1), and deflection motor two (2-3) is installed on the motor mounting hole two (2-1-3) on the deflection motor seat (2-1); Transmission member one (2-4) is a flat cylindrical structure, a motor shaft mounting hole is arranged in the center of the cylindrical structure, two cylindrical protrusions are symmetrically arranged on the end face of the cylindrical structure in the radial direction, transmission member two (2-5) is the same as transmission member one (2-4) in structure, transmission member one (2-4) is connected with the output shaft of deflection motor one (2-2), and transmission member two (2-5) is connected with the output shaft of deflection motor two (2-3); Flexible needle drive mechanism (3) is fixed to the nut (1-2-1) through the threaded hole on the nut (1-2-1), the rotation of the feeding motor (1-5) is transmitted to the screw nut mechanism (1-2) through gear two (1-4) and gear one (1-3), so as to drive the nut (1-2-1) to move linearly on the linear guide (1-6), and then drive the deflection drive mechanism (2) and the flexible needle drive mechanism (3) to feed and retreat; The flexible needle driving mechanism (3) comprises a flexible needle tip assembly (3-1), a guide pulley set (3-4), a rope wheel assembly one (3-5), a rope wheel assembly two (3-6), a transverse traction line (3-7) and a longitudinal traction line (3-8), the flexible needle tip assembly (3-1) comprises a needle tip (3-1-1), a threaded sleeve (3-1-2), a needle tip ball joint (3-1-3), a needle shaft inner core (3-1-4) and a needle shaft outer sleeve (3-1-5); the guide pulley set (3-4) comprises a pulley left one (3-4-1), a pulley left two (3-4-2), a pulley left three (3-4-3), a pulley left four (3-4-4), a pulley right one (3-4-5), a pulley right two (3-4-6), a pulley right three (3-4-7) and a pulley right four (3-4-8); the pulley left one (3-4-1) and the pulley left two (3-4-2) are coaxially arranged and have the same size, the pulley right one (3-4-5) and the pulley right two (3-4-6) are coaxially arranged and have the same size, the pulley left three (3-4-3), the pulley left four (3-4-4), the pulley right three (3-4-7) and the pulley right four (3-4-8) have the same size, the radius ratio of the pulley right one (3-4-5) and the pulley right two (3-4-6) is at least smaller than the size of the rope diameter than the pulley left one (3-4-1), the rope wheel assembly one (3-5) comprises a rope wheel shaft one (3-5-1) and a rope wheel one (3-5-2); the rope wheel one (3-5-2) is provided with a spiral groove on the surface, the rope wheel shaft one (3-5-1) passes through the bearing, the rope wheel one (3-5-2) and the bearing in sequence; the D-shaped shaft of the rope wheel shaft one (3-5-1) is matched with the D-shaped hole of the rope wheel one (3-5-2); the rope wheel assembly one (3-5) and the rope wheel assembly two (3-6) have the same structure, the rope wheel assembly two (3-6) comprises a rope wheel shaft two (3-6-1) and a rope wheel two (3-6-2), the rope wheel shaft one (3-5-1) and the rope wheel shaft two (3-6-1) are respectively nested with the transmission member one (2-4) and the transmission member two (2-5). The one end of the transverse traction line (3-7) is wound on the upper half of the spiral groove of the rope wheel one (3-5-2) and is fixedly connected at the end, the transverse traction line (3-7) is guided into the needle shaft sleeve (3-1-5) through the pulley left four (3-4-4) and the pulley left one (3-4-1), passes through the wire slot in the needle shaft inner core (3-1-4), winds around the front end of the needle tip ball joint (3-1-3), passes through the wire slot on the opposite side of the needle shaft inner core (3-1-4), extends out of the needle shaft sleeve (3-1-5), is guided through the pulley right two (3-4-6) and the pulley right three (3-4-7) and is tangent to the outer cylindrical surface of the rope wheel one (3-5-2), is wound on the lower half of the spiral groove of the rope wheel one (3-5-2) and is fixedly connected at the end, extends out of the needle shaft sleeve (3-1-5), the one end of the longitudinal traction line (3-8) is wound on the upper half of the spiral groove of the rope wheel two (3-6-2) and is fixedly connected at the end, the longitudinal traction line (3-8) is guided into the needle shaft sleeve (3-1-5) through the pulley left three (3-4-3) and the pulley left two (3-4-2), passes through the wire slot in the needle shaft inner core (3-1-4), winds around the front end of the needle tip ball joint (3-1-3), passes through the wire slot on the opposite side of the needle shaft inner core (3-1-4), extends out of the needle shaft sleeve (3-1-5), is guided through the pulley right one (3-4-5) and the pulley right four (3-4-8) and is tangent to the outer cylindrical surface of the rope wheel two (3-6-2), is wound on the lower half of the spiral groove of the rope wheel two (3-6-2) and is fixedly connected at the end, the needle shaft inner core (3-1-4) and the needle shaft sleeve (3-1-5) in the flexible needle tip assembly (3-1) are flexible, the rope wheel one (3-5-2) rotates clockwise and counterclockwise to pull the transverse traction line (3-7), pulls the needle tip (3-1-1) to horizontally deviate, the rope wheel two (3-6-2) rotates clockwise and counterclockwise to pull the longitudinal traction line (3-8), pulls the needle tip (3-1-1) to vertically deviate, the compound of horizontal and vertical deviation of the needle tip (3-1-1) and the control of deviation amplitude can realize the deviation of the needle tip (3-1-1) in 360° full direction with different amplitudes.

2. The rope-driven active flexible needle piercing mechanism of claim 1, wherein: The flexible needle driving mechanism (3) further comprises a front shell (3-2) and a rear shell (3-3); the inner cylindrical surface of the needle tip (3-1-1) is provided with threads, the inner cylindrical surface of the threaded sleeve (3-1-2) is provided with threads; the outer cylindrical surface of the needle tip ball joint (3-1-3) is provided with threads, the outer cylindrical surface is uniformly provided with four linear grooves in the axial direction, and one cylindrical end surface of the needle tip ball joint (3-1-3) is provided with an outer ball joint (3-1-6); the inner cylindrical surface of the needle shaft inner core is provided with an inner concave inner ball joint (3-1-7), and the outer cylindrical surface is uniformly provided with four linear grooves which are the same as those of the needle tip ball joint (3-1-3) in the axial direction; the needle tip (3-1-1) is connected with the threaded sleeve (3-1-2) and the needle tip ball joint (3-1-3) through threads; the outer ball joint (3-1-6) of the needle tip ball joint (3-1-3) is connected with the inner ball joint (3-1-7) of the needle shaft inner core (3-1-4); the needle shaft inner core (3-1-4) and the needle shaft outer sleeve (3-1-5) are connected in a nested manner; the front shell (3-2) is a cuboid structure with different height steps, the left half of the high step is provided with pin hole left one (3-2-1) and pin hole left two (3-2-2); the right half of the high step is provided with pin hole right one (3-2-3) and pin hole right two (3-2-4); the middle of the high step of the front shell (3-2) is provided with a semicylindrical groove one (3-2-5), a cylindrical groove two (3-2-6) and a front shell through hole (3-2-10); the low step of the front shell (3-2) is provided with bearing hole one (3-2-7), bearing hole two (3-2-8) and shell mounting hole (3-2-9), and the needle shaft outer sleeve (3-1-5) in the needle tip assembly (3-1) is fixedly connected to the front shell through hole (3-2-10); the rear shell (3-3) is a rectangular shell structure with the same outer contour size as the front shell (3-2), the rear shell (3-3) is provided with bearing holes corresponding to the bearing hole one (3-2-7) and the bearing hole two (3-2-8), and a mounting hole corresponding to the shell mounting hole (3-2-9), and the rear shell (3-3) is provided with a mounting plate (3-3-1) below, and the mounting plate (3-3-1) is provided with two through holes; the rear shell (3-3) cooperates with the front shell (3-2), is fixed by screws through the cooperated shell mounting hole (3-2-9), and is fixed by screws through the through holes in the mounting plate (3-3-1) to the threaded through hole in the nut (1-2-1) in the lead screw nut mechanism (1-2).

3. The rope-driven active flexible needle piercing mechanism of claim 1, wherein: The pulley left one (3-4-1) and the pulley left two (3-4-2) are installed on the cylindrical slot one (3-2-5) of the front shell (3-2) by using a pin shaft, and installed on the cylindrical slot two (3-2-6) of the front shell (3-2) by using a pin shaft; the pulley left three (3-4-3) is installed on the pin hole left two (3-2-2) by using a pin shaft, the pulley left four (3-4-4) is installed on the pin hole left one (3-2-1) by using a pin shaft, the pulley right three (3-4-7) is installed on the pin hole right one (3-2-3) by using a pin shaft, and the pulley right four (3-4-8) is installed on the pin hole right two (3-2-4) by using a pin shaft; wherein the rope pulley shaft one (3-5-1) is a flat cylinder with a recess at the front end, and a threaded hole is arranged at the tail of the shaft; the rope pulley one (3-5-2) is a cylindrical structure, and a D-shaped hole is arranged in the middle of the cylindrical structure, and the tail of the rope pulley shaft one (3-5-1) is fixed by using a washer and a screw.

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