A rotating needle device and a remote rotating needle system

Abstract

The application discloses a rotating needle device and relates to the field of medical instruments, which comprises a supporting assembly, a position alignment and advancing assembly and a rotating and clamping assembly; the supporting assembly is also fixed to the end face of an external support plate; the position alignment and advancing assembly is fixed to the supporting assembly; and the rotating and clamping assembly is fixed to the position alignment and advancing assembly; the position alignment and advancing assembly is configured to push out or retract the rotating and clamping assembly to make the rotating and clamping assembly close to a needle on a human body; and the rotating and clamping assembly is configured to clamp the needle and rotate to realize needle twirling. By using the rotating needle system, efficient needle twirling treatment can be realized on a patient during acupuncture treatment; the operation of medical staff is facilitated, convenience is improved, and the labor intensity of the staff is reduced.

Description

Technical Field

[0001] This invention relates to the field of medical devices, specifically to a needle-rotating device and a remote needle-rotating system. Background Technology

[0002] Acupuncture treatment can effectively help patients eliminate diseases and relieve pain, and has unique and significant effects on many diseases. At the same time, acupuncture is also an important part of traditional Chinese medicine treatment. Traditional acupuncture treatment generally requires procedures such as disinfection, needle insertion, and needle manipulation. The disinfection procedure is relatively easy, but needle insertion and needle manipulation require medical staff to have rich operating experience and maintain a high degree of concentration.

[0003] Especially for needle manipulation, medical staff need to rotate the needle back and forth for a long time to achieve an effective treatment effect. The long-term high concentration and long-term needle rotation can easily cause medical staff to become exhausted. Furthermore, long-term needle manipulation can have a great impact on the normal movement of the finger joints.

[0004] Currently, the research direction is to consider using medical devices to assist in the operation, thereby achieving the purpose of needle insertion therapy and reducing the labor intensity of medical staff. Summary of the Invention

[0005] In view of the problems existing in the prior art, the present invention provides a needle rotating device and a remote needle rotating system; through intelligent means, it realizes operations such as needle rotating, needle insertion and removal, and thus achieves the purpose of treating patients.

[0006] Specifically, the detailed technical solution provided by this invention is as follows:

[0007] A needle-twisting device includes a support assembly, an alignment and propulsion assembly, and a rotating clamping assembly. The support assembly also fixes the end face of an external support plate. The alignment and propulsion assembly is fixed to the support assembly, and the rotating clamping assembly is fixed to the alignment and propulsion assembly. The alignment and propulsion assembly is configured to perform linear movements such as pushing out or retracting the rotating clamping assembly, so that the rotating clamping assembly approaches the needle on the human body. The rotating clamping assembly is configured to clamp the needle and rotate it to achieve needle twisting.

[0008] Furthermore, the alignment propulsion assembly includes a first linear propulsion source, a housing, and a slide body; wherein the housing is fixed to the support assembly by a fastening plate; one end of the first linear propulsion source is fixed to the fastening plate, and the other end passes through the interior of the housing and is fixed to the slide body; at the same time, a sliding groove is provided inside the housing; a sliding rail is provided on the outer surface of the slide body, and the cooperation between the sliding rail and the sliding groove allows the slide body to slide relative to the housing.

[0009] Further, the rotating clamping assembly is fixed on the sliding seat body, and the sliding seat body moves synchronously with the rotating clamping assembly, so that the rotating clamping assembly is close to or away from the lancet.

[0010] Further, the rotating clamping assembly comprises a rotating tightening part and a rotating motor, wherein the rotating motor is fixedly connected to the sliding seat body, and the rotating tightening part is fixedly connected to an output shaft of the rotating motor; and a first clamping piece is arranged below the rotating tightening part, the first clamping piece first clamps the rotating tightening part, and the rotating tightening part is tightened under the rotation of the rotating motor.

[0011] Further, the rotating tightening part is a three-claw chuck structure.

[0012] Further, the rotating clamping assembly further comprises a stability clamping part, the stability clamping part is fixed on the most front end face of the sliding seat body, and the stability clamping part is a second clamping piece, which is configured to clamp the lancet on the human body before the rotating tightening part tightens the lancet.

[0013] Further, the alignment and pushing assembly further comprises a second linear pushing source, the second linear pushing source is fixed on the sliding seat body, and the rotating motor is fixed on the second linear pushing source; and the second linear pushing source drives the rotating motor to move linearly.

[0014] A remote needle rotating system comprises a remote operation terminal, a multi-axis mechanical arm and a needle rotating device as described above; the needle rotating device is fixed on the multi-axis mechanical arm, and the remote operation terminal is signal-connected with the multi-axis mechanical arm and the needle rotating device respectively; and the remote operation terminal is configured to control the multi-axis mechanical arm and the needle rotating device to act.

[0015] Further, the remote operation terminal comprises a demonstrator and a controller, the demonstrator has the same structure as the multi-axis mechanical arm; the demonstrator is operated in a signal connection state, and the multi-axis mechanical arm follows; and the controller is configured to operate the disinfection device to act.

[0016] The technical scheme has the following beneficial effects:

[0017] By using the rotating needle system of the scheme, efficient rotating needle treatment is realized on patients during acupuncture treatment; the operation of medical staff is facilitated, the convenience is improved, and the labor intensity of personnel is reduced. At the same time, remote rotating needle operation is support for remote area hospitals. Some remote areas lack personnel or experience, and remote help can be realized through the remote rotating needle system of the scheme. In addition, remote control can separate doctors and patients to avoid disease transmission. Of course, the system can also remotely disinfect when treating dangerous animals. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The principle diagram for remote control.

[0019] Figure 2 The perspective view of the multi-axis mechanical arm.

[0020] Figure 3 The perspective view of the rotating needle device.

[0021] Figure 4 The perspective view of the alignment and advancing assembly.

[0022] Figure 5 The exploded view of the alignment and advancing assembly.

[0023] Figure 6 The structure diagram of the sliding seat body in the alignment and advancing assembly.

[0024] Figure 7 The perspective view of the rotating and clamping assembly.

[0025] Figure 8 The perspective view of the remote control.

[0026] Wherein: 300 multi-axis mechanical arm, 320 monitoring module, 340 rotating needle device, 341 supporting assembly, 3411 support frame, 342 alignment and advancing assembly, 3421 first linear advancing source, 3422 housing, 3423 sliding seat body, 343 rotating and clamping assembly, 3431 rotating motor, 3432 rotating and tightening part, 3433 first clamping part, 3434 second linear advancing source, 3435 stabilizing and clamping part. DETAILED DESCRIPTION

[0027] The principles and characteristics of the present application are described below in conjunction with the drawings, and the examples are only used to explain the present application and not to limit the scope of the present application.

[0028] A remote rotating needle system is provided in the embodiment, which realizes acupuncture treatment of needle twisting and insertion depth by adopting remote control. Compared with current manual acupuncture, the remote rotating needle system has great improvement in control accuracy and treatment effect.

[0029] Specifically, the remote needle turning system provided in the scheme includes an acupuncture robot and a remote operation terminal.

[0030] The acupuncture robot is used for acupuncture operation, and the remote operation terminal is used for remote control. The remote operation terminal and the acupuncture robot are connected through a network. It can be understood that the remote operation terminal is used to remotely control the acupuncture robot, so that the acupuncture robot can accurately perform acupuncture treatment on the patient under human control.

[0031] By using intelligent remote control, the labor intensity of medical staff is greatly reduced, and the infection risk caused by contact between patients and medical staff during acupuncture treatment is also reduced.

[0032] In a specific embodiment of the scheme, see Figure 1 Figure 3 Figure 8 The acupuncture robot includes a multi-axis robot arm 300, a monitoring module 320, and a needle turning device 340. The monitoring module 320 and the acupuncture operation group are both installed on the multi-axis robot arm 300. The multi-axis robot arm 300 operates the needle turning device 340 to move to the treatment needle on the patient's body. The monitoring module 320 is configured to take pictures and monitor in real time. The remote operation terminal includes a teacher, a display, and a controller. The teacher has the same structure as the multi-axis robot arm 300. In a network connection state, the teacher is operated, and the multi-axis robot arm 300 follows. The display is used to display the images taken by the monitoring module 320. The controller is configured to operate the needle turning device 340.

[0033] The basic control principle can be understood as follows: a teacher with the same structure as the multi-axis robot arm 300 or similar is set at the remote end. The teacher is connected to the multi-axis robot arm 300 through network signals. Professional medical staff operate the teacher, which makes the multi-axis robot arm 300 move synchronously. The motion trajectory of the multi-axis robot arm 300 is the same as that of the teacher.

[0034] The controller and the needle turning device 340 are also connected by signals to realize control. The controller is matched with the teacher. The medical staff first remotely controls the multi-axis robot arm 300 to move close to the patient through the teacher. Then the medical staff remotely controls the needle turning device 340 to perform needle turning operation on the patient through the controller.

[0035] However, it should be noted that in order for the medical staff at the remote end to accurately know the motion point of the multi-axis robot arm 300 and the needle turning device 340, the monitoring module 320 plays an important role. The monitoring module 320 monitors and captures the image of the treatment needle position on the human body, providing reliable image support for the next step of the needle turning device 340 for human needle turning treatment.​​

[0036] Optionally, the multi-axis mechanical arm 300 has at least two active axes, which can be a common five-axis or six-axis mechanical structure on the market; in this scheme, a six-axis mechanical arm is preferred, which can make the needle rotating device 340 move arbitrarily in the space range, improving the convenience and accuracy of the acupuncture process.

[0037] Therefore, the remote collaborative robot acupuncture system using the scheme can effectively perform remote acupuncture treatment on patients under the cooperation of the multi-axis mechanical arm 300, the monitoring module 320, the needle rotating device 340, and the remote operation terminal; at the same time, intelligent use is applied to medical equipment, which can greatly improve work efficiency and reduce the labor intensity of medical staff.

[0038] By adopting the above structure design, when treating patients, the medical staff or intelligent equipment stably inserts the needle (treatment needle) into the patient's body; the next step is to rotate the needle by the needle rotating device of the scheme.

[0039] Rotating the needle can be called rotating the needle or twisting the needle; the specific action is realized by the needle rotating device 340 here.

[0040] The needle rotating device 340 includes a support assembly 341, a positioning and advancing assembly 342, and a rotating and clamping assembly 343; the cooperation relationship between them is that the support assembly 341 is fixed at the end face of the multi-axis mechanical arm, the positioning and advancing assembly 342 is fixed on the support assembly 341, and the rotating and clamping assembly 343 is fixed on the positioning and advancing assembly 342 here.

[0041] Specifically, the support assembly 341 has a support frame 3411 composed of four support rods, which is fixed in the end face of the multi-axis mechanical arm; the support assembly 341 mainly plays a supporting role; the main role of the positioning and advancing assembly 342 is to push out or retract the rotating and clamping assembly 343, etc. Linear motion, so that the rotating and clamping assembly 343 can be closer to the needle on the human body; the main purpose of the rotating and clamping assembly 343 is to clamp the needle and rotate, thereby achieving the purpose of simulating human twisting.

[0042] That is, the positioning and advancing assembly 342 drives the rotating and clamping assembly 343 to linearly extend to a preset position, and then the rotating and clamping assembly 343 clamps the needle and rotates.

[0043] Referring to Figure 3 - Figure 7The component structure of the alignment pushing assembly 342 includes a first linear pushing source 3421, a shell 3422 and a sliding seat body 3423. The shell 3422 is fixed on the supporting assembly 341 through a fastening plate, and a sliding groove is arranged in the shell 3422. A sliding rail is arranged on the outer surface of the sliding seat body 3423, and the sliding seat body 3423 can slide relative to the shell 3422 through cooperation between the sliding rail and the sliding groove. Of course, the relative sliding is driven by the first linear pushing source 3421, one end of the first linear pushing source 3421 is fixed on the fastening plate, and the other end penetrates into the shell 3422 and is fixed with the sliding seat body 3423. In this way, as long as the first linear pushing source 3421 acts, the sliding seat body 3423 can slide linearly relative to the shell 3422.

[0044] Optionally, the first linear pushing source 3421 can be a common driving element such as a pneumatic cylinder, an electric cylinder or a linear motor.

[0045] In the scheme, the rotating clamping assembly 343 is fixed on the sliding seat body 3423, so the movement of the sliding seat body 3423 will inevitably synchronize the movement of the rotating clamping assembly 343, thereby realizing the approach of the rotating clamping assembly 343 to the lancet or the movement away from the lancet.

[0046] Specifically, the rotating clamping assembly 343 includes a stability clamping part, a rotating tightening part and a rotating motor 3431. The rotating motor 3431 is fixedly connected in front of the alignment pushing assembly 342, specifically, the rotating motor 3431 is fixed on the sliding seat body 3423, and the rotating tightening part 3432 is fixedly connected with the output shaft of the rotating motor 3431. The rotating tightening part 3432 here is similar to the structure of a three-jaw chuck, and a first clamping piece 3433 is arranged below the rotating tightening part 3432. The first clamping piece first clamps the rotating tightening part 3432, and under the rotation of the rotating motor 3431, the rotating tightening part 3432 is tightened, and then the first clamping piece 3433 is loosened. In this way, the rotating motor 3431 can rotate with the rotating tightening part 3432 in the tightened state.

[0047] The rotating tightening part 3432 is mainly used to clamp and tighten the lancet, and then rotate (twist the needle) the lancet under the action of the rotating motor 3431.

[0048] Optionally, a second linear pushing source 3434 is further included, and the second linear pushing source 3434 is fixed on the sliding seat body 3423, and the rotating motor 3431 described above is fixed on the second linear pushing source 3434. The second linear pushing source 3434 can make the rotating tightening part 3432 closer to the stability clamping part 3435.

[0049] The stabilizing clamping part 3435 is arranged in front of the rotating and tightening part 3432, and is specifically fixed to the frontmost end face of the sliding seat body 3423, and the stabilizing clamping part 3435 is specifically a second clamping piece, which is mainly used to clamp the acupuncture needle on the human body before the rotating and tightening part 3432 tightens the acupuncture needle, so that the rotating and tightening part 3432 can clamp the acupuncture needle more smoothly and stably.

[0050] Specifically, the first linear pushing source 3421 first works to push the sliding seat body 3423 out relative to the shell 3422, so that the stabilizing clamping part 3435 (second clamping piece) fixed to the most distal end of the sliding seat body 3423 approaches the patient. Then the stabilizing clamping part 3435 clamps the acupuncture needle on the patient, playing a role of pre-stabilization. Then the second linear pushing source 3434 works again to drive the rotating motor 3431, the rotating and tightening part 3432 and the first clamping piece 3433 to gradually approach the stabilizing clamping part 3435, until the tail end of the acupuncture needle is in the rotating and tightening part 3432, at which time the first clamping piece 3433 clamps the rotating and tightening part 3432, the rotating motor 3431 is started to drive the rotating and tightening part 3432 to gradually clamp the acupuncture needle, and the acupuncture needle is in a tightened state. Then the first clamping piece 3433 is released, and the second clamping piece is also released. The rotating motor 3431 rotates with the acupuncture needle, achieving the purpose of twisting the needle.

[0051] After the acupuncture is completed by using the rotating needle device 340, the second linear pushing source 3434 is retracted, so that the rotating and tightening part 3432 carries the acupuncture needle to pull the acupuncture needle out of the human body. Then, the first clamping piece clamps the rotating and tightening part 3432 again, and the rotating motor 3431 reversely rotates to make the rotating and tightening part 3432 release the acupuncture needle. The acupuncture needle will be collected into a storage box (not shown).

[0052] Thus, the principle of using the remote rotating needle system to perform acupuncture treatment on the patient is introduced.

[0053] In the present scheme, in a remote control manner, under the cooperation of the monitoring module, the manipulator is controlled to act, so that the multi-axis robot arm performs synchronous action; approaches or moves away from the human body; then the manipulator controls the rotating needle device to act, to complete the acupuncture and needle twisting operation on the human body. The intelligent actual application is realized, which has great guarantee effect on reducing the labor intensity of medical personnel, improving the efficiency of acupuncture treatment, etc.

[0054] By using the rotating needle system of the present scheme, efficient rotating needle treatment is realized for patients during acupuncture treatment; the operation of medical staff is facilitated, the convenience is improved, and the labor intensity of personnel is reduced. At the same time, remote rotating needle operation is support for hospitals in remote areas. Some remote areas lack personnel or experience, and remote help can be realized through the remote rotating needle system of the present scheme. Furthermore, remote control can separate doctors and patients to avoid disease transmission. Of course, the system can also remotely disinfect when treating dangerous animals.

[0055] The above merely describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A rotary whipper device, characterized by The support assembly (341) is fixed to the end face of the external multi-axis mechanical arm (300), the alignment and advancing assembly (342) is fixed to the support assembly (341), and the rotating and clamping assembly (343) is fixed to the alignment and advancing assembly (342); the alignment and advancing assembly (342) is configured to push or retract the rotating and clamping assembly (343) to move linearly, so that the rotating and clamping assembly (343) approaches the lancet on the human body; the rotating and clamping assembly (343) is configured to clamp and rotate the lancet to twist the needle; The alignment and advancing assembly (342) comprises a first linear advancing source (3421), a housing (3422) and a sliding seat body (3423); the housing (3422) is fixed to the support assembly (341) by a fastening plate; one end of the first linear advancing source (3421) is fixed to the fastening plate, and the other end penetrates into the housing (3422) and is fixed to the sliding seat body (3423); meanwhile, a sliding groove is arranged in the housing (3422); a sliding rail is arranged on the outer surface of the sliding seat body (3423), and the sliding rail and the sliding groove are matched, so that the sliding seat body (3423) can slide relative to the housing (3422); The rotating and clamping assembly (343) is fixed to the sliding seat body (3423), and the movement of the sliding seat body (3423) drives the synchronous movement of the rotating and clamping assembly (343), so as to realize the approach or away of the rotating and clamping assembly (343) to the lancet; The rotating and clamping assembly (343) comprises a rotating and tightening part (3432) and a rotating motor (3431); the rotating motor (3431) is fixedly connected to the sliding seat body (3423), and the rotating and tightening part (3432) is fixedly connected to the output shaft of the rotating motor (3431); meanwhile, a first clamping part (3433) is arranged below the rotating and tightening part (3432), the first clamping part (3433) first clamps the rotating and tightening part (3432), and under the rotation of the rotating motor (3431), the rotating and tightening part (3432) is tightened; The rotating and clamping assembly (343) further comprises a stability clamping part (3435); the stability clamping part (3435) is fixed to the most forward end face of the sliding seat body (3423); the stability clamping part (3435) is a second clamping part, which is configured to clamp the lancet on the human body before the rotating and tightening part (3432) tightens the lancet. The alignment propulsion assembly (342) further comprises a second linear propulsion source (3434) fixed on the sliding seat body (3423), and a rotating motor (3431) fixed on the second linear propulsion source (3434); the second linear propulsion source (3434) drives the rotating motor (3431) to move linearly.

2. A remote galley system characterized by, The remote operation terminal, the multi-axis mechanical arm (300) and the rotating needle device as claimed in claim 1 are included; the rotating needle device is fixed on the multi-axis mechanical arm (300), and the remote operation terminal is signal connected with the multi-axis mechanical arm (300) and the rotating needle device respectively; the remote operation terminal is configured to control the multi-axis mechanical arm (300) and the rotating needle device to act.

3. A remote dial system according to claim 2, wherein, The remote operation terminal comprises a teach box and a controller, and the teach box is identical in structure to the multi-axis mechanical arm (300); the multi-axis mechanical arm (300) follows the operation of the teach box in a signal connection state; and the controller is configured to operate the rotating needle device to act.

4. A remote dialing system according to claim 3, wherein A monitoring module (320) is further included; the monitoring module (320) is configured to take images and monitor in real time; and the remote operation terminal further comprises a display configured to display the images transmitted by the monitoring module (320).

Images