Flexible control puncture surgical device

Abstract

This application provides a flexible control puncture surgical device, including a frame, a needle clamping mechanism, a buffer mechanism, a screwing mechanism, and a force acquisition mechanism. The needle clamping mechanism is movably connected in a slide groove. The screwing mechanism is drivenly connected to the needle clamping mechanism. The buffer mechanism is provided with an elastic component, which is movably connected to the frame and connected to the needle clamping mechanism. During the process of the puncture needle penetrating human tissue, the puncture needle is resisted by the human tissue and moves along the slide groove of the support. During this process, the elastic component buffers the needle clamping mechanism sliding in the slide groove to absorb the sudden force caused by tissue deformation during the puncture process, suppressing the rapid movement and vibration of the puncture needle and reducing the risk of puncturing healthy organs.

Description

Technical Field

[0001] The embodiments of this application relate to, but are not limited to, the medical field, and particularly to a flexible controllable puncture surgical device. Background Technology

[0002] With the development of modern medical technology and social progress, there are various methods for diagnosing and treating cancer tumors, mainly including surgical resection, radiofrequency ablation, cryotherapy, and radioactive particle therapy. Among them, particle interventional therapy has the advantage of being minimally invasive, and interventional puncture robots have been developed and applied to particle interventional therapy. However, interventional puncture robots have the disadvantage of lacking information feedback, leading to a lack of localization of tissue structures or assessment of tissue properties, and are also prone to causing trauma or damage to tissues during the process of twisting the needle. Summary of the Invention

[0003] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of the claims.

[0004] The purpose of this application is to at least partially solve one of the technical problems existing in the related art. The embodiments of this application provide a flexible control puncture surgical device that can buffer the needle clamping mechanism sliding in the groove through an elastic component, so as to absorb the sudden force caused by tissue deformation on the puncture needle during the puncture process.

[0005] An embodiment of this application provides a flexible-controlled puncture surgical device, comprising:

[0006] The frame is provided with a sliding groove;

[0007] A needle clamping mechanism is used to clamp a puncture needle, and the needle clamping mechanism is movably connected in the slide groove;

[0008] A buffer mechanism is provided, wherein the buffer mechanism is provided with an elastic component, the elastic component is movably connected to the frame, the elastic component is connected to the needle clamping mechanism, and the elastic component is used to buffer the needle clamping mechanism sliding in the groove, so as to absorb the sudden force caused by tissue deformation to the puncture needle during puncture.

[0009] A screwing mechanism is connected to the needle clamping mechanism for driving rotation of the needle clamping mechanism;

[0010] A force acquisition mechanism is used to acquire the force applied to the needle clamping mechanism.

[0011] In some embodiments of this application, the elastic component includes a splined hub, a compression spring, and a bearing, wherein the bearing is located within the splined hub, and the compression spring is disposed between the splined hub and the frame; the needle clamping mechanism is fixedly connected to the bearing.

[0012] In some embodiments of this application, there are two sets of elastic components, and the two sets of elastic components are respectively connected to both ends of the needle clamping mechanism.

[0013] In some embodiments of this application, the needle clamping mechanism includes a clamping tube, a pressing rod, a pressing spring, a latching buckle, and a needle tube fixing plate; the pressing rod and the latching buckle are fixedly connected and movably connected to the clamping tube; the pressing spring is placed between the pressing rod and the clamping tube and is used to reset the pressing rod; the latching buckle is used to lock the puncture needle, and the latching buckle passes through the needle tube fixing plate.

[0014] In some embodiments of this application, the frame is provided with a rod through hole for the pressing rod to pass through.

[0015] In some embodiments of this application, the screwing mechanism includes a driver, a drive shaft, a first gear, and a second gear. The output shaft of the driver is connected to the drive shaft, the drive shaft is connected to the first gear, and the needle clamping mechanism is connected to the second gear. The first gear and the second gear are meshed and can slide relative to each other.

[0016] In some embodiments of this application, the force acquisition mechanism includes a torque sensor, which is mounted between the output shaft of the driver and the drive shaft.

[0017] In some embodiments of this application, the force acquisition mechanism includes a pressure sensor disposed between the splined hub and the frame.

[0018] In some embodiments of this application, the pressure sensor is provided with a buffer spring.

[0019] In some embodiments of this application, the frame includes a support, a first spring cover, a second spring cover, a first outer shell, and a second outer shell; the first outer shell and the second outer shell are fitted together to form a frame shell, the support is located inside the frame shell, the first spring cover and the second spring cover are respectively disposed on both sides of the support, wherein a set of compression springs of the elastic components abuts against the first spring cover, and another set of compression springs of the elastic components abuts against the second spring cover.

[0020] The aforementioned flexible control puncture surgical device has at least the following beneficial effects: The needle clamping mechanism holds the puncture needle, and a rotating mechanism drives the needle clamping mechanism and the puncture needle on it to rotate, allowing the puncture needle to penetrate human tissue, producing a cutting effect and reducing the pressure of the puncture needle on the tissue. The needle clamping mechanism is movably connected in a groove of the support. During the process of the puncture needle penetrating human tissue, the puncture needle is resisted by the human tissue and moves along the groove of the support. During this process, an elastic component buffers the needle clamping mechanism sliding in the groove, absorbing the sudden force caused by tissue deformation during puncture, suppressing rapid movement and vibration of the puncture needle, and reducing the risk of puncturing healthy organs. Furthermore, the force acquisition mechanism collects and feeds back the force applied to the needle clamping mechanism, allowing the operator to operate the puncture surgical device based on the collected force, which helps improve operational accuracy. Attached Figure Description

[0021] The accompanying drawings are used to provide a further understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0022] Figure 1 This is a structural diagram of a flexible-controlled puncture surgical device;

[0023] Figure 2 This is a diagram of the internal structure of a flexible-controlled puncture surgical device;

[0024] Figure 3 This is a structural diagram of the needle clamping mechanism;

[0025] Figure 4 This is a diagram of the internal structure of the needle clamping mechanism;

[0026] Figure 5 This is a structural diagram of the buffer mechanism;

[0027] Figure 6 This is an installation structure diagram of the force acquisition mechanism;

[0028] Figure 7 yes Figure 6 Enlarged view of point A in the middle;

[0029] Figure 8 yes Figure 6 Enlarged view of point B in the middle. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0031] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, or the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0032] The embodiments of this application will be further described below with reference to the accompanying drawings.

[0033] An embodiment of this application provides a flexibly controlled puncture surgical device.

[0034] Reference Figure 1 and Figure 2 The puncture surgical device includes a frame, a needle clamping mechanism 2, a buffer mechanism 1, a screwing mechanism 4, and a force acquisition mechanism 3.

[0035] The machine frame is equipped with a sliding groove; the needle clamping mechanism 2 is used to clamp the puncture needle and is movably connected in the sliding groove; the buffer mechanism 1 is equipped with an elastic component, which is movably connected to the machine frame and connected to the needle clamping mechanism 2. The elastic component is used to buffer the needle clamping mechanism 2 as it slides in the sliding groove, so as to absorb the sudden force caused by tissue deformation on the puncture needle during the puncture process; the screwing mechanism 4 is drivenly connected to the needle clamping mechanism 2 and is used to rotate the needle clamping mechanism 2; the force acquisition mechanism 3 is used to acquire the force exerted on the needle clamping mechanism 2.

[0036] In this embodiment, the needle clamping mechanism 2 holds the puncture needle, and the rotating mechanism 4 drives the needle clamping mechanism 2 and the puncture needle on the needle clamping mechanism 2 to rotate, so that the puncture needle punctures into the human tissue, producing a cutting effect and reducing the pressure of the puncture needle on the tissue. The needle clamping mechanism 2 is movably connected in the groove of the support 5. During the process of the puncture needle puncturing into the human tissue, the puncture needle is resisted by the human tissue and will move along the groove of the support 5. During this period, the elastic component buffers the needle clamping mechanism 2 sliding in the groove to absorb the sudden force caused by tissue deformation during the puncture process, suppressing the rapid movement and vibration of the puncture needle and reducing the risk of puncturing healthy organs. In addition, the force acquisition mechanism 3 collects the force on the needle clamping mechanism 2 and feeds it back, so that the operator can operate the puncture surgical device according to the collected force, which helps to improve the accuracy of operation.

[0037] In some embodiments of this application, the frame includes a bracket 5, a first spring cover 6, a second spring cover 7, a first outer shell 8, and a second outer shell 9. The bracket 5 is provided with a sliding groove, which is a spline groove.

[0038] Reference Figure 3 and Figure 4In some embodiments of this application, the needle clamping mechanism 2 includes a clamping tube 21, a pressing rod 22, a pressing spring 23, a latching buckle 24, and a needle tube fixing plate 25; the pressing rod 22 and the latching buckle 24 are fixedly connected and movably connected to the clamping tube 21; the pressing spring 23 is placed between the pressing rod 22 and the clamping tube 21 and is used to reset the pressing rod 22; the latching buckle 24 is used to lock the puncture needle and passes through the needle tube fixing plate 25.

[0039] In this embodiment, the locking and unlocking of the puncture needle is achieved by pressing the pressing rod 22. Pressing the pressing rod 22 drives the latch 24 to disengage from the conical hole of the needle tube fixing plate 25. At this time, the pressing spring 23 is compressed, and the latch of the latch 24 opens under its own elasticity, thereby releasing the puncture needle passing through the latch 24. Releasing the pressing rod 22, under the action of the pressing spring 23, causes the pressing rod 22 and the latch 24 to return to their original positions. The latch 24 enters the conical hole of the needle tube fixing plate 25, and the latch of the latch 24 tightens, thereby locking the puncture needle passing through the latch 24. While fixing the radial needle and needle tube, the needle can rotate in the axial direction of the needle tube.

[0040] Reference Figure 5 In some embodiments of this application, there are two sets of elastic components, which are respectively connected to both ends of the needle clamping mechanism 2. The upper set of elastic components is connected to the upper end of the needle clamping mechanism 2, and the lower set of elastic components is connected to the lower end of the needle clamping mechanism 2.

[0041] The first outer shell 8 and the second outer shell 9 are fitted together to form a frame shell, the bracket 5 is located inside the frame shell, and the first spring cover 6 and the second spring cover 7 are respectively disposed on both sides of the bracket 5.

[0042] The upper elastic component includes a splined hub 11, a compression spring 13, and a bearing 17. The bearing 17 is located inside the splined hub 11, and the compression spring 13 is disposed between the splined hub 11 and the frame. The needle clamping mechanism 2 is fixedly connected to the bearing 17.

[0043] The lower elastic component includes a splined hub 12, a compression spring 14, and a bearing 19. The bearing 19 is located inside the splined hub 12, and the compression spring 14 is disposed between the splined hub 12 and the frame. The needle clamping mechanism 2 is fixedly connected to the bearing 19.

[0044] The bearing 19 of the lower elastic component is mounted via the first lower bearing mounting plate 18 and the second lower bearing mounting plate 20.

[0045] The compression spring 13 of the upper elastic component is disposed between the spline hub cover 34 and the first spring cover 6, and the compression spring 14 of the lower elastic component is disposed between the cover of the spline hub 12 and the second spring cover 7.

[0046] For the upper elastic component, the inner ring of the bearing 17 is fixed on the outer wall of the clamping tube 21, and the outer ring of the bearing 17 is fixed on the inner wall of the spline hub 11. The spline hub 11 slides up and down in the spline groove of the bracket 5. Through friction and compression of the compression spring 13, the needle clamping mechanism 2 sliding in the groove is buffered.

[0047] Similarly, for the elastic components of the lower group, the inner ring of the bearing 19 is fixed on the outer wall of the clamping tube 21, and the outer ring of the bearing 19 is fixed on the inner wall of the spline hub 12. The spline hub 12 slides up and down in the spline groove of the bracket 5. Through friction and compression of the compression spring 14, the needle clamping mechanism 2 sliding in the groove is buffered.

[0048] By buffering the needle clamping mechanism 2 that slides in the groove, the sudden force caused by tissue deformation on the puncture needle during the puncture process is absorbed, the rapid movement and vibration of the puncture needle are suppressed, and the risk of puncturing healthy organs is reduced.

[0049] In some embodiments of this application, the first spring cover 6 of the frame is provided with a through hole for the pressing rod 22 to pass through. The pressing rod 22 passes through the through hole, and pressing the pressing rod 22 on the outside of the frame can lock and release the puncture needle, improving the ease of puncture needle assembly and disassembly.

[0050] In some embodiments of this application, the screwing mechanism 4 includes a driver 41, a drive shaft 44, a first gear 42 and a second gear 43. The output shaft of the driver 41 is connected to the drive shaft 44, the drive shaft 44 is connected to the first gear 42, and the needle clamping mechanism 2 is connected to the second gear 43. The first gear 42 and the second gear 43 are meshed and connected, and the first gear 42 and the second gear 43 can slide relative to each other.

[0051] In this embodiment, the driver 41 of the screwing mechanism 4 drives the drive shaft 44 to rotate, and the drive shaft 44 drives the first gear 42 to connect. The first gear 42 meshes with the second gear 43, thereby realizing transmission and causing the second gear 43, the needle clamping mechanism 2 connected to the second gear 43, and the puncture needle clamped by the needle clamping mechanism 2 to rotate. By controlling the rotational speed, direction of rotation, and angular displacement of the driver 41, the puncture needle is controlled to rotate purposefully during puncture, thereby reducing the peak puncture force.

[0052] In addition, the first gear 42 and the second gear 43 can slide relative to each other, thereby allowing the buffer mechanism 1 and the needle clamping mechanism 2 to move up and down.

[0053] Specifically, driver 41 is a servo motor.

[0054] Reference Figure 6 , Figure 7 and Figure 8In some embodiments of this application, the force acquisition mechanism 3 includes a torque sensor 31, which is mounted between the output shaft of the driver 41 and the drive shaft 44. The driving torque required to tighten the puncture needle is transmitted through the first gear 42 and the second gear 43, and then applied to the torque sensor 31 by the drive shaft 44 and the output shaft of the servo motor. The torque sensor 31 is fixed by the first fixing flange 27 and the second fixing flange 28.

[0055] In some embodiments of this application, the force acquisition mechanism 3 includes a pressure sensor 32, which is disposed between the splined hub 11 and the first spring cover 6 of the frame. A buffer spring 33 is provided on the pressure sensor 32, that is, the buffer spring 33 is disposed between the pressure sensor 32 and the first spring cover 6 of the frame. The buffer spring 33 is fixed by a buffer spring fixing flange 26.

[0056] The first gear 42 and the second gear 43 can slide relative to each other. The buffer mechanism 1 and the needle clamping mechanism 2 move up and down. The pressure value of the puncture needle is transmitted to the splined hub cover 34 through the needle clamping mechanism 2, and finally acts on the pressure sensor 32, thereby realizing the measurement of the axial puncture force of the puncture needle. Taking advantage of the axial movement of the spur gear set, when the buffer mechanism 1 moves along the axial direction, the servo motor is allowed to drive the puncture needle to rotate, so as to achieve the purpose of measuring the torque in real time during puncture.

[0057] At the same time, the buffer spring 33 allows the buffer mechanism 1 to have a large stroke without damaging the pressure sensor 32, thus satisfying the requirement of achieving a coaxial two-dimensional force measurement layout in a confined space.

[0058] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

[0059] The above is a detailed description of the preferred embodiments of this application, but this application is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this application, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A flexible-controlled puncture surgical device, characterized in that, include: The frame is provided with a sliding groove; A needle clamping mechanism is used to clamp a puncture needle, and the needle clamping mechanism is movably connected in the slide groove; A buffer mechanism is provided, wherein the buffer mechanism is provided with an elastic component, the elastic component is movably connected to the frame, the elastic component is connected to the needle clamping mechanism, and the elastic component is used to buffer the needle clamping mechanism sliding in the groove, so as to absorb the sudden force caused by tissue deformation to the puncture needle during puncture. A screwing mechanism is connected to the needle clamping mechanism for driving rotation of the needle clamping mechanism; A force acquisition mechanism, wherein the force acquisition mechanism is used to acquire the force applied to the needle clamping mechanism; The elastic component includes a splined hub, a compression spring, and a bearing. The bearing is located inside the splined hub, and the compression spring is disposed between the splined hub and the frame. The needle clamping mechanism is fixedly connected to the bearing. The needle clamping mechanism includes a clamping tube, a pressing rod, a pressing spring, a locking flap, and a needle tube fixing plate; the pressing rod and the locking flap are fixedly connected and movably connected to the clamping tube; the pressing spring is placed between the pressing rod and the clamping tube and is used to reset the pressing rod; the locking flap is used to lock the puncture needle and is inserted into the needle tube fixing plate.

2. The flexible control puncture surgical device according to claim 1, characterized in that, There are two sets of elastic components, and the two sets of elastic components are respectively connected to both ends of the needle clamping mechanism.

3. The flexible control puncture surgical device according to claim 1, characterized in that, The frame is provided with a rod through hole for the pressing rod to pass through.

4. The flexible control puncture surgical device according to claim 1, characterized in that, The screwing mechanism includes a driver, a drive shaft, a first gear, and a second gear. The output shaft of the driver is connected to the drive shaft, the drive shaft is connected to the first gear, and the needle clamping mechanism is connected to the second gear. The first gear and the second gear are meshed and can slide relative to each other.

5. The flexible control puncture surgical device according to claim 4, characterized in that, The force acquisition mechanism includes a torque sensor, which is installed between the output shaft of the driver and the drive shaft.

6. The flexible control puncture surgical device according to claim 1, characterized in that, The force acquisition mechanism includes a pressure sensor, which is disposed between the splined hub and the frame.

7. The flexible control puncture surgical device according to claim 6, characterized in that, The pressure sensor is equipped with a buffer spring.

8. The flexible control puncture surgical device according to claim 1, characterized in that, The frame includes a support, a first spring cover, a second spring cover, a first outer shell, and a second outer shell; the first outer shell and the second outer shell are fitted together to form a frame shell, the support is located inside the frame shell, the first spring cover and the second spring cover are respectively disposed on both sides of the support, wherein a set of compression springs of the elastic components abuts against the first spring cover, and the other set of compression springs of the elastic components abuts against the second spring cover.

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