A microneedle tailoring device

Abstract

The application discloses a kind of micro-needle tailoring device, it is characterized in that, including micro-needle fixed module and tailoring action execution module, the micro-needle fixed module is used to fix micro-needle array;The tailoring action execution module is used to cut the micro-needle of the micro-needle array in cutting area.The micro-needle array generally includes substrate and multiple micro-needle arranged on substrate part, and multiple micro-needle parts are arrayed in array shape.This application is fixed by micro-needle fixed device to micro-needle array, and then the micro-needle of cutting area in micro-needle array is cut off by tailoring action execution module, to avoid the micro-needle of cutting area to produce injury to human body.Specifically, cutting area can be the area where blood vessels and other human tissues in micro-needle implantation area are located, and the micro-needle in the area is cut, so that the patient's blood vessels can be avoided from being punctured, so as to ensure the safety of the patient and avoid causing pain to the patient.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of microneedle device, in particular to a microneedle cutting device. BACKGROUND

[0002] The microneedle array is an array composed of tens to hundreds of microneedles with a needle tip diameter of 1-300 μm and a needle base width of 50-1500 μm. The microneedle can pierce the stratum corneum of the skin to form a micro drug delivery channel on the skin and release the drug to the target skin layer. Among them, the implantable microneedle is generally implanted into the human body skin to monitor some physical indicators of the human body in real time. Since the current face array microneedle implantation area is relatively large, there is a risk of blood vessels being punctured during the implantation operation. Once the patient's blood vessels are punctured, it will cause bleeding, bring pain to the patient, reduce the efficiency of the operation, and even endanger the safety of the patient in serious cases. SUMMARY

[0003] In view of the above problems, the present application provides a microneedle cutting device which overcomes the above problems or at least partially solves the above problems, can solve the problem that the blood vessels in the implantation area are easily punctured, and achieve the effect of ensuring the safety of the patient.

[0004] Specifically, the present application provides a microneedle cutting device, comprising:

[0005] A microneedle fixing module, the microneedle fixing device is used for fixing a microneedle array;

[0006] A cutting action execution module, the cutting action execution module is used for cutting the microneedles in the cutting area of the microneedle array.

[0007] Optionally, the cutting action execution module comprises a cutting tool, and the cutting tool comprises:

[0008] At least two connecting structures, the connecting structures are adjacent and arranged in parallel; the distance between the adjacent two connecting structures is greater than the diameter of any one microneedle in the microneedle array, and the width of any one connecting structure is less than the gap between any two adjacent microneedles;

[0009] A shearing structure, both ends of the shearing structure are fixedly connected with the adjacent two connecting structures.

[0010] Optionally, the cutting tool further comprises a main body structure; the shearing structure is arranged at the middle part of the connecting structure, or the shearing structure is arranged at one end of the connecting structure, and the end of the connecting structure which is not provided with the shearing structure is connected with the main body structure.

[0011] Optionally, the number of the shearing structures is one, and the number of the connecting structures is two; or,

[0012] The number of shearing structures is multiple, and the difference between the number of connecting structures and the number of shearing structures is 1; the shearing structures extend in a linear shape in the same direction and the extension direction is perpendicular to the length direction of the connecting structures.

[0013] Optionally, the shape of the shearing structure can be straight, V-shaped, U-shaped, or triangular.

[0014] Optionally, the cutting action execution module further includes a moving device, which has an output end that can reciprocate along a preset direction. The preset direction includes a first direction, a second direction, and a third direction, and the first direction, the second direction, and the third direction are perpendicular to each other. The cutting action execution module is mounted on the output end.

[0015] Optionally, the moving device includes a Z-axis lifting motor, a Y-axis translation motor, and an X-axis translation motor;

[0016] The Z-axis lifting motor includes a first base, a first motor, a first lifting platform, and a first lead screw. The first motor is mounted on the first base, the first lead screw extends in a third direction, the first lead screw is driven to the output end of the first motor, and the first lifting platform is helically driven to be sleeved on the first lead screw.

[0017] The Y-axis translation motor includes a second base, a second motor, a second lifting platform, and a second lead screw. The second base is mounted on the first lifting platform, the second motor is mounted on the second base, the second lead screw extends along a second direction, and the second lead screw is driven to the output end of the second motor. The second lifting platform is helically driven and sleeved on the second lead screw.

[0018] The X-axis translation motor includes a third base, a third motor, a third lifting platform, a third lead screw, and a cutting tool mounting block. The third base is mounted on the second lifting platform, the third motor is mounted on the third base, the third lead screw extends along a first direction, and the third lead screw is drivenly connected to the output end of the third motor. The third lifting platform is helically driven and sleeved on the third lead screw. The cutting tool is detachably mounted on the cutting tool mounting block.

[0019] Optionally, the microneedle fixing device includes a rotation angle adjustment mechanism, a swing angle adjustment motor, and a clamping assembly. The rotation angle adjustment mechanism is configured to output rotation about a first direction; the swing angle adjustment motor is mounted on the output end of the rotation angle adjustment mechanism and configured to output swing about a second direction and / or a third direction; the clamping assembly is mounted on the output end of the swing angle adjustment motor.

[0020] Optionally, the microneedle cutting device further comprises a microneedle debris collecting module for collecting the cut microneedles.

[0021] Optionally, the microneedle cutting device further comprises:

[0022] An optical lens module for collecting spatial position information of the microneedle array, the cutting action executing module and the microneedle debris collecting module in real time.

[0023] The microneedle cutting device provided by the application has the following advantages:

[0024] In the microneedle cutting device provided by the application, the microneedle array is fixed by the microneedle fixing device, and the microneedles in the cutting region of the microneedle array are cut off by the cutting action executing module, so as to avoid that the microneedles in the cutting region cause injury to the human body. Specifically, the cutting region can be the region where the blood vessels and other human tissues in the microneedle implantation region are located, and the microneedles in this region are cut off, so as to avoid that the blood vessels of the patient are punctured, thereby ensuring the safety of the patient and avoiding the pain of the patient.

[0025] Further, the optical lens module obtains the blood vessel projection parallel to the length direction of the microneedle and the real-time projection of the microneedle array in the length direction of the microneedle, superimposes the blood vessel projection and the real-time projection, and the superimposed region is the cutting region. The superimposed region can be converted into an circumscribed figure enclosed by a plurality of line segments, and the circumscribed figure is decomposed into a plurality of small regions that can be cut at a time. Each small region is cut at a time to complete the cutting.

[0026] The above and other objects, advantages and features of the application will become more apparent from the following detailed description of some embodiments thereof, when considered with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0027] Some specific embodiments of the application will be described in detail below with reference to the accompanying drawings. The same reference numerals in the drawings denote the same or similar components or parts. It should be understood by those skilled in the art that the drawings are not necessarily drawn to scale. In the drawings:

[0028] Figure 1 is a schematic structural diagram of a microneedle cutting device according to an embodiment of the application;

[0029] Figure 2 is a schematic structural diagram of a microneedle cutting device according to an embodiment of the application;

[0030] Figure 3 is a schematic structural diagram of a microneedle fixing module in a microneedle cutting device according to an embodiment of the application;

[0031] Figure 4 is a schematic exploded view of a micro-needle fixing module in a micro-needle cutting device according to an embodiment of the present application;

[0032] Figure 5 is a schematic structural view of a rotation angle adjusting mechanism in a micro-needle cutting device according to an embodiment of the present application;

[0033] Figure 6 is a schematic structural view of a swing angle adjusting motor in a micro-needle cutting device according to an embodiment of the present application;

[0034] Figure 7 is a schematic structural view of a clamping assembly in a micro-needle cutting device according to an embodiment of the present application;

[0035] Figure 8 is a schematic structural view of a micro-needle in a micro-needle cutting device according to an embodiment of the present application;

[0036] Figure 9 is a schematic structural view of a cutting action executing module in a micro-needle cutting device according to an embodiment of the present application;

[0037] Figure 10 is a schematic exploded view of a cutting action executing module in a micro-needle cutting device according to an embodiment of the present application;

[0038] Figure 11 is a schematic structural view of a Z-axis lifting motor in a micro-needle cutting device according to an embodiment of the present application;

[0039] Figure 12 is a schematic structural view of a Y-axis translation motor in a micro-needle cutting device according to an embodiment of the present application;

[0040] Figure 13 is a schematic structural view of a micro-needle cutting tool module in a micro-needle cutting device according to an embodiment of the present application;

[0041] Figure 14 is a schematic structural view of a micro-needle cutting tool in a micro-needle cutting device according to an embodiment of the present application

[0042] Figure 15 is a schematic partial structural view of a micro-needle cutting tool in a micro-needle cutting device according to an embodiment of the present application;

[0043] Figure 16 is a schematic structural view of a shearing structure in a micro-needle cutting device according to an embodiment of the present application

[0044] Figure 17 is a schematic implementation schematic of a cutting action executing module in a micro-needle cutting device according to an embodiment of the present application;

[0045] Figure 18 is a schematic top view of a cutting action execution module in a microneedle cutting device according to an embodiment of the present application;

[0046] Figure 19 is a schematic principle diagram of a cutting action execution in a microneedle cutting device according to an embodiment of the present application;

[0047] Figure 20 is a schematic structural diagram of an optical lens module in a microneedle cutting device according to an embodiment of the present application;

[0048] Figure 21 is a schematic structural diagram of a microneedle debris collection module in a microneedle cutting device according to an embodiment of the present application;

[0049] Figure 22 is a schematic exploded view of a microneedle debris collection module in a microneedle cutting device according to an embodiment of the present application;

[0050] Figure 23 is a schematic structural diagram of a debris collection assembly in a microneedle cutting device according to an embodiment of the present application;

[0051] Figure 24 is a schematic structural diagram of a Y-axis swing adjustment mechanism in a microneedle cutting device according to an embodiment of the present application;

[0052] Figure 25 is a schematic structural diagram of a base assembly in a microneedle cutting device according to an embodiment of the present application;

[0053] Figure 26 is a schematic structural diagram of a Z-axis rotation adjustment mechanism in a microneedle cutting device according to an embodiment of the present application;

[0054] Figure 27 is a schematic structural diagram of a microneedle debris collection groove assembly in a microneedle cutting device according to an embodiment of the present application;

[0055] Figure 28 is a schematic structural diagram of a posture adjustment mechanism in a microneedle cutting device according to an embodiment of the present application;

[0056] Figure 29 is a schematic principle diagram of a microneedle debris collection module in a microneedle cutting device according to an embodiment of the present application;

[0057] Figure 30 is a schematic workflow diagram of a microneedle cutting method according to an embodiment of the present application;

[0058] Figure 31 is a matching diagram of blood vessel information and implantation area in a microneedle cutting method according to an embodiment of the present application;

[0059] Figure 32 is a schematic diagram of converting a cutting area in a micro-needle cutting method according to an embodiment of the present application;

[0060] Figure 33 is a schematic diagram of matching a micro-needle with a cutting area in a micro-needle cutting method according to an embodiment of the present application;

[0061] Figure 34 is a schematic diagram of decomposing a cutting area in a micro-needle cutting method according to an embodiment of the present application;

[0062] Figure 35 is a schematic diagram of moving a micro-needle cutting tool in a micro-needle cutting method according to an embodiment of the present application;

[0063] Figure 36 is a schematic diagram of lifting a cutting tool in a micro-needle cutting method according to an embodiment of the present application;

[0064] Figure 37 is a schematic diagram of positioning a debris collection module in a micro-needle cutting method according to an embodiment of the present application;

[0065] Figure 38 is a schematic diagram of lifting a debris collection module in a micro-needle cutting method according to an embodiment of the present application;

[0066] Figure 39 is a schematic diagram of moving a cutting tool in a micro-needle cutting method according to an embodiment of the present application;

[0067] Figure 40 is a schematic diagram of moving a debris collection module in a micro-needle cutting method according to an embodiment of the present application;

[0068] Figure 41 is a schematic diagram of lowering a cutting tool module in a micro-needle cutting method according to an embodiment of the present application;

[0069] Figure 42 is a schematic diagram of a micro-needle cutting method according to an embodiment of the present application.

[0070] In the figure: 1, microneedle fixing module, 11, rotation angle adjusting mechanism, 111, first motor, 112, first base, 113, rotary table, 12, first swing angle adjusting motor, 121, second motor, 122, second base, 123, sliding table, 13, second swing angle adjusting motor, 14, clamping assembly, 141, fixing seat, 142, sliding finger, 143, microneedle, 144, compression spring, 2, cutting action executing module, 21, first Z-axis lifting motor, 211, third base, 212, lifting table, 213, third motor, 22, first Y-axis translation motor, 221, fourth base, 222, first sliding block, 223, fourth motor, 23, first X-axis translation motor, 24, cutting tool module, 241, first mounting base, 242, cutting tool, 2421, main body structure, 2422, connecting structure, 2423, shearing structure, 243, cutting tool mounting pressing block, 3, optical lens module, 31, fifth motor, 32, lead screw, 33, second sliding block, 34, optical lens, 35, camera, 4, microneedle debris collecting module, 41, second Z-axis lifting motor, 42, second Y-axis translation motor, 43, second X-axis translation motor, 44, debris collecting assembly, 441, fixing structure, 442, posture adjusting mechanism, 443, microneedle debris collecting groove assembly, 4421, Y-axis swing adjusting mechanism, 4422, Z-axis rotation adjusting mechanism, 4423, mounting pressing block, 44211, second mounting base, 44212, first advancing knob, 44213, first push rod, 44214, roller, 44215, return spring, 44221, third mounting base, 44222, arc-shaped protrusion, 44223, second advancing knob, 44224, second push rod, 44225, return top rod, 44226, second baffle, 4431, microneedle debris collecting groove mounting seat, 4432, side wall, 4433, microneedle debris collecting groove, 4434, first baffle, 4435, ring column structure, 5, system control module, 6, display module. DETAILED DESCRIPTION

[0071] In the description of the present embodiment, it needs to be understood that the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features, that is, one or more of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited. When a certain feature "includes or contains" a certain or certain features it encompasses, unless otherwise specifically described, it indicates that other features are not excluded and can further include other features.

[0072] In the description of the present embodiments, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in one or more embodiments or examples.

[0073] Figure 1 is a schematic structural diagram of a micro-needle cutting device according to an embodiment of the present application, as Figure 1 indicated and with reference to Figures 2 to 29 , the micro-needle cutting device provided by the embodiments of the present application comprises a micro-needle fixing module 1, a cutting action executing module 2, an optical lens module 3, a micro-needle debris collecting module 4, a system control module 5 and a display module 6. The micro-needle fixing module 1 is used to fix a micro-needle array 143. The optical lens module 3 is used to obtain a position image of blood vessels of a region to be invaded, and match the projection of the micro-needle array to obtain a cutting region. The cutting action executing module 2 is used to cut the micro-needles in the cutting region. The micro-needle debris collecting module 4 is used to collect the cut micro-needles. The display module 6 is used to display the position image of the blood vessels, the projection of the micro-needle array, etc. The system control module 5 is used to control the operation of the micro-needle fixing module 1, the cutting action executing module 2, the optical lens module 3, the micro-needle debris collecting module 4 and the display module 6.

[0074] As Figures 3 to 7 indicated, the micro-needle fixing module 1 comprises a rotation angle adjusting mechanism 11, a first swing angle adjusting motor 12, a second swing angle adjusting motor 13 and a clamping assembly 14. The rotation angle adjusting mechanism 11 comprises a first motor 111, a first base 112, a turntable 113. The first base 112 is fixedly arranged, and the first motor 111 is fixed on the first base 112. The first motor 111 drives the turntable 113 to rotate around the Z-axis direction through a worm gear mechanism.

[0075] It should be noted that the first direction, the second direction and the third direction in the present application refer to three mutually perpendicular directions, such as the lateral direction (left-right direction), the longitudinal direction (front-rear direction) and the vertical direction (up-down direction); as Figure X indicated, the first direction is the X-axis direction (lateral direction), the second direction is the Y-axis direction (longitudinal direction), and the first direction is the Z-axis direction (vertical direction).

[0076] The first swing angle adjusting motor 12 comprises a second motor 121, a second base 122 and a sliding table 123. The second base 122 is arranged on the rotating table 113, and the second motor 121 is fixed on the second base 122. The second motor 121 drives the sliding table 123 to swing around the Y axis through a screw rod mechanism.

[0077] The second swing angle adjusting motor 13 is the same as the first swing angle adjusting motor 12 in structure, and the difference lies in that the installation direction of the second swing angle adjusting motor 13 is perpendicular to that of the first swing angle adjusting motor 12, so that the sliding table of the second swing angle adjusting motor 13 swings around the X axis.

[0078] The clamping assembly 14 comprises a fixed seat 141, sliding fingers 142, a microneedle array 143 and a compression spring 144. The fixed seat 141 is mounted on the sliding table of the second swing angle adjusting motor 13, the sliding fingers 142 are movably arranged on the fixed seat 141, the two sliding fingers 142 are connected through a sliding rod, and the compression spring 144 is sleeved on the sliding rod and clamps the microneedle array 143 between the fixed seat 141 and the sliding fingers 142 through the tension of the compression spring 144.

[0079] As shown in Figure 8 , the function of the microneedle fixing module is to fix the microneedles and adjust the posture of the microneedles, so that the microneedles can rotate around the X, Y and Z axes.

[0080] As shown in Figures 9 to 19 , the cutting action executing module 2 comprises a first Z axis lifting motor 21, a first Y axis translation motor 22, a first X axis translation motor 23 and a cutting tool module 24. The first Z axis lifting motor 21 comprises a third base 211, a lifting table 212 and a third motor 213. The third base 211 is fixedly arranged, and the third motor 213 is fixedly arranged on the third base 211. The third motor 213 controls the lifting table 212 to move up and down along the Z axis direction through a screw rod module.

[0081] The first Y axis translation motor 22 comprises a fourth base 221, a first sliding block 222 and a fourth motor 223. The fourth base 221 is fixedly arranged on the lifting table 212, and the fourth motor 223 is fixedly arranged on the fourth base 221. The fourth motor 223 controls the lifting table 222 to move translationally along the Y axis direction through a screw rod module.

[0082] The first X axis translation motor 23 comprises a fifth base, a fifth motor, a third lifting table, a third screw rod and a cutting tool mounting block. The third base is mounted on the second lifting table, the fifth motor is mounted on the fifth base, the third screw rod extends in a first direction, the third screw rod is drivingly connected to the output end of the fifth motor, and the third lifting table is screwingly and drivingly connected to the third screw rod, so that the first X axis translation motor 23 drives the cutting tool module 24 to move translationally along the X axis direction.

[0083] The cutting tool module 24 comprises a first mounting base 241, a cutting tool 242 and a cutting tool mounting block 243. The first mounting base 241 is fixedly arranged on the output end of the first X-axis translation motor 23, and the cutting tool 242 is mounted on the first mounting base 241. The cutting tool 242 is composed of a main body structure 2421, a connecting structure 2422 and a shearing structure 2423, and the whole is in the shape of a sheet. The main body structure of the cutting tool 242 can be of any shape, mainly for fixation and strength assurance. The connecting structure is a long rod structure, which is distributed along the cutting motion direction, and is used to connect the main body structure and the shearing structure. The shearing structure is perpendicular to the cutting motion direction, and has different specifications according to the number of columns of single cutting, such as Figure 15 4 columns, which can be adjusted to any column according to actual needs. The shape of the shearing structure can be linear, V-shaped, U-shaped or triangular, etc.; as Figure 16 The shape of the shearing structure 2423 is linear and V-shaped; it can be understood that the shape of the shearing structure 2423 is not limited to the above few, and any shearing structure 2423 that can exert local pressure on the root of the microneedle and is beneficial to cutting the microneedle is within the protection scope of the present application.

[0084] Further, the connecting structures 2422 are arranged adjacent to and parallel to each other; the spacing between the two adjacent connecting structures 2422 is greater than the diameter of any one microneedle in the microneedle array, and the width of any one connecting structure 2422 is less than the gap between any two adjacent microneedles. The two ends of the shearing structure 2423 are fixedly connected with the two adjacent connecting structures 2422, respectively.

[0085] Further, the shearing structure 2423 is arranged at the middle part of the connecting structure 2422, or the shearing structure 2423 is arranged at one end of the main body structure 2421, and the end of the connecting structure 2422 without the shearing structure 2423 is connected with the main body structure 2421.

[0086] Further, the number of shearing structures 2423 is one, and the number of connecting structures 2422 is two; or the number of shearing structures 2423 is multiple, and the difference between the number of connecting structures 2422 and the number of shearing structures 2423 is 1; the shearing structures 2423 extend linearly in the same direction and the extension direction is perpendicular to the length direction of the connecting structure 2422.

[0087] As Figure 17As shown, when the cutting action execution module 24 is in use, the first X-axis translation motor 23 and the first Y-axis translation motor 22 are responsible for transporting the cutting tool 242 to the predetermined position, i.e., positioning the cutting tool 242. Then, the first Z-axis lifting motor 21 lifts the cutting tool 242 to the root of the microneedle, i.e., lifting the cutting tool 242. Finally, the first Y-axis translation motor 22 performs the corresponding cutting action displacement according to the expected cutting area, i.e., the cutting action is implemented. The cutting action effect diagram of the cutting tool 242 is shown in the figure. Figure 18 As shown in the diagram. The principle diagram of the cutting action is as follows. Figure 19 As shown.

[0088] like Figures 22 to 29 As shown, the microneedle debris collection module (i.e., the microneedle collection device) includes a second Z-axis lifting motor 441, a second Y-axis translation motor 42, a second X-axis translation motor 43, and a debris collection assembly 44. The second Z-axis lifting motor 41 has the same structure as the first Z-axis lifting motor 21, and also outputs vertical movement along the Z-axis; the second Y-axis translation motor 42 has the same structure as the first Y-axis translation motor 22, and also outputs movement along the Y-axis; the second X-axis translation motor 43 has the same structure as the first X-axis translation motor 23, and also outputs movement along the X-axis.

[0089] Furthermore, the microneedle collection device also includes a microneedle debris collection groove mounting base 4431, a ring column structure 4435, and a first baffle 4434. The microneedle debris collection groove mounting base 4431 fixes the microneedle debris collection groove 4433 onto the ring column structure 4435, and the first baffle 4434 is fixed onto the ring column structure 4435 and protrudes from the outer side wall of the ring column structure 4435. The microneedle debris collection groove 4433, the microneedle debris collection groove mounting base 4431, the ring column structure 4435, and the first baffle 4434 constitute the microneedle debris collection groove assembly.

[0090] Furthermore, the microneedle collection device also includes an attitude adjustment mechanism and a mounting block 4423. The microneedle debris collection groove assembly 443 is fixedly installed between the mounting block 4423 and the attitude adjustment mechanism. The attitude adjustment mechanism is used to adjust the attitude of the microneedle debris collection groove assembly 443.

[0091] Further, the posture adjusting mechanism comprises a Z-axis rotation adjusting mechanism 4422, the Z-axis rotation adjusting mechanism 4422 comprises a first mounting base 44221, a pushing knob 44223, a pushing rod 44224 and a reset top rod 44225, the pushing rod 44224 and the reset top rod 44225 are oppositely arranged and fixed on the first mounting base 44221, the pushing knob 44223 is arranged on the side of the pushing rod 44224 away from the reset top rod 44225 and is connected with the pushing rod 44224, a first blocking piece 4434 is located between the pushing rod 44224 and the reset top rod 44225, under the pushing of the pushing rod 44224 and the reset top rod 44225, the microneedle debris collecting groove is driven to rotate around the Z-axis direction.

[0092] Further, the Z-axis rotation adjusting mechanism 4422 further comprises an arc-shaped sliding groove 44222 and a blocking piece 44226, the arc-shaped sliding groove 44222 is arranged on the side of the first mounting base 44221 and is perpendicular to the Y-axis, the blocking piece 44226 is fixed on the outer side wall of the arc-shaped sliding groove 44222 and is parallel to the Y-axis.

[0093] The posture adjusting mechanism further comprises a Y-axis swing adjusting mechanism, the Y-axis swing adjusting mechanism comprises a second mounting base 44211, a second pushing knob 44212, a second pushing rod 44213, a reset spring 44215 and a roller 44214, the roller 44214 is fixedly connected to the side wall of the second mounting base 44211, is located in the arc-shaped sliding groove 44222 and is in sliding connection with the arc-shaped sliding groove 44222; the second pushing rod 44213 is fixedly connected to the second mounting base 44211 and is in contact with the second blocking piece 44226; the second pushing knob 44212 is connected to the end of the second pushing rod 44213 away from the second blocking piece 44226, under the pushing of the second pushing rod 44213, the second blocking piece 44226 drives the microneedle debris collecting groove to swing around the Y-axis direction; the reset spring 44215 is fixedly mounted on the side of the second mounting base 44211 close to the first mounting base 44221, the reset spring 44215 is used for resetting the Z-axis rotation adjusting mechanism 4422 in the Y-axis direction.

[0094] In application, rotate the first push knob 44212 to make the first push rod 44213 move along the X axis to push the baffle 44226 and the arc-shaped protrusion 44222 to slide relative to the roller, so that the Z-axis rotation adjustment mechanism 4422 can swing around the Y axis. Reverse rotation of the first push knob 44212 can make the first push rod 44213 retract, and under the action of the reset spring 44215, the Z-axis rotation adjustment mechanism 4422 can be reset. Similarly, rotate the second push knob 44223 to make the second push rod 44224 move along the Y axis to push the baffle 4434 on the microneedle debris collection groove assembly 443443, so that the microneedle debris collection groove assembly 443443 can rotate around the Z axis, and the reset method is the same as above. After the debris collection assembly moves to the predetermined position, the Z-axis lifting motor lifts the debris collection assembly to the root of the microneedle. The area to be cut is isolated from other areas, and the cut microneedle debris will fall from the microneedle debris collection groove, avoiding sticking in the microneedle gap that does not need to be cut.

[0095] Further, the installation block 4423 is provided with an annular column structure accommodating space, a side wall of the installation block 4423 is provided with a clearance hole for accommodating the second baffle 443, and a top of the installation block 4423 is provided with an installation hole through which the microneedle debris collection groove 4433 passes. The installation block 4423 is fixedly connected with the posture adjustment mechanism.

[0096] Further, the microneedle collection device further comprises a fixing structure 441 provided on a side of the posture adjustment mechanism away from the microneedle debris collection groove assembly 443, and used for fixing the posture adjustment mechanism.

[0097] Further, the depth of the microneedle debris collection groove is not less than the length of the microneedle.

[0098] Further, the length of the side edge is greater than the length and / or width of the microneedle array, or the length of the side edge is less than the length and / or width of the microneedle array, and the length of the side edge is greater than the diameter of any one microneedle.

[0099] As shown in Figure 20 The optical lens module 3 comprises a fifth motor 31, a lead screw 32, a second sliding block 33, an optical lens 34, and a camera 35. The camera 35 collects the spatial position information of the microneedle and the cutting tool and the microneedle debris collection module in real time and sends the information to the computer. The fifth motor 31 drives the second sliding block 33 to move along the Z axis through the lead screw 32, so as to move the camera 35, thereby facilitating the camera 35 to observe objects at different heights.

[0100] The system control module 5 is used for sending a motion instruction to each motor to control the corresponding module to move to a target position.

[0101] The display module 6 can display the spatial position image of the microneedle, the cutting tool and the debris collection module in real time while the user inputs instructions through the display module.

[0102] The application also provides a microneedle cutting method, which comprises the following steps:

[0103] Obtaining blood vessel information of the to-be-invaded region, obtaining a cutting region according to the blood vessel information, and cutting the microneedles in the cutting region.

[0104] The blood vessel information of the to-be-invaded region is a position image of the blood vessels in the to-be-invaded region.

[0105] Specifically, the step of obtaining the blood vessel information of the to-be-invaded region comprises the following step: obtaining a position image of the blood vessels in the to-be-invaded region.

[0106] Further, the step of obtaining the cutting region according to the blood vessel information comprises the following steps:

[0107] Obtaining a real-time projection of the microneedle in the length direction thereof;

[0108] Overlapping the position image and the real-time projection to obtain an overlapping region, and the circumscribed figure of the overlapping region is the cutting region.

[0109] In order to facilitate the cutting, the step of cutting the microneedles in the cutting region comprises the following steps:

[0110] Dividing the cutting region into a plurality of sequentially connected rectangles, the rectangles containing at least one microneedle, and cutting the microneedles in each rectangle.

[0111] The microneedle cutting method of the application can be used to cut microneedles in rectangular regions with the same width, and specifically, the step of cutting the microneedles in the cutting region further comprises the following steps:

[0112] Dividing the cutting region into a plurality of sequentially connected rectangles with the same width to drive the same blade to perform repeated cutting operations.

[0113] The microneedle cutting method of the application can be used to cut microneedles in rectangular regions with different widths, and specifically, the step of cutting the microneedles in the cutting region further comprises the following steps:

[0114] Dividing the cutting region into a plurality of sequentially connected rectangles with different widths, and replacing the blade used for cutting when the width of the rectangle changes, so that the length of the blade is the same as the width of the rectangle.

[0115] Further, the microneedle cutting method further comprises the following steps:

[0116] Judging whether the real-time projection overlaps the cutting region or not;

[0117] If yes, the cutting continues; if no, the cutting is completed.

[0118] In order to determine whether the real-time projection and the cutting region overlap, the real-time projection of the microneedle in the length direction thereof is obtained, comprising:

[0119] Before cutting the microneedle in the cutting region, the real-time projection of the microneedle in the length direction thereof is obtained; or

[0120] After cutting the microneedle in the cutting region, the real-time projection of the microneedle in the length direction thereof is obtained again in response to triggering a preset condition.

[0121] The step of obtaining the real-time projection of the microneedle in the length direction thereof again in response to triggering the preset condition comprises:

[0122] Every preset time, the real-time projection of the microneedle in the length direction thereof is obtained; or after cutting the microneedle in a rectangular region, the real-time projection of the microneedle in the length direction thereof is obtained.

[0123] Further, the microneedle cutting method further comprises:

[0124] After cutting the microneedle in the cutting region, the cut microneedle is collected.

[0125] The specific implementation is as follows:

[0126] As shown in Figures 30 to 42 , first, the blood vessel information of the surgical region is imported into the computer, and the implantation region is matched with the blood vessel information. The computer converts the blood vessel position information into a region to be cut, and then divides the cutting region to be cut into a plurality of regions that can be cut at a time. Then the microneedle is installed on the fixed module, the optical lens module images the microneedle tip, and the picture is transmitted to the computer and matched with the cutting region. Next, the computer divides the cutting region to be cut into a plurality of small regions, and each small region is cut at a time to complete the cutting.

[0127] Then the first round of cutting work is carried out: first, the cutting tool moves to the cutting area, i.e. the cutting tool positioning. Then the cutting tool moves to the needle root, i.e. the cutting tool jacking. Then the debris collection module moves to the cutting area, i.e. the debris collection module positioning. Then the debris collection module moves to the needle root, i.e. the debris collection module jacking. Next, the cutting tool is controlled to move by the computer, and the displacement value is the length of the small area after the cutting area is decomposed in the moving direction. After a single cutting action is completed, the debris collection module is lowered below the needle tip. Then the cutting tool module is lowered below the needle tip. At this point, the first round of single cutting process is completed. After each round of single cutting process is completed, the computer compares the real-time picture of the microneedle with the cutting area to be cut. If the cutting area is completely cut, the cutting is completed, and the microneedle can be taken out. Otherwise, the single cutting process will be repeated until all the microneedles to be cut are cut. The schematic diagram of the microneedle cutting area after the microneedle cutting is completed is shown in Figure 42

[0128] The small area of single cutting in the embodiment of the application is 4 columns of microneedles. According to actual needs, the cutting tool can be designed to have other column numbers, i.e. the small area of single cutting can also have other column numbers. When the column number of single cutting is smaller, the shape of the final cutting is closer to the actual blood vessel profile, i.e. the cutting is more accurate.

[0129] When the needle spacing of the microneedle is different, different specifications of cutting tools can be matched to complete the cutting work, and the method is the same as the embodiment.

[0130] When the cutting area to be cut is small, if it is the area occupied by one needle, a single column type cutting tool can be matched to move the displacement corresponding to the needle spacing, so that the needle can be cut. The needle can be any position needle in the surface array, and the method is the same as the embodiment.

[0131] The embodiment also provides a computer device, which includes a memory, a processor, and a machine executable program stored in the memory and running on the processor; and the processor implements the microneedle cutting method of any one of the above embodiments when executing the machine executable program.

[0132] So far, the technical solutions of the application have been described in combination with the above embodiments. However, those skilled in the art can easily understand that the protection scope of the application is not limited to these specific embodiments. Those skilled in the art can split and combine the technical solutions in the above embodiments, or make equivalent changes or replacements to the related technical features, without deviating from the technical principles of the application. Any changes, equivalent replacements, improvements, etc. made within the technical concept and / or technical principles of the application will fall within the protection scope of the application.​

Claims

1. A microneedle tailoring device, characterized by, The micro-needle cutting device comprises: a micro-needle fixing module for fixing a micro-needle array; a cutting action execution module for cutting micro-needles in a cutting area of the micro-needle array; the cutting action execution module comprises a cutting tool, which comprises: at least two connecting structures arranged adjacent to and parallel to each other; the distance between the two adjacent connecting structures is greater than the diameter of any micro-needle in the micro-needle array, and the width of any connecting structure is less than the gap between any two adjacent micro-needles; and a shearing structure fixedly connected to the two adjacent connecting structures at both ends thereof; the cutting action execution module further comprises a moving device having an output end movable back and forth along a preset direction, wherein the preset direction comprises a first direction, a second direction and a third direction, and the first direction, the second direction and the third direction are perpendicular to each other; and the cutting action execution module is installed on the output end; the micro-needle fixing module comprises a rotation angle adjusting mechanism, a swing angle adjusting motor and a clamping assembly, the rotation angle adjusting mechanism is configured to output rotation around the first direction; the swing angle adjusting motor is installed on the output end of the rotation angle adjusting mechanism and is configured to output swing around the second direction and / or the third direction; and the clamping assembly is installed on the output end of the swing angle adjusting motor.

2. The microneedle tailoring device of claim 1, wherein, The cutting tool further comprises a main body structure; the shearing structure is arranged at the middle part of the connecting structure, or the shearing structure is arranged at one end of the connecting structure, and the end of the connecting structure without the shearing structure is connected to the main body structure.

3. The micro-needle cutting device according to claim 1, wherein: the number of shearing structures is one, and the number of connecting structures is two; or the number of shearing structures is multiple, and the difference between the number of connecting structures and the number of shearing structures is 1; the shearing structures extend linearly in the same direction and the extension direction is perpendicular to the length direction of the connecting structures.

4. The micro-needle cutting device according to claim 3, wherein: the shape of the shearing structure is linear, V-shaped, U-shaped or triangular.

5. The micro-needle cutting device according to claim 1, wherein: the moving device comprises a first Z-axis lifting motor, a first Y-axis translation motor and a first X-axis translation motor; the first Z-axis lifting motor comprises a third base, a third motor, a first lifting platform and a first lead screw, the third motor is installed on the third base, the first lead screw extends in the third direction, the first lead screw is drivingly connected to the output end of the third motor, and the first lifting platform is screwingly drivingly connected to the first lead screw. The first Y-axis translation motor comprises a fourth base, a fourth motor, a second lifting table and a second screw rod, the fourth base is installed on the first lifting table, the fourth motor is installed on the fourth base, the second screw rod extends in a second direction, the second screw rod is drivingly connected to the output end of the fourth motor, and the second lifting table is screwingly and drivingly connected to the second screw rod; The first X-axis translation motor comprises a fifth base, a fifth motor, a third lifting table, a third screw rod and a cutting tool mounting block, the third base is installed on the second lifting table, the fifth motor is installed on the fifth base, the third screw rod extends in a first direction, the third screw rod is drivingly connected to the output end of the fifth motor, and the third lifting table is screwingly and drivingly connected to the third screw rod; and the cutting tool is detachably mounted on the cutting tool mounting block.

6. The microneedle tailoring device of claim 1, wherein, The microneedle cutting device further comprises a microneedle debris collecting module for collecting the cut microneedles.

7. The microneedle tailoring device of claim 6, wherein, The microneedle cutting device further comprises: An optical lens module for collecting spatial position information of the microneedle array, the cutting action executing module and the microneedle debris collecting module in real time.

Images