Puncture performing device

Abstract

The application discloses a puncture execution device which is fixedly installed at the end of a puncture operation robot mechanical arm and is used for driving a puncture needle to complete a needle insertion action, comprising a structured light 3D camera, a puncture device and a needle insertion device; a structured light source of the structured light 3D camera and a camera are fixedly installed on the same side of the puncture device after being separated; the puncture device comprises a base, a first driving device, a second driving device and a locking device; the base is used for fixedly installing the structured light 3D camera, the first driving device, the second driving device and the locking device, and the second driving device is connected with the locking device for driving; the locking device is used for quickly disassembling and assembling the needle insertion device and can drive the needle insertion device to open or close; the first driving device drives a belt driving device in the needle insertion device to drive the puncture needle to make a needle insertion movement.

Description

Technical Field

[0001] This invention relates to the field of puncture surgical robots, and more specifically, to a puncture execution device for a puncture surgical robot. Background Technology

[0002] The puncture surgery performed by the robotic system uses a host program to insert various puncture needles, such as biopsy needles and ablation needles, into the lesion in the patient's body at a pre-set location. This not only enables real-time guidance of the puncture needle path but also overcomes the influence of human hand tremors, greatly improving the precision of the surgery.

[0003] Therefore, the inventor of this application previously disclosed a needle insertion device in Chinese Patent No. 2022113329628. The needle insertion device is an integrated structure. In the further research and development process, it was found that it was inconvenient to replace the puncture needle, and the puncture needle would still slip during the puncture process.

[0004] In addition, since the puncture needle needs to enter the human body, the requirements for the disinfection, safety and hygiene of the equipment for handling the puncture needle are extremely strict. The replacement of the contact part with the puncture needle and the replacement of the puncture needle in the above-mentioned patent require multiple steps, which is not convenient. Summary of the Invention

[0005] The purpose of this invention is to provide a puncture execution device that is directly fixedly installed at the end of a robotic arm. At the same time, a disposable needle insertion device is designed to match it. This device can not only clamp, position and perform puncture on the puncture needle, but also replace the needle insertion device with the puncture needle after each puncture operation. This can eliminate the safety hazards caused by incomplete disinfection and is very convenient to replace.

[0006] The puncture execution device of the present invention is fixedly installed at the end of the robotic arm of the puncture surgical robot and is used to drive the puncture needle to complete the needle insertion action. It includes a structured light 3D camera, a puncture device and a needle insertion device; the structured light source and the camera of the structured light 3D camera are separated and fixedly installed on the same side of the puncture device.

[0007] The puncture device includes a base, a first drive device, a second drive device, and a locking device.

[0008] The base is used to fix and install the structured light 3D camera, the first driving device, the second driving device, and the locking device. The second driving device is connected to and driven by the locking device.

[0009] The locking device is used for quick disassembly and assembly of the needle insertion device, and can drive the needle insertion device to open or close.

[0010] The first driving device drives the belt driving device in the needle insertion device to drive the puncture needle to perform needle insertion movement.

[0011] Preferably, the base includes a main mounting plate and a secondary mounting plate that are installed perpendicularly to each other. The main mounting plate has an integrally formed U-shaped groove on the side where the secondary mounting plate is installed. The secondary mounting plate includes a structural light source bracket and a camera bracket located on both sides, and a needle insertion device mounting bracket located in the middle and connecting the structural light source bracket and the camera bracket as a whole. The locking device is fixedly installed at the bottom of the needle insertion device mounting bracket.

[0012] Preferably, the locking device includes a slide rail, a first positioning block, a second positioning block, a double-threaded screw, and a locking mechanism that are fixedly installed with the needle insertion device mounting bracket;

[0013] The first positioning block and the second positioning block are symmetrically and slidably connected to the slide rail; the double-threaded screw is parallel to the slide rail and passes through the first positioning block and the second positioning block simultaneously; the first positioning block and the second positioning block are respectively located at the threaded sections in different directions on the surface of the double-threaded screw, and rotating the double-threaded screw can synchronously drive the first positioning block and the second positioning block to move relative to or opposite to each other; the middle positions of the first positioning block and the second positioning block are respectively pivotally connected to the first driving device.

[0014] Preferably, the double-threaded lead screw is a cylindrical straight rod with the cylindrical surface divided into three sections: a drive section connected to the second transmission device, a first threaded section threadedly connected to the first positioning block, and a second threaded section threadedly connected to the second positioning block.

[0015] Preferably, the first positioning block and the second positioning block are both integrally formed irregular shapes made of metal material and are symmetrical to each other, and are integrally formed with a receiving space for the needle insertion device to be placed and matched.

[0016] Preferably, the locking mechanism includes a set of elastic elements, an unlocking handle, and locking components symmetrically disposed within the first positioning block and the second positioning block, respectively.

[0017] Preferably, the needle insertion device includes a first needle clip and a second needle clip that can be closed or separated from each other, and both the first needle clip and the second needle clip are equipped with a set of belt drive devices connected to the first drive device.

[0018] Both the first needle clip and the second needle clip are integrally formed from disposable medical materials, and both include a puncture needle clamping part, a connecting part that can be detachably connected to the locking device, and a belt drive device mounting part;

[0019] After the first needle clip and the second needle clip are closed, a puncture needle mounting hole is formed in the puncture needle clamping part for the puncture needle to pass through. The puncture needle that passes through the puncture needle mounting hole is clamped between the two sets of belt drive devices.

[0020] Each set of the belt drive devices includes two or more pulleys and belts that mesh with the pulleys.

[0021] Preferably, the first pin card and the second pin card are provided with a locking structure that enables the first pin card and the second pin card to lock and separate from each other.

[0022] Preferably, the first needle holder and the second needle holder are integrally formed with V-shaped opening grooves in the puncture needle clamping part, and a guide block extends along the bottom of the opening groove. After the opening grooves of the first needle holder and the second needle holder are inserted together, they form the puncture needle mounting hole with a finely adjustable diameter.

[0023] Preferably, the locking structure includes an elliptical through hole integrally formed on the first pin clip and an irregularly shaped through hole integrally formed on the second pin clip.

[0024] The puncture execution device of this invention uses the needle insertion device and puncture needle as a single-use instrument. Each time a surgery is performed, only the needle insertion device and puncture needle need to be replaced as a whole, making the surgical procedure simpler and faster. At the same time, it can simplify the procedure of disinfecting the puncture device after each use.

[0025] The puncture execution device of this invention integrates a structured light 3D camera, a puncture device, and a needle insertion device into one unit. It has a simple structure, small size, and is suitable for performing robotic surgery in the limited space of a CT room. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural diagram of the puncture execution device in this invention.

[0027] Figure 2 This is a three-dimensional structural diagram of the puncture execution device in another direction in this invention.

[0028] Figure 3 This is a three-dimensional structural diagram of the combination of the puncture device and the needle insertion device in this invention.

[0029] Figure 4 This is a front view schematic diagram of the main mounting plate in this invention.

[0030] Figure 5 This is a three-dimensional structural diagram of the puncture device driving the needle insertion device to separate in this invention.

[0031] Figure 6This is a three-dimensional structural diagram of the second driving device and the locking device in this invention.

[0032] Figure 7 This is a three-dimensional structural diagram of the locking device in this invention.

[0033] Figure 8 This is a cross-sectional structural schematic diagram of the locking device in this invention.

[0034] Figure 9 This is a three-dimensional structural diagram of the double-threaded lead screw in this invention.

[0035] Figure 10 This is a three-dimensional structural diagram of the combination of the needle insertion device and the puncture needle in this invention.

[0036] Figure 11 This is a three-dimensional structural diagram of the needle insertion device in this invention.

[0037] Figure 12 This is a top view of the needle insertion device in this invention.

[0038] Figure 13 This is a top view of the needle insertion device in this invention when it is turned on.

[0039] Figure 14 This is a cross-sectional schematic diagram of the needle insertion device in this invention.

[0040] Figure 15 This is a three-dimensional structural diagram of the belt drive device in this invention.

[0041] Figure 16 This is a three-dimensional structural diagram of the pulley in this invention.

[0042] Figure 17 This is a three-dimensional structural diagram of the first pin card in this invention.

[0043] Figure 18 This is a three-dimensional structural diagram of the second pin card in this invention. Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings. The directional terms such as "upper," "lower," "front," and "rear" used in this application are only for the convenience and clarity of explaining the technical solutions and are not intended to limit the specific scope of protection. The relational terms such as "first" and "second" used in this application do not have a substantial sequential relationship and are merely used to distinguish different components.

[0045] The puncture execution device in this invention is directly fixedly installed at the end of the robotic arm of the puncture surgery robot. It is used to drive the puncture needle 1 to complete the needle insertion action and can release the puncture needle 1 after the puncture is completed.

[0046] like Figure 1 , Figure 2 and Figure 3 As shown, the puncture execution device of the present invention includes a structured light 3D camera, a puncture device 2, and a needle insertion device 3.

[0047] The puncture device 2 includes a base, a first drive device, a second drive device, and a locking device 6.

[0048] The base includes a flange 20, a main mounting plate 21, and a secondary mounting plate 22.

[0049] After being fixedly connected to the main mounting plate 21, flange 20 is used for fixed connection to the end of the robotic arm. A secondary mounting plate 22 is vertically mounted on the side of the main mounting plate 21 away from the flange 20.

[0050] like Figure 4 As shown, the main mounting plate 21 is integrally formed from a metal sheet with a thickness of 0.8-1.5mm. A U-shaped groove 210 is integrally formed on one side of the mounting sub-mounting plate 22 to provide sufficient space for the needle insertion device 3 and the puncture needle 1.

[0051] The secondary mounting plate 22 is integrally formed from a metal sheet with a thickness of 0.8-1.5mm and is U-shaped. It includes a structural light source mounting bracket 220 and a camera mounting bracket 221 located on both sides, and a needle insertion device mounting bracket 222 located in the middle and connecting the structural light source mounting bracket 220 and the camera mounting bracket 221 into one unit.

[0052] The first drive device includes a first servo motor 26 fixedly installed below the main mounting plate 21, and a first transmission device 23 that is connected to the belt drive device 50 in the needle feeding device 3.

[0053] The second drive device includes a second servo motor 9 fixedly installed below the main mounting plate 21 and behind the structural light source mounting bracket 220, and a second transmission device 24 used to drive the locking device 6 to open and close. The first transmission device 23 and the second transmission device 24 can adopt various mechanical transmissions such as belt drive and gear drive, as long as the accuracy requirements are met. This is easy to implement for those skilled in the art, and will not be described in detail here.

[0054] The structured light 3D camera includes a camera 10, which is disassembled and fixedly mounted on the same side of the puncture device 2, and a structured light source 11. The camera 10 is mounted perpendicular to the main mounting plate 21 via a camera mount 221, allowing for the acquisition of native image information during scanning measurements and achieving optimal placement, thus resulting in more accurate dimensional measurements. The structured light source 11 is mounted at a certain angle to the main mounting plate 21 via a structured light source mount 220, with an angle ranging from 30 to 60 degrees, and an optimal angle of 45 degrees. Figure 2As shown. After the structured light source 11 and camera 10 are fixedly installed, the light source coverage of the structured light source 11 and the shooting range of the camera 10 can be located below the needle insertion device 3 in a way that exactly overlaps, completely covering the puncture range of the needle insertion device 3.

[0055] like Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, the locking device 6 includes a slide rail 60, a double-threaded screw 61, a first positioning block 65 and a second positioning block 62 symmetrically arranged on the double-threaded screw 61, and a locking mechanism for releasing and locking the disposable needle insertion device 3.

[0056] like Figure 3 As shown, the slide rail 60 is fixed in parallel to the bottom of the needle insertion device mounting bracket 222 via bolts and other connecting parts, and the locking device 6 is hung on the auxiliary mounting plate 22 as a whole.

[0057] like Figure 6 , Figure 7 and Figure 8 As shown, the first positioning block 65 and the second positioning block 62 are both symmetrical irregular-shaped parts integrally formed of metal material, which can be assembled with the needle insertion device 3. After being symmetrically arranged, they are slidably connected to the slide rail 60, and can slide freely on the slide rail 60 in opposite directions. A first through hole 66 is integrally formed in the middle position for the first transmission device 23 drive shaft 230 to pivot. Figure 1 As shown. A receiving space 67 for inserting the needle insertion device 3 is integrally formed at the first through hole 66. An insertion groove 69 for connecting and inserting the needle insertion device 3 is provided on the side of the receiving space 67. A locking mechanism for locking and unlocking the needle insertion device 3 is further provided outside the insertion groove 69, such as... Figure 8 As shown, the locking mechanism includes an unlocking handle 63, an elastic element 64, and a sliding locking element 68.

[0058] The double-threaded lead screw 61 is parallel to the slide rail 60 and passes through both the first positioning block 65 and the second positioning block 62, as shown below. Figure 9 As shown, the double-threaded lead screw 61 is a straight rod divided into three sections on its cylindrical surface: a drive section 610 connected to the second transmission device 24, a first threaded section 611 threadedly connected to the first positioning block 65, and a second threaded section 612 threadedly connected to the second positioning block. While the second transmission device 24 drives the double-threaded lead screw 61 to rotate, the first positioning block 65 on the first threaded section 611 and the second positioning block 62 on the second threaded section 612 can move linearly along the slide rail 60 in opposite or opposing directions. This allows the first positioning block 65 and the second positioning block 62 to move in both opening and closing modes.

[0059] Preferably, a safety plate (not shown in the figure) for limiting the downward movement of the puncture needle 1 is provided at the bottom of the puncture device 2. The safety plate can be manually inserted and pulled out or electrically controlled, which is easy to implement for those skilled in the art and will not be described in detail here.

[0060] like Figure 10 , Figure 11 , Figure 12 and Figure 13 As shown, the needle insertion device 3 includes a first needle holder 30 and a second needle holder 31, both integrally formed from medical materials, and a locking pin 32 for locking the first needle holder 30 and the second needle holder 31. The bodies of the first needle holder 30 and the second needle holder 31 are both integrally formed with a belt drive mounting part 33, a puncture needle clamping part 34, a locking pin insertion part 35, and a connecting part 38 that can be quickly detached from or fixedly connected to the puncture device 2. Specifically:

[0061] After the first needle holder 30 and the second needle holder 31 are combined, the belt drive mounting parts 33 of the first needle holder 30 and the second needle holder 31 are arranged in parallel. Both the first needle holder 30 and the second needle holder 31 have parallelly distributed puncture needle clamping parts 34 and locking pin insertion parts 35 at both ends of the belt drive mounting parts 33. The puncture needle clamping parts 34 and locking pin insertion parts 35 on the first needle holder 30 and the second needle holder 31 are interlocked (paired). After the first needle holder 30 and the second needle holder 31 are paired (closed), a puncture needle mounting hole 36 for the puncture needle 1 to pass through is formed between the two puncture needle clamping parts 34, and a locking pin insertion hole 39 for the locking pin 32 to pass through is formed between the two locking pin insertion parts 35. Figure 12 and Figure 14 As shown, the puncture needle mounting hole 36 and the locking pin insertion hole 39 are arranged in parallel. The puncture needle mounting hole 36 is located at the middle position of the belts 37 of the two sets of belt drive devices 50, so that the puncture needle 1 is inserted into the puncture needle mounting hole 36 and passes through the gap between the middle positions of the two belts 37.

[0062] After the locking pin 32 is inserted into the locking pin insertion hole 39, the first pin clip 30 and the second pin clip 31 are combined into a whole. The first pin clip 30 and the second pin clip 31 can be opened and closed around the locking pin 32. During the operation, the first pin clip 30 and the second pin clip 31 are first opened around the locking pin 32, as shown below. Figure 13As shown, after inserting the puncture needle 1 into the puncture needle mounting hole 36, the first needle holder 30 and the second needle holder 31 are closed with the locking pin 32 as the axis, limiting the puncture needle 1. At this time, the puncture needle 1 can move freely up and down within the puncture needle mounting hole 36. Next, the medical staff holds the belt drive device mounting part 33 of the first needle holder 30 and the second needle holder 31 with one hand, and presses the unlocking handle 63 of the locking device 6 with the other hand. The connecting part 38 of the needle insertion device 3 is inserted into the insertion slot 69 of the locking device 6. The unlocking handle 63 is released, and the reset function of the elastic element 64 makes the locking fastener 68 and the connecting part 38 firmly connected. When disassembling the needle insertion device 3, the unlocking handle 63 is still pressed with one hand, and the locking fastener 68 releases the connection with the connecting part 38, so the needle insertion device 3 can be quickly removed from the puncture device 2.

[0063] The puncture needle 1 is positioned in the initial position before surgery by means of the safety plate in the puncture device 2.

[0064] Finally, the locking pin 32 was removed, and the patient entered the waiting stage for the puncture surgery.

[0065] The belt drive mounting part 33 is integrally formed with the first needle holder 30 or the second needle holder 31, or it can be separate and connected by a slider or slide rail. This embodiment is described as integrally formed, including two second through holes 25 with two shafts arranged in parallel. The two second through holes 25 are distributed along the insertion direction of the puncture needle 1. Specifically, the two second through holes 25 are arranged in parallel at the top and bottom. A step 26 is formed in the middle of the inner wall surface of the second through hole 25. The two ends of the second through hole 25 are rotatably connected to the shaft 40 of the pulley 4 through bearings 27.

[0066] like Figure 16 and Figure 17 As shown, a V-shaped opening groove 42 is provided at the puncture needle clamping part 34, and a guide block 43 extends along the bottom of the opening groove 42. The guide block 43 is used to guide the insertion of the puncture needle 1 and prevent the puncture needle 1 from tilting during the insertion process. The puncture needle clamping parts 34 on the first needle holder 30 and the second needle holder 31 can be interlocked and stacked together. By moving the first needle holder 30 and the second needle holder 31 horizontally towards or away from each other, the size of the puncture needle mounting hole 36 formed between the two V-shaped opening grooves 42 will change, thereby adjusting the size of the puncture needle mounting hole 36 formed by the interlocking of the two grooves 30, so as to accommodate puncture needles 1 of various thicknesses.

[0067] The locking pin insertion part 35 includes an elliptical through hole 44 provided on the first pin holder 30 and an irregularly shaped through hole 45 provided on the second pin holder 31. The irregularly shaped through hole 45 includes an elliptical portion that can overlap with the elliptical through hole 44, and a protrusion extending from one side of the elliptical portion, such as... Figure 18As shown. After the locking pin insertion portions 35 of the first pin clip 30 and the second pin clip 31 are overlapped, the elliptical through hole 44 and the irregular through hole 45 form the locking pin insertion hole 39. With the help of the irregular through hole 45, the elastic locking pin 32 can limit the opening angle of the first pin clip 30 relative to the second pin clip 31. The locking pin 32 can be made of a flexible metal material for easy insertion and removal.

[0068] In this embodiment, the connecting part 38 is integrally formed with hooks that are arranged opposite to each other at two positions of the first needle holder 30 and the second needle holder 31. By using the two oppositely arranged inverted cone shape hooks and the insertion part 69 in the locking device 6, the quick connection, fixation and disassembly of the disposable needle insertion device 3 in this invention can be realized.

[0069] like Figure 15 and Figure 16 As shown, the belt drive device 50 includes two pulleys 4 and a belt 37 meshing with the pulleys 4. The number of pulleys 4 can also be more than two, corresponding to the provision of two or more second through holes 25. This application preferably uses two pulleys 4. Each pulley 4 includes a rotating shaft 40 that inserts into the second through hole 25 and can rotate freely, a synchronous pulley 41 integrally formed at one end of the rotating shaft 40, and a locking part 42 integrally formed at the other end. Multiple internal locking teeth 44 are provided on the inner wall of the synchronous pulley 41, and external teeth for meshing with the belt 37 are provided on the outer surface of the synchronous pulley 41. The internal locking teeth 44 are used for plugging and unplugging connection with the output shaft 230 of the first transmission device 23. After connection and positioning, they can drive the pulley 4 to rotate. In this embodiment, there are six internal locking teeth 44. The number of locking teeth can also be four, eight, or other values. The six locking teeth can be evenly spaced or non-evenly spaced, depending on the shape of the output shaft of the piercing actuator.

[0070] Two pulleys 4 are inserted parallel to each other into the belt 37, located at both ends of the belt 37, and connected to the meshing teeth on the inner surface of the belt 37. The shafts 40 of the two pulleys 4 are respectively inserted into the second through holes 25 and locked in place by two locking fasteners (open retaining rings 7). The open retaining rings 7 are engaged in the grooves of the locking part 42, so that the two pulleys 4 are in a separated state (not in contact with each other) and the belt 37 is in a tensioned state. The shafts 40 can rotate freely in the second through holes 25 through the bearings 27. Through the meshing connection between the pulleys 4 and the belt 37, the rotation of any one pulley 4 can drive the other pulley 4 and the belt 37 to rotate synchronously.

[0071] To prevent the belt 37 from slipping off the pulley 4, a limiting part 43 is provided at the end of the synchronous pulley 41 away from the shaft 40, and the limiting part 43 can be provided only on the synchronous pulley 41 of one pulley 4.

Claims

1. A puncture execution device, fixedly installed at the end of a puncture surgical robot arm, for driving a puncture needle to complete the needle insertion action, comprising a structured light 3D camera, a puncture device, and a needle insertion device; wherein the structured light source and the camera of the structured light 3D camera are separated and fixedly installed on the same side of the puncture device; characterized in that, The puncture device includes a base, a first drive device, a second drive device, and a locking device. The base is used to fix and install the structured light 3D camera, the first driving device, the second driving device, and the locking device. The second driving device is connected to and driven by the locking device. The locking device is used for quick disassembly and assembly of the needle insertion device, and can drive the needle insertion device to open or close. The locking device includes a slide rail, a first positioning block, a second positioning block, a double-threaded screw, and a locking mechanism that are fixedly installed with the needle insertion device mounting bracket. The locking mechanism includes a set of elastic elements, an unlocking handle, and a locking element respectively symmetrically disposed in the first positioning block and the second positioning block; The first driving device drives the belt driving device in the needle insertion device to drive the puncture needle to perform needle insertion movement; The needle insertion device includes a first needle clip and a second needle clip that can close or separate from each other. Both the first needle clip and the second needle clip are equipped with a set of belt drive devices connected to the first drive device. Both the first needle clip and the second needle clip are integrally formed from disposable medical materials, and both include a puncture needle clamping part, a connecting part that can be detachably connected to the locking device, and a belt drive device mounting part; After the first needle clip and the second needle clip are closed, a puncture needle mounting hole is formed in the puncture needle clamping part for the puncture needle to pass through. The puncture needle, which passes through the puncture needle mounting hole, is clamped between the two sets of belt drive devices.

2. The puncture performing device according to claim 1, characterized in that The base includes a main mounting plate and a secondary mounting plate that are installed perpendicularly to each other. The main mounting plate has an integrally formed U-shaped groove on the side where the secondary mounting plate is installed. The secondary mounting plate includes a structural light source bracket and a camera bracket located on both sides, and a needle insertion device mounting bracket located in the middle and connecting the structural light source bracket and the camera bracket as a whole. The locking device is fixedly installed at the bottom of the needle insertion device mounting bracket.

3. The puncture performing device of claim 1, wherein In the locking device, the first positioning block and the second positioning block are symmetrically and slidably connected to the slide rail; the double-threaded screw is parallel to the slide rail and passes through the first positioning block and the second positioning block simultaneously; the first positioning block and the second positioning block are respectively located at the threaded sections in different directions on the surface of the double-threaded screw, and rotating the double-threaded screw can synchronously drive the first positioning block and the second positioning block to move relative to or opposite to each other; the middle positions of the first positioning block and the second positioning block are respectively pivotally connected to the first driving device.

4. The puncture performing device of claim 3, wherein The double-threaded lead screw is a cylindrical straight rod with its cylindrical surface divided into three sections: a drive section connected to the second transmission device, a first threaded section threadedly connected to the first positioning block, and a second threaded section threadedly connected to the second positioning block.

5. The puncture performing device of claim 3, wherein The first positioning block and the second positioning block are both integrally formed and symmetrical irregular shapes made of metal material, and are integrally formed with a receiving space for the needle insertion device to be placed and matched.

6. The puncture performing device of claim 1, wherein Each set of the belt drive devices includes two or more pulleys and belts that mesh with the pulleys.

7. The puncture performing device of claim 6, wherein The first and second pin cards are provided with locking structures that enable the first and second pin cards to lock and separate from each other.

8. The puncture performing device of claim 7, wherein, The first and second needle clips are integrally formed with V-shaped opening grooves in the puncture needle clamping part, and a guide block extends along the bottom of the opening groove. When the opening grooves of the first and second needle clips are inserted together, they form the puncture needle mounting hole with a finely adjustable diameter.

9. The puncture performing device of claim 7, wherein, The locking structure includes an elliptical through hole integrally formed on the first pin and an irregularly shaped through hole integrally formed on the second pin.

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