A needle insertion device for spinal anesthesia and an operation method thereof

Abstract

The application discloses a needle insertion device for a spinal anesthesia puncture operation and an operation method thereof. The needle insertion device comprises a posture adjusting mechanism and a needle insertion mechanism. Four identical spherical scissors mechanism branches of the posture adjusting mechanism are hinged to a top platform and a base in a parallel form, and the top platform is fixedly connected with the needle insertion mechanism. The posture of a puncture needle can be adjusted through the movement of the spherical scissors mechanism. The needle insertion mechanism comprises a rotating mechanism, a feeding mechanism and a needle adapter. The output of a motor is transmitted to a rack through gear transmission to realize the feeding of the puncture needle. The feeding mechanism adopts a epicyclic gear train to realize the rotation of the puncture needle while feeding. The application improves the simplicity of the posture adjustment of the puncture needle, provides a sustainable rotation, automatic feeding and withdrawal of the needle, realizes the coupling of the feeding and rotation of the puncture needle, reduces the driving freedom, and the mechanism is light in weight, thereby reducing the flexure of the needle in the tissue to improve the puncture accuracy.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a needle insertion device for lumbar anesthesia puncture surgery. Background Technology

[0002] Subarachnoid block, also known as spinal anesthesia, is an anesthetic method in which local anesthetic is injected into the cerebrospinal fluid in the subarachnoid space via spinal puncture. This anesthetic acts on the spinal nerve roots or the areas innervated by the spinal nerves to produce an anesthetic effect. During anesthesia, a puncture needle is used to enter the subarachnoid space, and then anesthesia is administered by inserting an anesthetic needle.

[0003] However, existing spinal canal puncture needles are usually manually positioned and punctured by experienced medical personnel during the puncture process. The puncture process requires high puncture skills from the medical personnel and often requires assistance from other medical personnel, making the overall puncture operation difficult.

[0004] The development of robot-assisted puncture technology has provided a new approach to solving the above problems. Compared with manual puncture, robot-assisted puncture has greater advantages in terms of safety, stability and accuracy.

[0005] Wu Dianlin invented an auxiliary needle insertion device for spinal anesthesia, which can assist doctors in adjusting the posture of the puncture needle and inserting the needle; Duan Yuzhou designed a triangular puncture robot for spinal anesthesia, placing the drive at the base of the mechanism, which can reduce the space occupied at the end of the operation and the moment of inertia.

[0006] During the puncture process, the rotation of the puncture needle can reduce the deflection of the puncture needle caused by tissue pressure, thereby improving the puncture accuracy; however, the needle insertion mechanism in the robots currently used for spinal puncture surgery cannot provide the freedom of rotation of the puncture needle. Summary of the Invention

[0007] Purpose of the invention: This invention provides a needle insertion device for lumbar anesthesia puncture surgery. The purpose is to guide and assist the puncture needle insertion, and to provide continuous rotation and automatic needle advance and retraction, thereby reducing the difficulty of puncture needle insertion, reducing the deflection of the puncture needle in the tissue to improve puncture accuracy, and at the same time realizing the coupling of puncture needle rotation and feed to reduce the use of drive source and improve the portability of the mechanism.

[0008] The present invention also provides a method for operating the needle insertion device for the above-mentioned spinal anesthesia puncture surgery.

[0009] Technical solution: To achieve the above objectives, the needle insertion device for lumbar anesthesia puncture surgery of the present invention can adopt the following technical solution:

[0010] A needle insertion device for spinal anesthesia puncture surgery includes a posture adjustment mechanism and a needle insertion mechanism;

[0011] The attitude adjustment mechanism includes a base, a top platform, and several spherical scissor mechanisms connecting the base and the top platform; these spherical scissor mechanisms are connected in parallel and hinged to the base and the top platform respectively.

[0012] The needle insertion mechanism includes a base plate fixed to the top platform, a large gear mounted on the base plate via a large gear shaft, a driver that drives the large gear and the large gear shaft to rotate, a planetary carrier coaxially mounted on the large gear shaft, planetary gears mounted on the planetary carrier, a central wheel surrounding the planetary carrier and meshing with the planetary gears, a gear transmission mechanism mounted on the planetary carrier, and a needle adapter; an annular top is provided above the planetary carrier, and the planetary gears are mounted below the annular top via bearings, with the planetary gear shaft of the planetary gears passing through the annular top upwards;

[0013] The gear transmission mechanism includes a first bevel gear mounted above the planetary gear shaft, a second bevel gear that meshes with the first bevel gear, and a pinion coaxially connected to the second bevel gear; the needle adapter includes a rack that meshes with the pinion and extends vertically, a transmission rod located on one side of the rack and extending parallel to the rack, and a puncture needle located below the rack and extending downward; the large gear shaft is provided with a through hole and a positioning hole, the rack passes through the through hole, and the transmission rod passes through the positioning hole so that the needle adapter is positioned laterally relative to the large gear shaft.

[0014] Furthermore, the extension, retraction, and rotation of the spherical scissor mechanism cause the needle insertion mechanism to move along a virtual sphere, with the puncture needle passing through the center of that sphere.

[0015] Furthermore, the spherical scissor mechanism includes an inner short arc rod, an outer short arc rod, an inner long arc rod, and an outer long arc rod; the short arc rods are hinged together by a bottom connecting shaft; the long arc rods are hinged together with the short arc rods and with each other by an intermediate connecting shaft; the spherical scissor mechanism performs telescopic motion, and the output motion is circular track motion.

[0016] Furthermore, the spherical scissor mechanism is provided with four and evenly distributed along the circumference, wherein at least two of the spherical scissor mechanisms are provided with locking units at the bottom; the locking unit is a hand-tightening screw set at the hinge of two short arc rods as a hinge axis, and the hinge hole at the hinge of the two short arc rods is an internal thread that mates with the hand-tightening screw. When the hand-tightening screw is tightened, the spherical scissor mechanism is locked.

[0017] The locking unit is a spherical scissor mechanism where the inner and outer short arc rods at the bottom joint are replaced with thick-walled inner arc rods and thick-walled outer short arc rods, respectively. The two are hinged together by a threaded connecting shaft. The inner hole of the threaded connecting shaft has an internal thread that mates with a hand screw. When the hand screw is tightened, the spherical scissor mechanism is locked. When two or more hand screws are tightened, the entire attitude adjustment mechanism is locked.

[0018] Furthermore, the planetary carrier includes an arc-shaped base, an arc-shaped top, and an arc-shaped sidewall connecting the base and the top. The two ends of the arc-shaped top are connected to arc-shaped lower support members. The top and lower support members together form a ring structure, and a space is formed below the lower support members for the planetary gear to mesh with the central gear. The gear shaft of the planetary gear is mounted on the lower support members through bearings.

[0019] Furthermore, it also includes a center wheel support frame mounted on the base plate. The center wheel support frame includes an annular frame and support legs extending downward from both sides of the frame and fixed to the base plate. The large gear is located between the two support legs, and the center wheel is fixed inside the frame and suspended above the large gear.

[0020] Furthermore, the driver includes a motor mounted on the base plate and a drive wheel located below the motor. The drive wheel is coaxially connected to the output shaft of the motor and meshes with a large gear.

[0021] Furthermore, the needle adapter also includes an upper connector, a lower connector, and a sleeve; the top of the rack is fixedly connected to the transmission rod via the upper connector, and the bottom of the rack is fixedly connected to the transmission rod via the lower connector; the sleeve is fixedly connected to the bottom of the transmission rod, and the sleeve is fixedly connected to the puncture needle.

[0022] Furthermore, the base is provided with fastening straps.

[0023] The present invention also provides an operating method for the needle insertion device of the above-mentioned spinal anesthesia puncture surgery. The operating method is as follows: the needle insertion device is fixed in a predetermined position, and the needle insertion device is moved to the predetermined position along a circumferential surface by the posture adjustment mechanism, and then the posture adjustment mechanism is locked; then the large gear is driven to rotate by the driver, so that the large gear drives the planetary carrier and planetary gears to revolve, and at the same time the planetary gears rotate and drive the rack to feed through the gear transmission mechanism, thereby driving the puncture needle to feed while rotating.

[0024] Compared with the prior art, the needle insertion device for spinal anesthesia puncture surgery provided by the present invention has the following beneficial effects:

[0025] (1) It provides rotational freedom for the puncture needle, reduces the deflection of the puncture needle caused by tissue pressure, and improves the puncture accuracy; and through structural design, it realizes the coupling of the puncture needle's feeding freedom and rotational freedom, that is, the puncture needle can achieve feeding and rotation at the same time through a single driver, reducing the driving freedom and improving the portability of the mechanism.

[0026] (2) Several spherical scissor mechanisms adopt a parallel structure, which has high rigidity and compact structure. Attached Figure Description

[0027] Figure 1 This is a three-dimensional schematic diagram of the needle insertion device for lumbar anesthesia puncture surgery of the present invention;

[0028] Figure 2 This is a three-dimensional schematic diagram of the attitude adjustment mechanism in this invention;

[0029] Figure 3 This is a three-dimensional schematic diagram of the branches of the spherical scissor mechanism in this invention;

[0030] Figure 4 This is a three-dimensional schematic diagram and a partial cross-sectional view of the locking unit in this invention;

[0031] Figure 5 This is a three-dimensional schematic diagram of the needle insertion mechanism in this invention;

[0032] Figure 6 This is a three-dimensional schematic diagram of the rotating mechanism in this invention;

[0033] Figure 7 This is a three-dimensional schematic diagram of the feeding mechanism in this invention;

[0034] Figure 8 This is an exploded view of the feeding mechanism in this invention;

[0035] Figure 9 This is a three-dimensional schematic diagram of the needle adapter in this invention. Detailed Implementation

[0036] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0037] Please combine Figure 1 As shown, the present invention provides a needle insertion device for lumbar anesthesia puncture surgery, including a posture adjustment mechanism 1 and a needle insertion mechanism 2.

[0038] Please combine Figures 2 to 4As shown, the top platform 14 of the posture adjustment mechanism 1 is fixedly connected to the base plate 213 of the needle insertion mechanism 2 by screws to achieve the connection between the posture adjustment mechanism 1 and the needle insertion mechanism 2. The posture adjustment mechanism 1 includes four spherical scissor mechanisms 13, a base 11, a top platform 14, a locking unit 16, and a fastening strap 15. The spherical scissor mechanisms 13 are connected to the base 11 and the top platform 14 in parallel. The extension, contraction, and rotation of the spherical scissor mechanisms 13 enable the top platform 14 to move along a virtual sphere, thereby enabling the needle insertion mechanism 2 to move along the sphere. The fastening strap 15 is used to bind the needle insertion device to the human body.

[0039] Please combine Figure 2 and Figure 3 As shown, each spherical scissor lift mechanism 13 includes an inner short arc-shaped rod 131, an outer short arc-shaped rod 136, an inner long arc-shaped rod 135, and an outer long arc-shaped rod 132. The short arc-shaped rods are hinged to each other via a bottom connecting shaft 133, and a deep groove ball bearing is provided between the rod and the shaft to reduce the motion damping and wear of the rod. The long arc-shaped rods are hinged to the short arc-shaped rods and to each other via a connecting shaft 134, and a flanged deep groove ball bearing is provided between the rod and the shaft to reduce the motion damping and wear of the rod. The spherical scissor lift mechanism 13 can realize telescopic movement, and the output movement is circular track movement. In the spherical scissor lift mechanism 13, the protruding part of the bottom connecting shaft 133 of the fixed end joint faces inward toward the spherical surface and is hinged to the base 11 via a receiving member 12; the protruding part of the bottom connecting shaft 133 of the movable end joint faces outward toward the spherical surface and is hinged to the top platform 14. In the spherical scissor mechanism 13, the bottom connecting shaft 133 of the fixed end joint is hinged to the receiving member 12, and the receiving member 12 is fixedly connected to the base 11 by screws; the spherical scissor mechanism 13 can rotate around the fixed end joint.

[0040] Please combine Figure 2 and Figure 4 As shown, at least two spherical scissor lift mechanisms are provided with locking units 16 at their bottoms. The locking unit is a hand-tightening screw 161 set at the hinge of two short arc rods as a hinge shaft. The hinge hole at the hinge of the two short arc rods is an internal thread that mates with the hand-tightening screw 161. When the hand-tightening screw 161 is tightened, the spherical scissor lift mechanism is locked. The locking of the spherical scissor lift mechanism 13 is achieved by friction locking.

[0041] The locking unit 16 is a spherical scissor mechanism where the inner short arc rod 131 and the outer short arc rod 136 at the bottom joint are replaced by a thick-walled inner arc rod 163 and a thick-walled outer short arc rod 164, respectively. The two are hinged by a threaded connecting shaft 162. The inner hole of the threaded connecting shaft 162 has an internal thread that mates with a hand screw 161. When the hand screw 161 is tightened, the spherical scissor mechanism 13 is locked. When two or more hand screws 161 are tightened, the entire attitude adjustment mechanism 1 is locked.

[0042] Please combine Figures 2 to 9 As shown, the needle feeding mechanism 2 includes a feeding mechanism 22, a rotating mechanism 21, and a needle adapter 23. The feeding mechanism 22 is fixedly connected to the rotating mechanism 21. The rotating mechanism 21 includes a motor 211, a drive wheel 212, a large gear 214, and a large gear shaft 215. The output shaft of the motor 211 is fixedly connected to the drive wheel 212. The motor 211 is fixedly connected to the base plate 213 via a motor support frame 216 and screws. The large gear 214 is fixedly connected to the base plate 213 via the large gear shaft 215. A deep groove ball bearing is installed between the large gear shaft 215 and the base plate 213 to reduce motion damping and wear. During operation, the motor 211 outputs motion to the drive wheel 212, which meshes with the large gear 214, driving the large gear 214 to rotate. The feeding mechanism 22 includes a center wheel 221, a planetary carrier 225, planetary gears 222, a first bevel gear 2281, a second bevel gear 2282, and a pinion 226. The central wheel 221 is fixedly connected to the central wheel support frame 223, and the central wheel support frame 223 and the base plate 213 are fixedly connected by screws. The central wheel support frame 223 includes an annular frame 2231 and support legs 2232 extending downward from both sides of the frame and fixed to the base plate 213. The large gear 214 is located between the two support legs 2232, and the central wheel 221 is fixed to the inside of the frame 2231 and suspended above the large gear 214. The planetary carrier 225 is fixedly connected to the large gear shaft 215 of the rotating mechanism 21 by screws. The planetary carrier 225 includes an arc-shaped base 2251, an arc-shaped top 2252, and an arc-shaped sidewall 2253 connecting the base 2251 and the top 2252. Arc-shaped lower support members 224 are connected to both ends of the arc-shaped top 2252. The top 2252 and the lower support member 224 together form a ring structure, and a space is formed below the lower support member 224 for the planetary gear 222 to mesh with the central gear 221. The gear shaft of the planetary gear 222 is mounted on the lower support member 224 via bearings. The planetary gear 222 and the lower support member 224 are connected by a bore-shaft connection, with a bearing 2210 at the connection point. The lower support member 224 is fixedly connected to the planetary carrier 225 by screws 229. The planetary gear 222 meshes with the central gear 221. During operation, the large gear 214 of the rotating mechanism 21 drives the large gear shaft 215 to rotate, the large gear shaft 215 drives the planet carrier 225 to rotate, the central gear 221 is fixed, and the planet carrier 225 drives the planet gear 222 to rotate, thereby realizing the rotation of the planet gear 222 and its revolution around the axis of the large gear shaft 215, that is, planetary motion.

[0043] In the feeding mechanism 22, the planetary gear 222 is fixedly connected to the first bevel gear 2281 via a hole-shaft engagement, and the pinion 226 is fixedly connected to the second bevel gear 2282 via a hole-shaft engagement. The first bevel gear 2281 and the second bevel gear 2282 are orthogonally meshed. The pinion 226 is connected to the upper support member 227 via a hole-shaft engagement, and a bearing is provided at the connection point. The upper support member 227 and the lower support member 224 are fixedly connected by screws. During operation, the rotation of the planetary gear 222 is transmitted to the pinion 226 through the first bevel gear 2281 and the second bevel gear 2282 to achieve the rotation of the pinion 226. The upper support member 227, the pinion 226, the lower support member 224, the planetary gear 222, and the bevel gear 228 are all mounted on the planet carrier 225 and rotate with the planet carrier 225.

[0044] The top of the rack 231 in the needle adapter 23 is fixedly connected to the top of the transmission rod 233 via an upper connector 232, and the bottom of the rack 231 is fixedly connected to the bottom of the transmission rod 233 via a lower connector 234. A sleeve 235 is fixedly connected to the bottom of the transmission rod 233, and the sleeve 235 is fixedly connected to the puncture needle 236. The puncture needle 236 is coaxially arranged with the large gear 214 and the center wheel 221. The rack 231 meshes with the small gear 226 in the feed mechanism 22. Furthermore, the large gear shaft 215 is provided with a through hole 2151 and a positioning hole 2152 passing through the large gear shaft 2155; the rack 231 passes through the through hole 2151, and the transmission rod 233 passes through the positioning hole 2152, so that the needle adapter 23 is positioned laterally relative to the large gear shaft 215. In this embodiment, the positioning hole 2152 is a hexagonal hole, and the cross-section of the transmission rod 233 is also hexagonal to correspond and cooperate with the positioning hole 2152. Work - +0

[0045] Therefore, through the above structure, the rotation of the large gear not only drives the planetary carrier 225 and planetary gear 222 to revolve, but also drives the puncture needle 236 to rotate at the center of the planetary carrier 225 through the positioning hole 2152. At the same time, the rotation of the large gear shaft 215 is transmitted to the small gear 226 through the planetary carrier 225, the planetary gear train and the bevel gear to realize the feed of the rack, and thus realize the feed of the puncture needle 236. Therefore, the puncture needle 236 moves forward and backward while rotating, and each process has only one drive source, namely the motor 211, realizing the coupling of the rotational degree of freedom and the feed degree of freedom of the puncture needle 236.

[0046] During operation, the needle insertion mechanism 2 rotates along the spherical surface via the top platform 14 of the posture adjustment mechanism 1. Through the designed installation method, the axis of the puncture needle 236 passes through the center of the sphere, thereby adjusting the posture of the puncture needle 236. After the posture of the puncture needle 236 is adjusted, the needle insertion device is locked by tightening the hand screw 161. After fixing the posture of the puncture needle 236, the motor 211 is started to achieve automatic needle insertion, providing continuous rotation while inserting the needle. After puncture, the rotation direction can be adjusted to withdraw the needle.

[0047] This invention has many specific applications. The above description is only a preferred embodiment of this invention. It should be noted that for those skilled in the art, several improvements can be made without departing from the principle of this invention, and these improvements should also be considered within the scope of protection of this invention.

Claims

1. A needle insertion device for lumbar anesthesia puncture surgery, characterized in that: It includes a posture adjustment mechanism (1) and a needle insertion mechanism (2); The attitude adjustment mechanism (1) includes a base (11), a top platform (14), and a plurality of spherical scissor mechanisms (13) connecting the base (11) and the top platform (14); the plurality of spherical scissor mechanisms (13) are hinged to the base (11) and the top platform (14) in parallel. The needle insertion mechanism (2) includes a base plate (213) fixed on the top platform (14), a large gear (214) mounted on the base plate (213) via a large gear shaft (215), a driver that drives the large gear (214) and the large gear shaft (215) to rotate, a planetary carrier (225) coaxially mounted on the large gear shaft (215), a planetary gear (222) mounted on the planetary carrier (225), a center wheel (221) surrounding the planetary carrier (225) and meshing with the planetary gear (222), a gear transmission mechanism mounted on the planetary carrier (225), and a needle adapter (23); the planetary carrier (225) is provided with an annular top above it, and the planetary gear (222) is mounted below the annular top via a bearing and the planetary gear axis of the planetary gear (222) passes through the annular top upward; The gear transmission mechanism includes a first bevel gear (2281) mounted above the planetary gear shaft, a second bevel gear (2282) cooperating with the first bevel gear (2281), and a pinion (226) coaxially connected to the second bevel gear (2282); the needle adapter (23) includes a rack (231) meshing with the pinion (226) and extending vertically, a transmission rod (233) located on one side of the rack (231) and extending parallel to the rack (231), and a puncture needle (236) located below the rack (231) and extending downward; the large gear shaft (215) is provided with a through hole (2151) and a positioning hole (2152) passing through the large gear shaft (215), the rack (231) passing through the through hole (2151), and the transmission rod (233) passing through the positioning hole (2152) so that the needle adapter (23) is positioned laterally relative to the large gear shaft (215).

2. The needle insertion device for lumbar anesthesia puncture surgery according to claim 1, characterized in that: The extension and rotation of the spherical scissor mechanism (13) cause the needle insertion mechanism (2) to move along a virtual sphere, and the puncture needle (236) passes through the center of the sphere.

3. The needle insertion device for lumbar anesthesia puncture surgery according to claim 1 or 2, characterized in that: The spherical scissor mechanism (13) includes an inner short arc rod (131), an outer short arc rod (136), an inner long arc rod (135), and an outer long arc rod (132); the short arc rods are hinged to each other through a bottom connecting shaft (133); the long arc rods are hinged to the short arc rods and to each other through an intermediate connecting shaft (134); the spherical scissor mechanism (13) performs telescopic motion, and the output motion is circular track motion.

4. The needle insertion device for lumbar anesthesia puncture surgery according to claim 3, characterized in that: The spherical scissor mechanism (13) has four parts and is evenly distributed along the circumference, wherein at least two of the spherical scissor mechanisms (13) have a locking unit (16) at the bottom; the locking unit (16) is a hand-tightening screw (161) set at the hinge of two short arc rods as a hinge axis, and the hinge hole at the hinge of the two short arc rods is an internal thread that mates with the hand-tightening screw (161). When the hand-tightening screw (161) is tightened, the spherical scissor mechanism (13) is locked; when two or more hand-tightening screws (161) are tightened, the entire attitude adjustment mechanism (1) is locked.

5. The needle insertion device for lumbar anesthesia puncture surgery according to claim 1, characterized in that: The planetary carrier (225) includes an arc-shaped base (2251), an arc-shaped top (2252), and an arc-shaped sidewall (2253) connecting the base (2251) and the top (2252). The arc-shaped top (2252) is connected to two arc-shaped lower support members (224) at both ends. The top (2252) and the lower support member (224) together form a ring structure, and a space is formed below the lower support member (224) for the planetary gear (222) to mesh with the central gear (221). The gear shaft of the planetary gear (222) is mounted on the lower support member (224) through bearings.

6. The needle insertion device for lumbar anesthesia puncture surgery according to claim 1 or 5, characterized in that: It also includes a center wheel support frame (223) mounted on the base plate (213). The center wheel support frame (223) includes an annular frame (2231) and support legs (2232) extending downward from both sides of the frame and fixed to the base plate (213). The large gear (214) is located between the two support legs (2232). The center wheel (221) is fixed to the inside of the frame (2231) and suspended above the large gear (214).

7. The needle insertion device for lumbar anesthesia puncture surgery according to claim 1, characterized in that: The driver includes a motor (211) mounted on a base plate (213) and a drive wheel (212) located below the motor. The drive wheel (212) is coaxially connected to the output shaft of the motor and meshes with a large gear (214).

8. The needle insertion device for lumbar anesthesia puncture surgery according to claim 1, characterized in that: The needle adapter (23) also includes an upper connector (232), a lower connector (234), and a sleeve (235); the top of the rack (231) is fixedly connected to the transmission rod (233) through the upper connector (232), and the bottom of the rack (231) is fixedly connected to the transmission rod (233) through the lower connector (234); the bottom of the transmission rod (233) is fixedly connected to the sleeve (235), and the sleeve (235) is fixedly connected to the puncture needle (236).

9. The needle insertion device for lumbar anesthesia puncture surgery according to claim 1, characterized in that: The base (11) is provided with a fastening strap (15).

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