Flexible needle puncture mechanism based on rubber soft spring support

Abstract

The invention relates to a flexible needle puncture mechanism based on rubber soft spring support, the flexible needle puncture mechanism comprises a base, a feeding mechanism, a needle rotating mechanism, a traction mechanism and a flexible needle, the mechanism has the functions of autorotation, feeding and retreating of the flexible needle, and it is guaranteed that the flexible needle is not bent or subjected to torsional deformation in the puncture process; the rotation of the flexible needle is realized by directly driving the flexible needle through a needle rotating motor, and the feeding and the retreating of the flexible needle are realized by driving a lead screw nut platform through a feeding motor so as to drive the feeding of the flexible needle on a feeding platform; a supporting mechanism is arranged in the needle rotating mechanism, the supporting mechanism supports the flexible needle through a hollow rubber sleeve and a soft spring, and one end of the rubber sleeve achieves traction and recovery of the rubber sleeve through a traction mechanism.

Description

Technical Field

[0001] The invention belongs to the technical field of medical devices, and in particular is a flexible needle puncture mechanism based on rubber soft spring support. Background Art

[0002] With the development of science and technology, people's requirements for medical technology have gradually increased. Since its discovery, minimally invasive treatment has received high attention and development. Compared with other traditional surgical treatment options, minimally invasive treatment has the characteristics of less trauma, faster recovery, and lower risk. Therefore, it is widely used in various fields of clinical treatment.

[0003] Flexible needle puncture can improve the shortcomings of steel needle puncture. During the puncture process, the puncture path of the needle can be controlled, effectively avoiding important blood vessels and organs inside the human tissue, and achieving accurate puncture with the optimal path with minimal trauma. However, due to the flexibility of the flexible needle, the needle body that has not entered the tissue during the puncture process will warp, resulting in deviations in the puncture path.

[0004] Based on the above problems, the problem that the present invention needs to solve is to design a flexible needle puncture device that can ensure that the flexible needle body is stable and does not bend or warp during the puncture process, and to achieve stable support for the flexible needle during the puncture process based on a rubber sleeve and a thin filament soft spring to ensure precision and accuracy during the puncture process. Summary of the invention

[0005] The present invention adopts a feeding mechanism and a needle rotating mechanism to realize the feeding, puncturing and self-rotation of the flexible needle. The combination of the supporting mechanism and the traction mechanism in the needle rotating mechanism can realize stable support of the flexible needle during the puncture process, thereby ensuring the puncture accuracy and stability.

[0006] The technical solution of the present invention is as follows: a flexible needle puncture mechanism based on rubber soft spring support, which comprises a base, a feeding mechanism, a needle rotating mechanism, a traction mechanism and a flexible needle; it is characterized in that the base is provided with a motor seat 1, a bearing seat, a pulley mounting rod 1, a pulley mounting rod 2, a side plate and a mounting plate from left to right; the feeding mechanism is composed of a feeding motor, a screw nut platform, a mounting platform 1, a fixed platform, a mounting platform 2 and a motor seat 2; one end of the screw nut platform is installed on the side plate, and the other end is installed on the bearing seat and connected to the feeding motor through a coupling; the screw nut platform is provided with a motor seat 2, a mounting platform 1, a mounting platform 2 and a fixed platform; the needle rotating mechanism It consists of a needle rotating motor, a needle clamp and a supporting mechanism. The needle rotating motor is installed on the screw nut platform through the motor seat 2 and is connected to the needle clamp through a coupling; the supporting mechanism is composed of a rubber sleeve, a soft spring and a coil spring tube. One end of the rubber sleeve is installed in the mounting hole on the fixed platform, and the other end passes through the coil spring tube. The coil spring tube is installed in the through hole on the top of the side plate. The soft spring is wound on the outside of the rubber sleeve, one end is fixed on the mounting platform, and the other end is installed in the coil spring tube; the feed motor drives the screw nut platform to feed, thereby realizing the feeding movement of the flexible needle. The soft spring wound on the outer surface of the rubber sleeve gradually shrinks and is coiled in the coil spring tube. The needle rotating motor drives the flexible needle to realize the self-rotation of the flexible needle.

[0007] The traction mechanism is composed of wheel group 1 and wheel group 2. Wheel group 1 includes pulley 1, pulley 2, pulley 3, pulley 4, buckle 1, guide wheel 1 and traction rope 1. Pulley 1 and pulley 2 are installed on pulley mounting rod 2, pulley 3 and pulley 4 are installed on mounting platform 1, guide wheel 1 is installed on mounting plate, buckle 1 is connected to one end of rubber sleeve, one end of traction rope 1 is connected to buckle 1, and the other end passes through pulley 4, pulley 3, pulley 2 and pulley 1 in turn, and is finally connected to the screw nut platform; wheel group 2 includes pulley 5, pulley 6, pulley 7, pulley 8, buckle 2, guide wheel 2 and traction rope 2. Pulley 5 and pulley 6 are installed on pulley mounting rod 2 from top to bottom. Wheel seven and pulley eight are installed on mounting platform two, and guide wheel two is installed on mounting plate; buckle two has the same structure as buckle one, and is connected to one end of the rubber sleeve in the same way, and the other end of the rubber sleeve passes around guide wheel two and is connected to buckle two, one end of traction rope two is connected to buckle two, and the other end passes through pulley eight, pulley seven, pulley six and pulley five in sequence, and is finally connected to the lead screw nut platform; the feed motor drives the lead screw nut platform to feed, and the rubber sleeve is continuously recovered along each pulley under the traction of traction rope one and traction rope two, and the feeding distance of the flexible needle is equal to the traction length of the rubber sleeve, so that the rubber sleeve can be stably recovered, and finally the stable support of the flexible needle during the puncture process is realized.

[0008] The gain effect of the present invention is:

[0009] The flexible needle puncture mechanism based on rubber soft spring support directly drives the flexible needle to rotate by a motor and combines with a lead screw nut mechanism to achieve feeding puncture, thereby ensuring the puncture position accuracy and improving the puncture efficiency.

[0010] The support mechanism and the traction mechanism can provide stable support for the flexible needle body by wrapping the rubber sleeve and winding the soft spring. The normal recovery of the rubber sleeve is ensured by matching the wheel set and the traction rope. The combination of the two ensures that the flexible needle body does not bend or warp during the puncture process, thereby improving the stability and accuracy of the puncture process. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 The overall structural diagram of the present invention;

[0012] Figure 2 A schematic diagram of the base structure in the present invention;

[0013] Figure 3 A schematic diagram of the feeding mechanism structure in the present invention;

[0014] Figure 4 A schematic diagram of the structure of the needle transfer mechanism in the present invention;

[0015] Figure 5 A schematic diagram of the support structure of the present invention;

[0016] Figure 6 Schematic diagram of the rubber sleeve in the present invention;

[0017] Figure 7 Schematic diagram of the coil spring barrel in the present invention;

[0018] Figure 8 A schematic diagram of the traction mechanism structure in the present invention;

[0019] Fig. 9 A schematic diagram of the wheel assembly structure in the present invention;

[0020] Fig.10 Schematic diagram of the buckle in the present invention;

[0021] In the figure: 1 base, 2 feeding mechanism, 3 needle rotating mechanism, 4 traction mechanism, 5 flexible needle, 1-1 bottom plate, 1-2 bearing seat, 1-3 pulley mounting rod 1, 1-4 side plate, 1-5 mounting plate, 1-6 pulley mounting rod 2, 1-7 motor seat 1, 2-1 feeding motor, 2-2 lead screw nut platform, 2-3 mounting platform 1, 2-4 fixed platform, 2-5 mounting platform 2, 2-6 motor seat 2, 3-1 needle rotating motor, 3-2 needle clamp, 3-3 support mechanism, 4-1 wheel group 1, 4-2 wheel group 2. 3-3-1 rubber sleeve, 3-3-2 soft spring, 3-3-3 disc spring tube, 4-1-1 pulley one, 4-1-2 pulley two, 4-1-3 pulley three, 4-1-4 pulley four, 4-1-5 buckle one, 4-1-6 guide wheel one, 4-1-7 traction rope one, 4-2-1 pulley five, 4-2-2 pulley six, 4-2-3 pulley seven, 4-2-4 pulley eight, 4-2-5 buckle two, 4-2-6 guide wheel two, 4-2-7 traction rope two, 3-3-3-1 connecting ear plate. DETAILED DESCRIPTION

[0022] The specific structure and implementation methods of the present invention are further described below in conjunction with the accompanying drawings.

[0023] The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that it is easy for a person skilled in the art to implement these embodiments. However, the present invention may be implemented in various forms, and therefore the present invention is not limited to the embodiments described below. In addition, in order to more clearly describe the present invention, parts that are not connected to the present invention will be omitted from the accompanying drawings.

[0024] In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "back", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the invention.

[0025] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10As shown, the flexible needle puncture mechanism based on rubber soft spring support described in the present invention comprises a base (1), a feeding mechanism (2), a needle rotating mechanism (3), a traction mechanism (4), and a flexible needle (5); characterized in that the base (1) is composed of a bottom plate (1-1), a bearing seat (1-2), a pulley mounting rod 1 (1-3), a side plate (1-4), a mounting plate (1-5), a pulley mounting rod 2 (1-6) and a motor seat 1 (1-7); the bearing seat (1-2) is mounted on the left end of the bottom plate (1-1), the pulley mounting rod 1 (1-3) and the pulley mounting rod 2 (1-6) are L-shaped rods, which are respectively mounted on the two side surfaces of the bottom plate (1-1), and the upper end of the side plate (1-4) is provided with a through hole, which is mounted on The right end of the bottom plate (1-1), the mounting plate (1-5) is a T-shaped plate, fixed below the through hole of the side plate (1-4), and the motor seat 1 (1-7) is installed on the left side of the bearing seat (1-2); the feeding mechanism (2) is composed of a feeding motor (2-1), a screw nut platform (2-2), a mounting platform 1 (2-3), a fixed platform (2-4), a mounting platform 2 (2-5) and a motor seat 2 (2-6); the feeding motor (2-1) is installed on the motor seat 1 (1-7), one end of the screw nut platform (2-2) is installed on the bottom plate (1-1) through the bearing seat (1-2), and is connected to the feeding motor (2-1) through a coupling, and the other end is installed on the side plate (1-4); the mounting platform 1 (2-3) and the mounting platform 2 (2-5) are connected to each other. The second mounting platform (2-5) is installed at the right end of the screw nut platform (2-2); the upper end of the fixed platform (2-4) is provided with a through hole, which is installed at the right end of the screw nut platform (2-2) and located between the first mounting platform (2-3) and the second mounting platform (2-5); the second motor seat (2-6) is fixed on the screw nut platform (2-2); the needle rotating mechanism (3) is composed of a needle rotating motor (3-1), a needle clamp (3-2), and a supporting mechanism (3-3); the needle rotating motor (3-1) is installed on the second motor seat (2-6) and is connected to the needle clamp (3-2) through a coupling; the supporting mechanism (3-3) is composed of a rubber sleeve (3-3-1), a soft spring (3-3-2), and a coil spring tube (3-3-3); the rubber sleeve (3-3-1) is a hollow rubber cylinder, which is composed of two mutually symmetrical semi-circular rubber cylinders. Both ends of the rubber sleeve (3-3-1) are symmetrically provided with mounting holes. The disc spring cylinder (3-3-3) is cylindrical, which is composed of two mutually symmetrical semi-circular cylinders. One end surface of the disc spring cylinder (3-3-3) is provided with a sealing plate, and a through hole is opened in the center of the sealing plate. The outer circumference of the disc spring cylinder (3-3-3) is symmetrically provided with a connecting ear plate (3-3-3-1); one end of the rubber sleeve (3-3-1) is installed in the through hole of the fixed platform (2-4), and the other end passes through the disc spring cylinder (3-3-3). The disc spring cylinder (3-3-3) is installed on the central through hole of the side plate (1-4) and is connected to the side plate (1-4) through the connecting ear plate (3-3-3-1);The soft spring (3-3-2) is a thin wire soft spring, which is wound around the outside of the rubber sleeve (3-3-1). One end of the soft spring (3-3-2) is fixed on the fixed platform (2-4), and the other end is fixed in the coil spring tube (3-3-3). The flexible needle (5) passes through the rubber sleeve (3-3-1) and is fixed on the needle clamp (3-2). The feeding motor (2-1) drives the screw nut platform (2-2) to feed, so as to realize the feeding movement of the flexible needle (5). The soft spring (3-3-2) wound around the outer surface of the rubber sleeve (3-3-1) is gradually compressed and coiled in the coil spring tube (3-3-3). The rubber sleeve (3-3-1) is pulled back by the traction mechanism (4), and the needle rotating motor (3-1) drives the flexible needle (5) to realize the self-rotation of the flexible needle (5).

[0026] Furthermore, the traction mechanism (4) is composed of a wheel set 1 (4-1) and a wheel set 2 (4-2); the wheel set 1 (4-1) and the wheel set 2 (4-2) have the same structural composition and are symmetrically installed on both sides of the mechanism; the wheel set 1 (4-1) comprises a pulley 1 (4-1-1), a pulley 2 (4-1-2), a pulley 3 (4-1-3), a pulley 4 (4-1-4), a buckle 1 (4-1-5), a guide wheel 1 (4-1-6) and a traction rope 1 (4-1-7); the pulley 1 (4-1-1) and the pulley 2 (4-1-2) are installed up and down on the pulley installation rod 2 (1-6) facing the motor side, and the pulley 3 (4-1-3) and the pulley 4 (4-1-4) are installed up and down on the pulley installation rod 2 (1-6) facing the motor side. 4) are installed on the mounting platform (2-3) on the left and right sides, and the guide wheel (4-1-6) is installed on the mounting plate (1-5); the buckle (4-1-5) is cylindrical and is formed by a pair of semi-cylinders connected together, one of the semi-cylinders has a mounting hole at the axial center, and the other semi-cylinder is provided with a connecting pin, which passes through the through hole at one end of the rubber sleeve (3-3-1) and is inserted into the mounting hole of the other semi-cylinder to achieve the connection between the rubber sleeve (3-3-1) and the buckle (4-1-5); one end of the rubber sleeve (3-3-1) passes around the guide wheel (4-1-6) and is connected to the buckle (4-1-5), one end of the traction rope (4-1-7) is connected to the buckle (4-1-5), and the other end is connected to the guide wheel (4-1-6) and the buckle (4-1-5). The pulleys pass through pulley 4 (4-1-4), pulley 3 (4-1-3), pulley 2 (4-1-2) and pulley 1 (4-1-1) for the first time, and are finally connected to the screw nut platform (2-2); the wheel set 2 (4-2) includes pulley 5 (4-2-1), pulley 6 (4-2-2), pulley 7 (4-2-3), pulley 8 (4-2-4), buckle 2 (4-2-5), guide wheel 2 (4-2-6) and traction rope 2 (4-2-7); pulley 5 (4-2-1) and pulley 6 (4-2-2) are installed on the pulley mounting rod 2 (1-6) towards the motor side, and pulley 7 (4-2-3) and pulley 8 (4-2-4) are installed on the left and right sides. The partition is installed on the mounting platform 2 (2-5), and the guide wheel 2 (4-2-6) is installed on the mounting plate (1-5); the buckle 2 (4-2-5) has the same structure as the buckle 1 (4-1-5), and is connected to one end of the rubber sleeve (3-3-1) in the same way; the other end of the rubber sleeve (3-3-1) passes around the guide wheel 2 (4-2-6) and is connected to the buckle 2 (4-2-5); one end of the traction rope 2 (4-2-7) is connected to the buckle 2 (4-2-5), and the other end passes through the pulley 8 (4-2-4), the pulley 7 (4-2-3), the pulley 6 (4-2-2) and the pulley 5 (4-2-1) in sequence, and is finally connected to the screw nut platform (2-2);The feeding motor (2-1) drives the lead screw nut platform (2-2) to feed, and the rubber sleeve (3-3-1) is continuously recovered along the pulleys under the traction of the traction rope 1 (4-1-7) and the traction rope 2 (4-2-7). During the feeding process, the feeding distance of the flexible needle (5) is equal to the traction length of the rubber sleeve (3-3-1), so that the rubber sleeve (3-3-1) can be stably recovered, and finally the flexible needle (5) can be stably supported during the puncture process. ;

[0027] The working principle of the specific implementation mode of the present invention is as follows:

[0028] Puncture movement: the flexible needle (5) is clamped on the needle clamp (3-2), the needle clamp (3-2) is connected to the needle rotating motor (3-1) through a coupling, the needle rotating motor (3-1) directly drives the flexible needle (5) to rotate, the feed motor (2-1) is connected to the screw nut platform (2-2) through a coupling, the needle rotating mechanism (3) is installed on the screw nut platform (2-2), the feed motor (2-1) drives the movement of the screw nut platform (2-2) and then drives the needle rotating mechanism (3), and finally realizes the feeding of the flexible needle (5) installed on the needle rotating mechanism (3).

[0029] Support of the flexible needle: The flexible needle (5) is wrapped in a rubber sleeve (3-3-1), one end of the rubber sleeve (3-3-1) is connected to the fixed platform (2-4), and the other end is connected to the traction rope 1 (4-1-7) and the traction rope 2 (4-2-7) through the buckle 1 (4-1-5) and the buckle 2 (4-2-5), and the other ends of the traction rope 1 (4-1-7) and the traction rope 2 (4-2-7) are connected to the screw nut platform (2-2), and one end of the soft spring (3-3-2) wrapped around the outside of the rubber sleeve (3-3-1) is fixed On the fixed platform (2-4), the other end is fixed in the coil spring tube (3-3-3), and the feeding motor (2-1) drives the lead screw nut platform (2-2) to realize the feeding of the flexible needle (5), while the rubber sleeve (3-3-1) is driven to be recovered through the traction rope 1 (4-1-7) and the traction rope 2 (4-2-7), and at the same time, the soft spring (3-3-2) outside the coil spring tube (3-3-3) is gradually retracted into the coil spring tube (3-3-3), and finally the flexible needle (5) in the rubber sleeve (3-3-1) is stably supported during the puncture process.

[0030] The above shows and describes the basic principles and main features of the present invention. The present invention is not limited by the above embodiments. The above embodiments and descriptions only describe the principles of the invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected.

Claims

1. A flexible needle puncture mechanism based on a rubber soft spring support, comprising a base (1), a feeding mechanism (2), a needle rotating mechanism (3), a traction mechanism (4), and a flexible needle (5); characterized in that: The base (1) is composed of a bottom plate (1-1), a bearing seat (1-2), a pulley mounting rod (1-3), a side plate (1-4), a mounting plate (1-5), a pulley mounting rod (1-6) and a motor seat (1-7); the bearing seat (1-2) is mounted on the left end of the bottom plate (1-1); the pulley mounting rod (1-3) and the pulley mounting rod (1-6) are L-shaped rods, which are respectively mounted on the two side surfaces of the bottom plate (1-1); the side plate (1-4) is mounted on the right end of the bottom plate (1-1); a through hole is provided on the upper end of the side plate (1-4); the mounting plate (1-5) is a T-shaped plate, which is fixed below the through hole of the side plate (1-4); and the motor seat (1-7) is mounted on the left side of the bearing seat (1-2); the feeding mechanism (2) is composed of a feeding motor (2-1), a lead screw nut The platform (2-2), the first mounting platform (2-3), the fixed platform (2-4), the second mounting platform (2-5) and the second motor seat (2-6) are composed; the feed motor (2-1) is installed on the base (1) through the first motor seat (1-7); the screw nut platform (2-2) is installed and fixed through the bearing seat (1-2) and the side plate (1-4); the feed motor (2-1) is connected to the screw nut platform (2-2) through a coupling; the first mounting platform (2-3) and the second mounting platform (2-5) are installed on the right side of the screw nut platform (2-2); the fixed platform (2-4) is installed on the rightmost end of the screw nut platform (2-2) and is located between the first mounting platform (2-3) and the second mounting platform (2-5); the upper end of the fixed platform (2-4) is provided with a through hole The motor seat 2 (2-6) is fixed on the left side of the fixed platform (2-4) on the screw nut platform (2-2); the needle rotating mechanism (3) is composed of a needle rotating motor (3-1), a needle clamp (3-2), and a support mechanism (3-3); the needle rotating motor (3-1) is installed on the motor seat 2 (2-6) on the screw nut platform (2-2), and is connected to the needle clamp (3-2) through a coupling; the support mechanism (3-3) is composed of a rubber sleeve (3-3-1), a soft spring (3-3-2), and a coil spring tube (3-3-3); the rubber sleeve (3-3-1) is a hollow rubber cylinder, which is formed by connecting two symmetrical semicircular rubber cylinders, and the rubber sleeve (3-3-1) has symmetrical mounting holes at both ends, and the coil spring tube (3-3-3) is cylindrical and consists of two mutually opposite semicircular rubber cylinders. The semi-circular cylinders of the scale are butt-jointed, a sealing plate is provided on the right end face of the disc spring cylinder (3-3-3), a through hole is opened in the center of the sealing plate, and a connecting ear plate (3-3-3-1) is symmetrically provided on the outer circumference of the disc spring cylinder (3-3-3); one end of the rubber sleeve (3-3-1) is installed in the through hole of the fixed platform (2-4), and the other end passes through the disc spring cylinder (3-3-3); the disc spring cylinder (3-3-3) is installed on the central through hole of the side plate (1-4), and a sealing plate is provided with one end facing the right side, and connected to the side plate (1-4) through the connecting ear plate (3-3-3-1); the soft spring (3-3-2) is a thin wire soft spring, which is wound on the outside of the rubber sleeve (3-3-1), one end of the soft spring (3-3-2) is fixed on the fixed platform (2-4), and the other end is fixed in the disc spring cylinder (3-3-3);The flexible needle (5) passes through the rubber sleeve (3-3-1) and is fixed on the needle clamp (3-2); the feeding motor (2-1) drives the screw nut platform (2-2) to feed, thereby realizing the feeding movement of the flexible needle (5); the soft spring (3-3-2) wound on the outer surface of the rubber sleeve (3-3-1) is gradually compressed and coiled in the coil spring cylinder (3-3-3); the needle rotating motor (3-1) drives the flexible needle (5) to realize the self-rotation of the flexible needle (5).

2. A flexible needle puncture mechanism based on rubber soft spring support according to claim 1, characterized in that: The traction mechanism (4) is composed of a wheel set 1 (4-1) and a wheel set 2 (4-2); the wheel set 1 (4-1) includes a pulley 1 (4-1-1), a pulley 2 (4-1-2), a pulley 3 (4-1-3), a pulley 4 (4-1-4), a buckle 1 (4-1-5), a guide wheel 1 (4-1-6) and a traction rope 1 (4-1-7); the pulley 1 (4-1-1) and the pulley 2 (4-1-2) are installed up and down on the pulley mounting rod 2 (1-6) facing the motor side, the pulley 3 (4-1-3) and the pulley 4 (4-1-4) are installed side by side and at intervals on the mounting platform 1 (2-3), and the guide wheel 1 (4-1-6) is installed on the mounting plate (1-5). The buckle 1 (4-1-5) is cylindrical and is formed by a pair of semi-cylinders connected together. A mounting hole is opened in the center of one of the semi-cylinders, and a connecting pin is provided at the same position of the other semi-cylinder. The connecting pin passes through a through hole at one end of the rubber sleeve (3-3-1) and is inserted into the mounting hole of the other semi-cylinder to achieve the connection between the rubber sleeve (3-3-1) and the buckle 1 (4-1-5). One end of the rubber sleeve (3-3-1) passes around the guide wheel 1 (4-1-6) and is connected to the buckle 1 (4-1-5). One end of the traction rope 1 (4-1-7) is connected to the buckle 1 (4-1-5), and the other end passes through the pulley 4 (4-1-4), the pulley 3 (4-1-3), and the pulley 2 (4-1-2) in sequence. and pulley 1 (4-1-1), and finally connected to the screw nut platform (2-2); the wheel set 1 (4-1) and the wheel set 2 (4-2) have the same structure and are symmetrically installed on both sides of the mechanism; the wheel set 2 (4-2) includes pulley 5 (4-2-1), pulley 6 (4-2-2), pulley 7 (4-2-3), pulley 8 (4-2-4), buckle 2 (4-2-5), guide wheel 2 (4-2-6) and traction rope 2 (4-2-7); pulley 5 (4-2-1) and pulley 6 (4-2-2) are installed up and down on the side of pulley mounting rod 2 (1-6) facing the motor, and pulley 7 (4-2-3) and pulley 8 (4-2-4) are installed side by side. The partition is installed on the mounting platform 2 (2-5), and the guide wheel 2 (4-2-6) is installed on the mounting plate (1-5); the buckle 2 (4-2-5) has the same structure as the buckle 1 (4-1-5), and is connected to one end of the rubber sleeve (3-3-1) in the same way; the other end of the rubber sleeve (3-3-1) passes around the guide wheel 2 (4-2-6) and is connected to the buckle 2 (4-2-5); one end of the traction rope 2 (4-2-7) is connected to the buckle 2 (4-2-5), and the other end passes through the pulley 8 (4-2-4), the pulley 7 (4-2-3), the pulley 6 (4-2-2) and the pulley 5 (4-2-1) in sequence, and is finally connected to the screw nut platform (2-2);The feeding motor (2-1) drives the lead screw nut platform (2-2) to feed, and the rubber sleeve (3-3-1) is continuously recovered along the pulleys under the traction of the traction rope 1 (4-1-7) and the traction rope 2 (4-2-7). During the feeding process, the feeding distance of the flexible needle (5) is equal to the traction length of the rubber sleeve (3-3-1), so that the rubber sleeve (3-3-1) can be stably recovered, and finally the flexible needle (5) can be stably supported during the puncture process. ;

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