Needle withdrawing mechanism along with tube and needle withdrawing device

Abstract

The invention provides a needle withdrawing mechanism along with a tube and a needle withdrawing device, and belongs to the technical field of medical instruments. The tube-following needle pulling mechanism comprises a tube-following needle pulling transmission assembly and a tube-following needle pulling driving assembly, the tube-following needle pulling transmission assembly is arranged on the outer side of the outer tube or the inner tube, the tube-following needle pulling driving assembly is used for providing power for the tube-following needle pulling transmission assembly, and the tube-following needle pulling transmission assembly is used for driving the outer tube and the inner tube to move relatively. The relative movement modes comprise one or more combinations of a friction transmission mode, a meshing transmission mode, a direct push-pull transmission mode and a clamping transmission mode. The needle withdrawal accessory capable of relatively sliding and moving is adopted, the needle withdrawal action is reliable and safe during needle withdrawal, the problem that needle withdrawal is difficult is solved, manual needle withdrawal operation in a radiation environment can be replaced, full-automatic operation is achieved, the radiation risk is avoided, and the operation time is shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a tube-mounted needle extraction mechanism and a needle extraction device. Background Art

[0002] In the related art, in order to pull the needle out of the target object, the needle is usually manually held and driven to move away from the target object to achieve needle removal. However, this easily pulls the target object, and when the needles are densely packed and the distance between two adjacent needles is small, it is inconvenient for the human hand to hold the needle, resulting in difficulty in needle removal. In some scenarios, there is a radiation source in the target object, and manual needle removal may cause radiation damage to the operator. Therefore, it is necessary to design an automated needle removal device. Summary of the invention

[0003] In order to overcome the inconvenience of manually holding the needle body to remove the needle in the related art, an embodiment of the present invention proposes a tube-withdrawal mechanism, which includes a tube-withdrawal transmission assembly and a tube-withdrawal drive assembly, wherein the tube-withdrawal drive assembly is used to provide power for the tube-withdrawal transmission assembly, and the tube-withdrawal transmission assembly is used to drive the outer tube and the inner tube to move relative to each other.

[0004] In a first aspect of an embodiment of the present invention, a tube-withdrawing needle mechanism is provided, the tube-withdrawing needle mechanism comprising a tube-withdrawing needle transmission assembly and a tube-withdrawing needle drive assembly, the tube-withdrawing needle transmission assembly is used to be arranged outside an outer tube or an inner tube, the tube-withdrawing needle drive assembly is used to provide power for the tube-withdrawing needle transmission assembly, and the tube-withdrawing needle transmission assembly is used to drive the outer tube and the inner tube to move relative to each other;

[0005] Preferably, the manner in which the tube-withdrawing needle transmission assembly drives the outer tube and the inner tube to move relative to each other includes one or more combinations of friction transmission, meshing transmission, direct push-pull transmission, and clamping transmission.

[0006] In the above technical solution, the tube-mounted needle removal drive assembly includes one or a combination of an independent power element, a drive wire, a hydraulic oil pipe, and an air pipe, wherein;

[0007] When the needle-withdrawing drive assembly is an independent power element, the independent power element is a motor or electric push rod arranged near or inside the needle-withdrawing drive assembly, and the independent power element directly transmits power to the needle-withdrawing drive assembly;

[0008] When the tube-withdrawing needle drive component is a drive wire, a drive wire sleeve is provided on the outside of the drive wire, one end of the drive wire sleeve can be abutted against or connected to the tube-withdrawing needle drive component, and the other end can be abutted against or connected to an external power mechanism, and the relative movement between the drive wire and the drive wire sleeve is achieved through the external power mechanism to transmit power to the tube-withdrawing needle drive component;

[0009] When the needle-in-tube extraction drive assembly is a hydraulic oil pipe, hydraulic oil is provided inside the hydraulic oil pipe, one end of the hydraulic oil pipe can be connected to the needle-in-tube extraction drive assembly, and the other end can be connected to an external power mechanism, and the hydraulic oil is injected or extracted through the external power mechanism, so that the hydraulic oil transmits power to the needle-in-tube extraction drive assembly along the hydraulic oil pipe;

[0010] When the needle-withdrawal drive assembly is a trachea, one end of the trachea is connected to the needle-withdrawal drive assembly, and the other end is connected to an external power mechanism. Gas is injected or extracted into the trachea through the external power mechanism, so that the gas transmits power to the needle-withdrawal drive assembly along the trachea.

[0011] In the above technical solution, when the needle-removal transmission assembly adopts a friction drive method, the needle-removal transmission assembly includes a friction wheel or a friction belt, a part of which is in contact with the outer tube or the inner tube, and the friction force generated by the contact drives the outer tube and the inner tube to move relative to each other.

[0012] In the above technical solution, when the needle-extraction transmission assembly adopts an engaging drive mode, the needle-extraction transmission assembly includes a rack arranged on the outer tube or the inner tube and a gear or worm matched with the rack, and the outer tube and the inner tube are driven to move relative to each other through the engagement of the gear or the worm with the rack.

[0013] In the above technical scheme, when the tube-withdrawal needle transmission assembly adopts a push-pull drive mode, the tube-withdrawal needle transmission assembly includes a push-pull motion assembly and a push-pull assembly. The push-pull assembly is arranged on the push-pull motion assembly and can move along a certain trajectory under the drive of the push-pull motion assembly. The push-pull assembly can directly apply a thrust or a pull to the end face of the inner tube or the outer tube or to the step surface or the connection part arranged on the inner tube or the outer tube, so as to directly push / pull the inner tube or the outer tube through the cooperation between the push-pull motion assembly and the push-pull assembly to drive the inner tube and the outer tube to perform relative sliding motion. The push-pull motion assembly adopts linear motion or arc motion.

[0014] In the above technical solution, when the tube-withdrawing needle transmission assembly adopts a clamping drive mode, the tube-withdrawing needle transmission assembly includes a clamping motion assembly and a clamping assembly, the clamping assembly is arranged on the clamping motion assembly, and can move along a certain trajectory under the drive of the clamping motion assembly, and the clamping assembly can clamp or loosen the inner tube or the outer tube;

[0015] Through the cooperation between the clamping motion component and the clamping component, the inner tube or the outer tube is driven unidirectionally to one side, or; the clamping motion component can also drive the clamping component to reciprocate along a certain trajectory, clamp the inner tube or the outer tube and then drive the clamping component to move to one side, and then release the inner tube or the outer tube to reset to the other side, repeating the above process to drive the inner tube or the outer tube unidirectionally to one side;

[0016] The clamping component is an active clamping component or a passive clamping component;

[0017] The active clamping assembly is provided with an independent power source to actively control the clamping or loosening of the active clamping assembly, and its specific form is a clamping claw that can be actively opened and closed, or a rotating clamping mechanism that can be actively rotated, or a side clamping mechanism or a side tensioning mechanism that can actively compress or tighten the inner tube or the outer tube;

[0018] The passive clamping assembly automatically clamps when the clamped moving assembly is pushed to one side, and automatically releases when it moves to the other side to reset, so as to realize uninterrupted driving of the inner tube or outer tube to one side;

[0019] The passive clamping assembly is one or a combination of a clamping claw assembly, a rotating clamping mechanism, a side clamping mechanism or a side tensioning mechanism.

[0020] In the above technical solution, the needle-removing mechanism includes a needle-removing group and a needle-removing driving mechanism that drives the needle-removing assembly to reciprocate through a driving wire. The inner tube passes through the needle-removing assembly and is connected to the hollow puncture needle. The inner tube and the needle-removing assembly can achieve relative movement.

[0021] In the above technical solution, the tube-with-needle extraction assembly includes a hollow traction box, a needle extraction group arranged in the traction box, and end covers at both ends of the traction box. Needle extraction through holes are arranged on the end covers, and the inner tube passes through the two needle extraction through holes and the needle extraction group. The needle extraction drive mechanism drives the needle extraction group to reciprocate, and the needle extraction group and the inner tube are in one-way motion. When the needle extraction group moves toward the direction close to the hollow puncture needle, the inner tube is released and can move on the inner tube. When the needle extraction group moves away from the hollow puncture needle, the inner tube is clamped and the inner tube is moved away from the hollow puncture needle.

[0022] The needle extraction through hole extends outward from the traction box to form a needle extraction positioning cylinder, and the inner tube is arranged in the needle extraction positioning cylinder;

[0023] The needle pulling group includes a needle pulling sliding block that can move along the inner tube direction in the traction box and a needle pulling paddle arranged in the needle pulling sliding block, and a needle pulling groove or through hole is arranged on the needle pulling sliding block;

[0024] Preferably, a needle-pulling groove is provided on the needle-pulling sliding block, and the inner tube is inserted into the needle-pulling groove;

[0025] The needle pulling paddle is provided with a paddle hole, the inner tube passes through the paddle hole, the paddle hole is larger than the diameter of the inner tube, a storage cavity is provided on the needle pulling sliding block, the needle pulling paddle is arranged in the storage cavity, the storage cavity has an active space for the needle pulling paddle to move inside the active space, when the needle pulling paddle moves toward the side close to the hollow puncture needle, the angle between the needle pulling paddle and the inner tube becomes larger, and the maximum value can reach that the needle pulling paddle is perpendicular to the inner tube, at this time, the needle pulling paddle can slide on the inner tube using the paddle hole, when the needle pulling paddle moves away from the hollow puncture needle, the angle between the needle pulling paddle and the inner tube becomes smaller, at this time, the needle pulling paddle is tilted, and the paddle hole is tilted so that the needle pulling paddle clamps the inner tube and drives the inner tube to move away from the hollow puncture needle, thereby realizing the needle pulling operation;

[0026] The needle extraction drive mechanism comprises a needle extraction quick-connect group connected to the tube needle extraction assembly, and the needle extraction quick-connect group can be driven to reciprocate by an external drive mechanism, and the needle extraction quick-connect group comprises a quick-connect outer sleeve.

[0027] In the above technical solution, a driving wire sleeve is sleeved on the driving wire, one end of the driving wire sleeve abuts against the needle removal assembly with the tube, and the other end abuts against the quick-connect outer sleeve, and power is transmitted through relative slippage between the driving wire sleeve and the driving wire;

[0028] A quick-connect inner sleeve, a quick-connect plug fixed at one end of the quick-connect inner sleeve, a quick-connect slider located at the other end of the quick-connect inner sleeve, and a quick-connect spring located between the quick-connect plug and the quick-connect slider, a quick-connect through hole is opened in the center of the quick-connect plug, a metal capillary is arranged on the quick-connect slider, a driving wire is arranged on the metal capillary, one end of the driving wire passes through the quick-connect through hole, and the other end is connected with the needle pulling paddle in the needle pulling group; the needle pulling power group moves forward and pushes the quick-connect slider to move in the quick-connect inner sleeve toward the quick-connect plug, at this time, the driving wire pushes the needle pulling slider forward in the tube-mounted needle pulling assembly; the needle pulling power group moves backward to disengage the quick-connect slider, and the quick-connect slider moves in the direction away from the quick-connect plug through the action of the quick-connect spring, at this time, the driving wire pulls the needle pulling sliding block backward in the tube-mounted needle pulling assembly; this reciprocating process is used to realize the needle pulling operation.

[0029] A second aspect of an embodiment of the present invention provides a needle removal device, including a needle removal accessory and the above-mentioned tube-mounted needle removal mechanism;

[0030] Needle extraction accessories include:

[0031] An inner tube, the inner tube is used to connect with the needle body;

[0032] An outer tube, the outer tube is sleeved outside the inner tube, and one end of the outer tube is used to press against or connect to the target object;

[0033] The inner tube and / or the outer tube can move relative to each other so that the needle body moves away from the target object and the needle body is pulled out of the target object;

[0034] The needle extraction accessory is driven by a tube-mounted needle extraction transmission assembly to realize the needle extraction action.

[0035] In the above technical solution, the needle removal device also includes:

[0036] A puncture template, used for the needle to pass through;

[0037] The puncture template is a personalized template, which is made by 3D printing or CNC processing to meet the surgical needs of different organisms;

[0038] Or the puncture template is an array template, and an array of guide parts are distributed on the array template, and the guide part is at least one of a guide hole, a guide groove, a guide block, and a guide rod;

[0039] Or the puncture template is a thermoplastic template that can be flexibly deformed and shaped;

[0040] Or the puncture template is a scale-type template;

[0041] Alternatively, the puncture template is a support plate formed by curing a fast-curing material.

[0042] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0043] The needle-withdrawing mechanism proposed in the embodiment of the present invention includes a needle-withdrawing transmission assembly and a needle-withdrawing drive assembly, wherein the needle-withdrawing drive assembly is used to provide power for the needle-withdrawing transmission assembly, and the needle-withdrawing transmission assembly is used to drive the outer tube and the inner tube to move relative to each other. Needle withdrawal can be achieved in a scenario where the needle bodies are dense and the distance between two adjacent needle bodies is small, and the operator can be prevented from being harmed by radiation when manually removing the needle. The needle-withdrawing drive assembly and the needle-withdrawing transmission assembly are flexibly connected, and the outer tube and the inner tube are also flexible, which can avoid pulling on the needle body and causing the needle body to scratch the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0045] Figure 1 It is a schematic diagram of the first passive clamping structure in the embodiment of the tube-withdrawing needle mechanism of the present invention, and the clamping motion component in the figure is provided with an inclined surface;

[0046] Figure 2 for Figure 1 A schematic diagram of a three-dimensional structure of a push block in an embodiment;

[0047] Figure 3 for Figure 1A schematic diagram of the three-dimensional structure of the push claw 1 in the embodiment;

[0048] Figure 4 for Figure 1 A schematic diagram of the three-dimensional structure of the second pushing claw in the embodiment;

[0049] Figure 5 for Figure 1 A schematic diagram of the structure after the push claw 1 and the push claw 2 are assembled in the embodiment;

[0050] Figure 6 for Figure 1 A schematic diagram of a first structure after the push claw 1, the push claw 2 and the push block are assembled in the embodiment;

[0051] Figure 7 for Figure 1 A schematic diagram of a second structure after the push claw 1, the push clamp 2 and the push block are assembled in the embodiment;

[0052] Figure 8 for Figure 1 A schematic structural diagram of a clamping motion assembly in an embodiment;

[0053] Fig. 9 for Figure 8 Schematic diagram of the explosion structure of the embodiment;

[0054] Fig.10 It is a three-dimensional schematic diagram of a second passive clamping mechanism in an embodiment of the tube-mounted needle removal mechanism of the present invention;

[0055] Fig.11 for Fig.10 A side structural schematic diagram of an embodiment;

[0056] Fig.12 for Fig.11 A schematic cross-sectional view of the AA surface in the embodiment;

[0057] Fig.13 It is a schematic diagram of the first passive clamping structure in the embodiment of the tube-mounted needle removal mechanism of the present invention, and a connecting rod structure is provided on the clamping operation component in the figure;

[0058] Fig.14 for Fig.13 A side structural schematic diagram of an embodiment;

[0059] Fig.15 It is a three-dimensional structural schematic diagram of the third passive clamping mechanism in the embodiment of the tube-mounted needle removal mechanism of the present invention;

[0060] Fig.16 for Fig.15 A schematic diagram of a partially enlarged structure in an embodiment;

[0061] Fig.17 It is a schematic diagram of the three-dimensional structure when the tube-mounted needle removal mechanism is connected to the driving mechanism;

[0062] Fig.18 It is a structural schematic diagram of the needle removal group in the traction box;

[0063] Fig.19 It is a schematic cross-sectional view of the structure when the needle removal group is installed in the traction box;

[0064] Fig. 20 It is a schematic diagram of the three-dimensional structure of the driving mechanism from the first perspective;

[0065] Fig.21 is a schematic diagram of the three-dimensional structure of the driving mechanism from a second viewing angle;

[0066] Fig. 22 for Fig.21 A schematic diagram of the three-dimensional structure of the needle removal power group in the embodiment;

[0067] Fig.23 It is a structural schematic diagram when the external sleeve is connected to the driving wire;

[0068] Fig.24 for Fig.23 A schematic cross-sectional view of an embodiment;

[0069] Fig.25 The structure of the puncture template in the embodiment of the needle removal mechanism of the present invention is schematically shown. Figure 1 ;

[0070] Fig.26 for Fig.25 A schematic diagram of the internal structure of an embodiment;

[0071] Fig. 27 The structure of the puncture template in the embodiment of the needle removal mechanism of the present invention is schematically shown. Figure 2 . DETAILED DESCRIPTION

[0072] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0073] In order to overcome the inconvenience of manually holding the needle body to remove the needle in the related art, an embodiment of the present invention proposes a tube-withdrawal mechanism, which includes a tube-withdrawal transmission assembly and a tube-withdrawal drive assembly, wherein the tube-withdrawal drive assembly is used to provide power for the tube-withdrawal transmission assembly, and the tube-withdrawal transmission assembly is used to drive the outer tube and the inner tube to move relative to each other.

[0074] The following is combined with Figure 1 -Attached Fig.16 The technical solution of this embodiment is elaborated in detail. In the absence of conflict, the following implementation methods and embodiments can be combined with each other.

[0075] Example

[0076] A first aspect of an embodiment of the present invention provides a tube-mounted needle removal mechanism that can be used in conjunction with a needle removal accessory.

[0077] The tube-withdrawing needle mechanism includes a tube-withdrawing needle transmission assembly and a tube-withdrawing needle drive assembly. The tube-withdrawing needle transmission assembly is arranged outside the outer tube 2 or the inner tube 1. The tube-withdrawing needle drive assembly is used to provide power for the tube-withdrawing needle transmission assembly, and the tube-withdrawing needle transmission assembly is used to drive the outer tube and the inner tube to move relative to each other.

[0078] Preferably, the manner in which the tube-withdrawing needle transmission assembly drives the outer tube 2 and the inner tube 1 to move relative to each other includes: one or more combinations of friction transmission, meshing transmission, direct push-pull transmission, and clamping transmission.

[0079] The tube-withdrawal needle drive assembly includes one or a combination of an independent power element, a drive wire, a hydraulic tube, and an air tube, wherein;

[0080] When the needle-withdrawing drive assembly is an independent power element, the independent power element is a motor or an electric push rod, and the independent power element directly transmits power to the needle-withdrawing drive assembly;

[0081] When the tube-withdrawing needle drive component is a drive wire, a drive wire sleeve is provided on the outside of the drive wire, one end of the drive wire sleeve can be abutted against or connected to the tube-withdrawing needle drive component, and the other end can be abutted against or connected to an external power mechanism, and the relative movement between the drive wire and the drive wire sleeve is achieved through the external power mechanism to transmit power to the tube-withdrawing needle drive component;

[0082] When the needle-in-tube extraction drive assembly is a hydraulic tube, hydraulic oil, water or other liquids are arranged inside the hydraulic tube. One end of the hydraulic tube can be connected to the needle-in-tube extraction drive assembly, and the other end can be connected to an external power mechanism. The hydraulic oil is injected or extracted through the external power mechanism, so that the hydraulic oil transmits power to the needle-in-tube extraction drive assembly along the hydraulic tube;

[0083] A cavity is provided inside the hydraulic tube, a piston is provided inside the cavity, a top plate is provided at one end of the piston, an external push rod extends into the hydraulic tube, the external push rod presses the top plate to push the piston inward, the internal pressure of the hydraulic tube increases, the front end component of the hydraulic tube extends out, and the front end component is connected to the needle extraction transmission assembly accompanying the tube.

[0084] When the needle-withdrawal drive assembly is a trachea, one end of the trachea is connected to the needle-withdrawal drive assembly, and the other end is connected to an external power mechanism. Gas is injected or extracted into the trachea through the external power mechanism, so that the gas transmits power to the needle-withdrawal drive assembly along the trachea.

[0085] As mentioned above, the way in which the tube-withdrawing needle transmission assembly drives the outer tube 2 and the inner tube 1 to move relative to each other includes: one or more combinations of friction transmission, meshing transmission, direct push-pull transmission, and clamping transmission.

[0086] For example, when the needle-removal transmission assembly adopts friction transmission to drive the outer tube 2 and the inner tube 1 to move relative to each other, the needle-removal transmission assembly includes a friction drive assembly: the friction drive assembly realizes friction drive through a friction wheel or a friction belt, and a part of the friction wheel or the friction belt is squeezed with the outer tube or the inner tube, and the friction force generated by the extrusion drives the inner and outer tubes to perform relative sliding motion.

[0087] For another example, when the needle-extraction transmission assembly adopts a meshing drive mode, the needle-extraction transmission assembly includes a meshing drive assembly: the meshing drive assembly realizes relative sliding drive of the inner tube or the outer tube by meshing drive of the teeth on the inner tube or the outer tube, and the meshing drive assembly is one or a combination of gears and worm gears.

[0088] For another example, when the tube-withdrawal needle transmission assembly adopts a push-pull drive mode, the tube-withdrawal needle transmission assembly includes a push-pull motion assembly and a push-pull assembly. The push-pull assembly is arranged on the push-pull motion assembly and can move along a certain trajectory under the drive of the push-pull motion assembly. The push-pull assembly can directly apply a thrust or a pull to the end face of the inner tube or the outer tube or to the step surface or the connection part arranged on the inner tube or the outer tube, so as to directly push / pull the inner tube or the outer tube through the cooperation between the push-pull motion assembly and the push-pull assembly to drive the inner tube and the outer tube to perform relative sliding motion. The push-pull motion assembly adopts linear motion or arc motion. The push-pull component is connected to the inner tube or the outer tube through a connecting part; or the push-pull component is not connected to the inner tube or the outer tube, but a push or pull force is applied to the end face of the inner tube or the outer tube or to the step surface arranged on the inner tube or the outer tube. At this time, a contact sensor is provided on the push-pull component. When the push-pull component contacts the inner tube or the outer tube and is about to push and pull, the contact sensor can feedback a contact signal, so that the position of the push-pull motion component at this time is used as a reference position, and the displacement of the push-pull motion component relative to the reference position is used as the actual needle withdrawal distance.

[0089] For another example, when the tube-withdrawing needle transmission assembly adopts a clamping drive mode, the tube-withdrawing needle transmission assembly includes a clamping motion assembly and a clamping assembly, the clamping assembly is arranged on the clamping motion assembly, and can move along a certain trajectory under the drive of the clamping motion assembly, and the clamping assembly can clamp or loosen the inner tube or the outer tube;

[0090] Through the cooperation between the clamping motion component and the clamping component, the inner tube or the outer tube is driven unidirectionally to one side, or; the clamping motion component can also drive the clamping component to reciprocate along a certain trajectory, clamp the inner tube or the outer tube and then drive the clamping component to move to one side, and then release the inner tube or the outer tube to reset to the other side, repeating the above process to drive the inner tube or the outer tube unidirectionally to one side;

[0091] The clamping component is an active clamping component or a passive clamping component;

[0092] The active clamping assembly is provided with an independent power source to actively control the clamping or loosening of the active clamping assembly, and its specific form is a clamping claw that can be actively opened and closed, or a rotating clamping mechanism that can be actively rotated, or a side clamping mechanism or a side tensioning mechanism that can actively compress or tighten the inner tube or the outer tube;

[0093] The passive clamping component automatically clamps when the clamped moving component is pushed to one side, and automatically releases when it moves to the other side to reset, so as to realize uninterrupted driving of the inner tube 1 or the outer tube 2 to one side;

[0094] The passive clamping assembly is one or a combination of a clamping claw assembly 6, a rotary clamping mechanism 8, a side clamping mechanism 9 or a side tensioning mechanism.

[0095] It is worth noting that when the above-mentioned clamping assembly adopts a passive clamping assembly, the clamping assembly includes the following specific structures:

[0096] The first passive clamping structure:

[0097] like Figure 1-Figure 9 As shown, when the needle-pulling transmission assembly adopts a clamping drive mode and the passive clamping assembly is a claw assembly, the claw assembly 6 includes a claw 61 guided by a hinge or a slide groove, and the claw 61 can be opened or closed. The clamping motion assembly 7 is provided with one or a combination of an inclined surface, a cam, and a connecting rod mechanism, so that the clamping motion assembly 7 automatically retracts the claw 61 to clamp the inner tube 1 or the outer tube 2 when driving the claw 61 to move to one side, and automatically opens the claw to release the inner tube 1 or the outer tube 2 when moving to the opposite side;

[0098] like Figure 1 and Figure 2As shown, the clamping motion assembly 7 further includes a push block 62, which can realize automatic clamping or opening of the clamping claw 61. The push block 62 and the clamping claw 61 realize the clamping or opening of the clamping claw 61 through a push pin, a bevel matching structure or a gear transmission structure or a connecting rod transmission structure;

[0099] Preferably, a push pin is provided on the push block 62. When the push block 62 is driven to one side, the claw 61 reciprocates under the pushing action of the push block 62. The claw 61 is provided with an inclined surface or a slide groove. When the push pin pushes against the inclined surface on the rear side of the claw 61 and pushes the claw 61 to move to one side, the claw 61 is clamped. When the push pin pushes against the inclined surface on the front side of the claw 61 and pushes the claw 61 to move to the opposite side, the claw 61 is opened.

[0100] Specific: such as Figure 1-Figure 9 As shown, the claw assembly includes a left fixed block 9114, a right fixed block 9115 and a support guide shaft 9116, the support guide shaft 9116 is located between the left fixed block 9114 and the right fixed block 9115, the claw 61 and the push block 62 are arranged on the support guide shaft 9116 and can slide along the support guide shaft 9116; wherein the claw 61 includes a second claw 1 611 and a second claw 2 612, and the push block 62 can drive the second claw 1 611 and the second claw 2 612 to move toward or in the opposite direction; when the second claw 1 611 and the second claw 2 612 move toward each other, the distance between the second claw 1 611 and the second claw 2 612 becomes smaller so that the outer tube 2 can be clamped, and at this time the push block 62 is driven along the support guide shaft 9116 to approach the biological body. The outer tube 2 is clamped by the second claw 1 611 and the second claw 2 612, thereby realizing the relative movement of the inner and outer tubes; when the second claw 1 611 and the second claw 2 612 move in the opposite direction, the distance between the second claw 1 611 and the second claw 2 612 becomes larger, thereby loosening the outer tube 2, and the pushing block 62 is driven to move along the supporting guide shaft 9116 in the direction away from the biological tissue, and at the same time, the pushing block 62 moves with the second claw 1 611 and the second claw 2 612, because the second claw 1 611 and the second claw 2 612 loosen the outer tube 2, the outer tube 2 will not follow the movement when the second claw 1 611 and the second claw 2 612 move.

[0101] Furthermore, one end of the second clamping claw 1 611 and the second clamping claw 2 612 is rotatably connected and sleeved on the support guide shaft 9116, and the other ends of both are free ends. The second clamping claw 1 611 and the second clamping claw 2 612 can both rotate around the support guide shaft 9116, and the rotation of the two can achieve the movement towards and in the opposite direction of the two.

[0102] like Figure 5As shown, in order to protect the outer tube 2, a first clamping opening 613 is provided on the second clamping claw 1 611 and the first clamping opening 613 is semi-arc-shaped, and a second clamping opening 614 is provided on the second clamping claw 2 612 and the second clamping opening 614 is semi-arc-shaped. When the second clamping claw 1 611 and the second clamping claw 2 612 move toward each other to the desired position, the first clamping opening 613 and the second clamping opening 614 are combined to form a complete clamping hole, and the diameter of the clamping hole is smaller than the outer tube 2; the second clamping claw The first clamping port 613 and the second clamping port 614 are combined to clamp the outer tube 2, and the second clamping port 611 and the second clamping port 612 move in opposite directions, and the first clamping port 613 and the second clamping port 614 are separated to release the outer tube 2; the movement between the second clamping port 611 and the second clamping port 612 is realized by the pushing block 62, and the pushing block 62 is set on the support guide shaft 9116 and can slide on the support guide shaft 9116.

[0103] like Figure 3 and Figure 4As shown, a first inclined surface 615 is provided on the second claw 1 611, and a second inclined surface 616 is provided on the second claw 2 612. The first inclined surface 615 and the second inclined surface 616 are symmetrically arranged. A first push pin 621 and a second push pin 622 are provided on the push block 62. The first push pin 621 cooperates with the first inclined surface 615, and the second push pin 622 cooperates with the second inclined surface 616. The first inclined surface 615 and the second inclined surface 616 are both inclined to the moving direction of the push block 62. When the push block 62 moves toward the direction close to the biological tissue 600, the first push pin 621 and the first inclined surface 615 cooperate with each other. 15 contact, through the action of the first inclined surface 615, the push block 62 drives the second clamping claw 1 611 to move in the direction of approaching the biological tissue, and at the same time drives the second clamping claw 1 611 to approach the second clamping claw 2 612 with its rotation connection as the axis, the second push pin 622 and the second inclined surface 616 move in the same manner, the second clamping claw 2 612 moves in the direction of approaching the biological tissue, and at the same time drives the second clamping claw 2 612 to approach the second clamping claw 1 611 with its rotation connection as the axis, thereby realizing the clamping operation of the first clamping port 613 and the second clamping port 614; a clamping device is provided on the second clamping claw 1 611. A third inclined surface 617 is provided, and a fourth inclined surface 618 is provided on the second claw 612. When the second claw 1 611 and the second claw 2 612 are close to each other, the third inclined surface 617 and the fourth inclined surface 618 form a V-shaped groove. A third push pin 623 is provided on the push block 62. The third push pin 623 can contact the third inclined surface 617 and the fourth inclined surface 618 at the same time. When the push block 623 moves in a direction away from the biological tissue, the third push pin 623 contacts the third inclined surface 617 and the fourth inclined surface 618 at the same time. The second claw 1 611 and the second claw 2 612 move away from the biological tissue. While the tissue moves in the direction, the third push pin 623 drives the second claw 1 611 to rotate away from the second claw 2 612, and the third push pin 623 drives the second claw 2 612 to rotate away from the second claw 1 611, thereby realizing the loosening operation of the first clamping port 613 and the second clamping port 614; when the first push pin 621 and the second push pin 622 are working, the third push pin 623 is disengaged from the third inclined surface 617 and the fourth inclined surface 618, and when the third push pin 623 is working, the first push pin 621 is disengaged from the first inclined surface 615, and the second push pin 622 is disengaged from the second inclined surface 616.

[0104] Since the second claw 1 611 and the second claw 2 612 cannot be loosened too much when they move in the reverse direction, resistance limit parts 624 are provided on both sides of the push block 62, and the two resistance limit parts 624 respectively limit the travel of the second claw 1 611 and the second claw 2 612 in the reverse direction. When the second claw 1 611 and the second claw 2 612 move in the reverse direction to the maximum travel, that is, the second claw 1 611 and the second claw 2 612 are both against the resistance limit part 624, a gap is formed between the second claw 1 611 and the second claw 2 612 at this time, and the width of the gap at the part cooperating with the third push pin 623 needs to be smaller than the width of the third push pin 623. The main purpose here is to enable the second claw 1 611 and the second claw 2 612 to move in a direction away from the biological tissue through the third push pin 623.

[0105] Of course, the above-mentioned claw assembly can also act directly on the inner tube. It only needs to be adjusted to clamp the inner tube when the claw moves away from the biological tissue, and to loosen the inner tube when the claw moves toward the biological tissue.

[0106] Preferably, Figure 8-Figure 9 As shown, the clamping motion assembly 7 includes a clamping block 71, a traction wheel 72, a first fixing plate 73, a second fixing plate 74, a traction rope 75, a redirecting block 76, and a redirecting pin 77;

[0107] The clamping block 71 is sleeved on the traction wheel 72, and the traction wheel 72 is arranged between the first fixing plate 73 and the second fixing plate 74 by rotation. The traction rope 75 is clamped on the traction wheel 72 through the clamping block 71. The redirection block 76 is equipped with a redirection pin 77. The redirection block 76 is installed between the first fixing plate 73 and the second fixing plate 74. The traction rope 75 is connected to the claw assembly 6 after being redirected by the redirection pin 77.

[0108] Or, if Figure 13-14 As shown, when the clamping motion assembly 7 is provided with a connecting rod mechanism, the clamping claw assembly includes a first fixed seat 91 and a second fixed seat 92 which are arranged oppositely and spaced apart, two guide posts 93 are arranged between the first fixed seat 91 and the second fixed seat 92, and each guide post 93 is sleeved with a moving seat 94, and the moving seat 94 can slide along the guide post 93 and rotate around the guide post 93 when an external force is applied;

[0109] The claw assembly also includes a pulling member 96, which can apply an external force to the two moving seats 94. When the external force is applied, the two moving seats 94 can move toward or away from each other around the guide column 93. When the two moving seats 94 move toward each other, they can clamp the inner tube 1 or the outer tube 2. When the two moving seats 94 move away from each other, they can cancel the clamping force on the inner tube 1 or the outer tube 2.

[0110] Preferably, the two movable seats 94 are both hinged with connecting rods 95, and the ends of the two connecting rods 95 away from the movable seats are hinged to each other, wherein one end of the pulling member 96 is connected to the tube needle removal drive assembly, and the other end is connected to the hinged position of the two connecting rods 95;

[0111] When the pulling member 96 applies a force to the two connecting rod pieces 95, the two connecting rod pieces 95 can drive the two moving seats 94 to move toward or away from each other to clamp or release the inner tube 1 or the outer tube 2;

[0112] Preferably, a limiting member 97 is provided on the first fixing seat 91 and / or the second fixing seat 92 , and the limiting member 97 is configured to limit the position of the inner tube 1 or the outer tube 2 to prevent the inner tube 1 or the outer tube 2 from tilting.

[0113] The second passive clamping structure:

[0114] like Figure 10-12 As shown, when the tube-withdrawing needle transmission assembly adopts a clamping drive mode and the passive clamping assembly is a rotary clamping structure, the rotary clamping mechanism 8 includes a rotating member 81 and a rotary driving mechanism 82, wherein:

[0115] When the rotating clamping mechanism 8 is driven to move to one side by the clamping motion assembly, the rotating member 81 is driven to rotate or bend through the rotating driving mechanism 82. The rotating member is provided with a through hole, a through groove, or a double protrusion.

[0116] When the rotating member 8 rotates or bends, it abuts against the inner tube 1 or the outer tube 2 passing through the through hole, through groove, or double protrusion on it;

[0117] When the rotating clamping mechanism 8 is driven by the clamping motion assembly to move to the other side, the rotating member 81 will be driven to rotate or bend to a limited position through the rotating driving mechanism 82, and the rotating member 81 will no longer abut against the inner tube 1 or the outer tube 2 inside the rotating member 81 at the limited position;

[0118] Preferably, the rotation driving mechanism 82 is a driving connecting rod, which can pry or pull the rotating member 81 to rotate or bend;

[0119] Or the rotation driving mechanism 82 is a gear rack, wherein the rack drives the gear, and the gear drives the rotating member 81 to rotate or bend;

[0120] Preferably, the rotation drive mechanism 82 comprises a first fixed seat 821 and a second fixed seat 822 which are arranged oppositely and at intervals, a guide column 823 is arranged between the first fixed seat 821 and the second fixed seat 822, a sliding member 824 is slidably arranged on the guide column 823, and a rotating member 81 is rotatably arranged on the sliding member 824;

[0121] The rotating drive mechanism 82 further includes an elastic puller 825 , one end of which is connected to the rotating member 81 , and the other end of which is connected to the tube-mounted needle-pulling drive assembly.

[0122] Preferably, the rotating member is a rotating column, a rotating sheet or a flexible sheet.

[0123] The third passive clamping structure:

[0124] like Figure 13-14 As shown, when the needle-pulling drive assembly adopts a clamping drive mode and the passive clamping assembly is a side clamping structure, the side clamping mechanism 9 or the side tensioning mechanism will automatically press / tighten the inner tube 1 or the outer tube 2 from the side when it is driven to one side by the clamping motion assembly, and the inner tube 1 or the outer tube 2 is driven to one side by the friction force generated by the pressing / tightening, and then when the side clamping mechanism 9 or the side tensioning mechanism is driven to the other side by the clamping motion assembly, the side clamping mechanism 9 or the side tensioning mechanism will be automatically released to reset it;

[0125] Preferably, the side clamping mechanism 9 or the side tensioning mechanism adopts a connecting rod clamping mechanism, and the inner tube 1 or the outer tube 2 is pressed / pulled by the connecting rod;

[0126] Alternatively, the side clamping mechanism 9 or the side tensioning mechanism adopts a cam clamping mechanism, and the inner tube 1 or the outer tube 2 is pressed / pulled by the rotation of the cam;

[0127] Alternatively, the side clamping mechanism 9 or the side tensioning mechanism adopts an inclined surface or a sliding groove clamping mechanism, and drives the clamping block or the tensioning block to move through the inclined surface or the sliding groove to achieve compression / tensioning of the inner tube 1 or the outer tube 2; the side clamping mechanism 9 or the side tensioning mechanism is equipped with a limiting part so that it cannot be further loosened after being loosened to a certain position.

[0128] Specifically, Figure 15-16As shown, when the side clamping mechanism 9 or the side tensioning mechanism adopts a connecting rod type clamping mechanism, the connecting rod clamping mechanism includes an upper fixed seat 1114103 and a lower fixed seat 1114109 that are relatively and spaced apart, at least one guide column 1114104 is provided between the upper fixed seat 1114103 and the lower fixed seat 1114109, a first movable seat 1114105 is sleeved on the guide column 1114104, the first movable seat 1114105 is slidably matched with the guide column 1114104, the connecting rod clamping mechanism also includes a clamping block 1114107 and a pulling member 1114102, the pulling member 1114102 can be a driving wire, and the middle position between the two ends of the clamping block 1114107 can be through the rotating shaft 1114108. The clamping block 1114107 is rotatably connected to the first movable seat 1114105, one end of the clamping block 1114107 is connected to the pulling member 1114102, and the other end contacts the inner tube 1 or the outer tube 2. The clamping block 1114107 can rotate around the rotation connection point between the first movable seat 1114105 under the action of the driving force of the pulling member 1114102 to one side, so that the end thereof contacting the inner tube 1 or the outer tube 2 presses the inner tube 1 or the outer tube 2 against the side surface of the first movable seat 1114105; the clamping block 1114107 can rotate in the opposite direction around the rotation connection point between the first movable seat 1114105 under the action of the driving force of the pulling member 1114102 to the other side, so that the end thereof contacting the inner tube 1 or the outer tube 2 releases the press against the inner tube 1 or the outer tube 2.

[0129] In any of the above embodiments, if Figure 17-Figure 24 As shown, the needle-removal mechanism includes a needle-removal assembly 8111107 and a needle-removal driving mechanism 344211 which drives the needle-removal assembly 8111107 to reciprocate through a driving wire. The inner tube 1 passes through the needle-removal assembly 8111107 and is connected to the hollow puncture needle 10. The inner tube 1 and the needle-removal assembly 8111107 can achieve relative movement.

[0130] The tube-mounted needle-pulling assembly 8111107 includes a hollow traction box 911, a needle-pulling group arranged in the traction box 911, and end covers 912 located at both ends of the traction box 911. Needle-pulling through holes are arranged on the end covers 912, and the inner tube 1 passes through the two needle-pulling through holes and the needle-pulling group. The needle-pulling driving mechanism 344211 drives the needle-pulling group to reciprocate, and the needle-pulling group and the inner tube 1 are in one-way motion. When the needle-pulling group moves toward the direction close to the hollow puncture needle 10, the inner tube 1 is released and can be moved on the inner tube 1. When the needle-pulling group moves away from the hollow puncture needle 10, the inner tube 1 is clamped and the inner tube 1 is moved away from the hollow puncture needle 10.

[0131] The needle removal through hole extends outward from the traction box 911 to form a needle removal positioning tube 917 , and the inner tube 1 is arranged in the needle removal positioning tube 917 .

[0132] The needle removal group includes a needle removal sliding block 913 that can move along the inner tube 1 in the traction box 911 and a needle removal paddle 914 disposed in the needle removal sliding block 913. A needle removal groove 915 or a through hole is disposed on the needle removal sliding block 913.

[0133] Preferably, a needle-pulling groove 915 is provided on the needle-pulling sliding block 913, and the inner tube 1 is inserted into the needle-pulling groove 915;

[0134] The needle puller 914 is provided with a puller hole, the inner tube 1 passes through the puller hole, the puller hole is larger than the diameter of the inner tube 1, the needle puller sliding block 913 is provided with a storage cavity 916, the needle puller 914 is arranged in the storage cavity 916, the storage cavity 916 has an activity space for the needle puller 914 to move inside the activity space, when the needle puller 914 moves toward the side of the direction close to the hollow puncture needle 10, the angle between the needle puller 914 and the inner tube 1 becomes The needle pulling paddle 914 is large, and the maximum value can reach is that the needle pulling paddle 914 is perpendicular to the inner tube 1. At this time, the needle pulling paddle 914 can slide on the inner tube 1 using the paddle hole. When the needle pulling paddle 914 moves away from the hollow puncture needle 10, the angle between the needle pulling paddle 914 and the inner tube 1 becomes smaller. At this time, the needle pulling paddle 914 is tilted, and the paddle hole is tilted so that the needle pulling paddle 914 clamps the inner tube 1 and drives the inner tube 1 to move away from the hollow puncture needle 10, thereby realizing the needle pulling operation.

[0135] In addition, the needle extraction drive mechanism 344211 also includes a needle extraction power group 921 and a needle extraction quick-connect group 922 connected to the needle extraction assembly 8111107. The needle extraction power group 921 drives the needle extraction quick-connect group 922 to perform reciprocating motion.

[0136] Specifically, a driving wire sleeve is sleeved on the above-mentioned driving wire 9227, and the above-mentioned needle removal quick-connect group 922 includes a quick-connect outer sleeve 9221. One end of the driving wire sleeve abuts on the tube needle removal assembly 8111107, and the other end abuts on the quick-connect outer sleeve 9221. Power is transmitted through relative slippage between the driving wire sleeve and the driving wire (9227).

[0137] The above-mentioned needle extraction quick-connection group 922 also includes a quick-connection inner sleeve 9222 arranged in the quick-connection outer sleeve 9221, a quick-connection plug 9223 fixed to one end of the quick-connection inner sleeve 9222, a quick-connection slider 9224 located at the other end of the quick-connection inner sleeve 9222, and a quick-connection spring 9225 located between the quick-connection plug 9223 and the quick-connection slider 9224. A quick-connection through hole is opened in the center of the quick-connection plug 9223, a metal capillary 9226 is arranged on the quick-connection slider 9224, and a driving wire 9227 is arranged on the metal capillary 9226. One end of the driving wire 9227 passes through the quick-connection through hole, and the other end is connected to the needle extraction group. The paddle 914 is connected; the needle extraction power group 921 moves forward and pushes the quick-connect slider 9224 to move in the quick-connect inner sleeve 9222 toward the quick-connect plug 9223. At this time, the driving wire 9227 pushes the needle extraction slider 9224 forward in the needle extraction assembly 8111107 with the tube; the needle extraction power group 921 moves backward to disengage from the quick-connect slider 9224, and the quick-connect slider 9224 moves away from the quick-connect plug 9223 through the action of the quick-connect spring 9225. At this time, the driving wire 9227 pulls the needle extraction sliding block 913 backward in the needle extraction assembly 8111107 with the tube; this reciprocating process is used to realize the needle extraction operation.

[0138] The needle pulling power group 921 includes a power base 9211, a screw nut group 9212 arranged on the power base 9211, a needle pulling push rod group and a needle pulling servo 9213 driving the screw nut group 9212 to move. The needle pulling push rod group includes a needle pulling guide rail 9214 arranged on the power base 9211, a needle pulling push rod slider 9215 arranged on the needle pulling guide rail 9214 and a needle pulling push rod 9216 arranged on the needle pulling push rod slider 9215. The needle pulling push rod slider 9215 is driven by the screw nut group 9212.

[0139] The screw nut assembly 9212 includes a needle pulling screw arranged on the power base 9211 and a needle pulling nut arranged on the needle pulling screw. The needle pulling servo 9213 drives the needle pulling screw to rotate, thereby driving the needle pulling nut to move linearly along the needle pulling screw. The needle pulling push rod slider 9215 is fixed on the needle pulling nut. By controlling the forward or reverse rotation of the needle pulling servo 9213, the needle pulling push rod slider 9215 is controlled to make a linear reciprocating motion.

[0140] A pressure sensor 9217 is arranged between the needle extraction push rod group and the screw nut group, which is used to detect the thrust applied to the needle extraction push rod group and provide feedback. The pressure sensor 9217 is arranged between the needle extraction push rod 9216 and the needle extraction push rod slider 9215, and can also be arranged at the top of the needle extraction push rod 9216; the contact moment of the needle extraction push rod 9216 and the quick-connect slider 9224 can also be determined through the feedback of the pressure sensor 9217, thereby determining the starting position of the needle extraction, which is convenient for accurately controlling the needle extraction depth.

[0141] The needle pulling quick-connection group 922 is provided with at least two groups and is installed on the needle pulling connector 923. The needle pulling bracket 924 is installed on the needle pulling connector 923. The needle pulling rotating motor 925 is provided on the needle pulling rotating motor 925. The needle pulling cantilever beam 926 is provided on the output shaft of the needle pulling rotating motor 925, and the needle pulling cantilever beam 926 can be driven to rotate around the output shaft through the output shaft. The needle pulling power group 921 is provided on the needle pulling cantilever beam 926. The needle pulling cantilever beam 926 is provided with a radial driving group 927. The radial driving group 927 can drive the needle pulling power group 921 to reciprocate along the needle pulling cantilever beam 926. The needle pulling quick-connection group 922 is evenly distributed with the rotation center of the needle pulling cantilever beam 926 as the axis;

[0142] Preferably, a plurality of needle pulling quick-connection groups 922 are distributed in a circle around the rotation center of the needle pulling cantilever beam 926, and the plurality of needle pulling quick-connection groups 922 form a plurality of circles with different diameters. The needle pulling rotary motor 925 can drive the needle pulling cantilever beam 926 to rotate so as to replace the needle pulling quick-connection groups 922 on the same circle, wherein the replacement of the needle pulling quick-connection groups 922 on different circles is achieved by combining the needle pulling rotary motor 925 driving the needle pulling cantilever beam 926 to rotate and the radial driving group 927 moving along the needle pulling cantilever beam 926;

[0143] The needle pulling connector 923 includes a first needle pulling connector 9231 and a second needle pulling connector 9232. The first needle pulling connector 9231 is provided with a plurality of first needle pulling interfaces 9233, and the second needle pulling connector 9232 is provided with a plurality of second needle pulling interfaces 9234. The needle pulling quick-connection group 922 is installed on the second needle pulling interface 9234. The first needle pulling connector 9231 and the second needle pulling connector 9232 are fitted and fixed together. The plurality of first needle pulling interfaces 9233 are connected with the plurality of second needle pulling interfaces 9234 in a one-to-one correspondence. The needle pulling push rod 9216 in the needle pulling power group 921 enters from the second needle pulling interface 9234 and passes through the first needle pulling interface 9233 and extends into the needle pulling quick-connection group 922. The needle pulling push rod 9216 can push the needle pulling slider 9224 to move toward the direction close to the needle pulling plug 9223.

[0144] A first clamping portion is provided on the second needle extraction interface 9234, and a second clamping portion is provided on the quick-connect outer sleeve 9221 in the needle extraction quick-connect assembly 922. The first clamping portion and the second clamping portion can be connected to facilitate replacement of the needle extraction quick-connect assembly.

[0145] The second aspect of the embodiment of the present invention further provides a needle removal device, which includes a needle removal accessory and the above-mentioned tube-mounted needle removal mechanism;

[0146] The needle removal accessories include:

[0147] An inner tube 1, which is used to connect with a needle body 3;

[0148] An outer tube 2, the outer tube 2 is sleeved outside the inner tube 1, and one end of the outer tube 2 is used to press or connect to the target object;

[0149] The inner tube 1 and the outer tube 2 can move relative to each other, so that the needle body 3 moves away from the target object and the needle body 3 is pulled out of the target object;

[0150] The needle extraction accessory is driven by a tube-mounted needle extraction transmission assembly to realize the needle extraction action.

[0151] Specifically, when one of the inner tube and the outer tube moves, the other tube must be fixed. The outer tube can be fixed, and the needle-pulling transmission assembly drives the inner tube to move away from the target object, or the inner tube can be fixed, and the needle-pulling transmission assembly drives the outer tube to move toward the target object.

[0152] It should be noted that, preferably, the inner tube 1 and the outer tube 2 are both flexible tubes. When the needle extraction operation is driven by the tube-mounted needle extraction transmission assembly, one end of the flexible inner tube 1 is connected to the tail of the needle body and the other end of the flexible inner tube 1 is fixed, and one end of the flexible outer tube 2 arranged outside the flexible inner tube 1 is pressed against the target object;

[0153] Applying force to the flexible outer tube so that it presses against the target object and causes relative sliding between the outer tube and the inner tube, so that the flexible inner tube moves away from the target object under the pulling force of the fixed end to remove the needle;

[0154] Preferably, the needle removal operation is performed by applying a force to the flexible outer tube to press it against the target object and change the curvature of the outer tube, so that the flexible inner tube moves away from the target object under the force of the inner wall of the flexible outer tube.

[0155] Further, such as Figure 25-27 As shown, the needle removal device also includes a puncture template 100, and the puncture template is used for the needle to pass through;

[0156] The puncture template 100 is a personalized template, which is made by 3D printing or CNC processing to meet the surgical needs of different organisms;

[0157] Or the puncture template 100 is an array template, and an array of guide parts are distributed on the array template, and the guide part is at least one of a guide hole, a guide groove, a guide block, and a guide rod;

[0158] Or the puncture template 100 is a thermoplastic template that can be flexibly deformed and shaped;

[0159] Or the puncture template 100 is a scale-type template;

[0160] Alternatively, the puncture template 100 is a support plate formed by curing a fast-curing material.

[0161] Specifically, Figure 25-27 As shown, when the puncture template 100 is a scale-type template, the scale-type template includes a plurality of support units 1001, and each support unit 1001 includes a puncture hole or a puncture groove; or, a puncture hole or a puncture groove is formed between two adjacent support units 1001;

[0162] Each puncture hole or puncture groove may correspond to a needle body 3, and the needle body 3 may pass through the corresponding puncture hole or puncture groove and puncture into the target object.

[0163] Specifically, Figure 25-27 As shown, at this time, a plurality of support units 1001 are superimposed and arranged on the surface of the target object, and the puncture holes or puncture grooves on two adjacent support units are spaced apart by a distance;

[0164] A fast-curing material is applied at the connection position between the guide tube and the surface of the support unit 1001 to fix the guide tube and the support unit 1001. The fast-curing material is one or more combinations of hot melt adhesive, crystal clay, paraffin, thermoplastic resin, quick-drying gypsum, quick-drying cement, quick-drying glue, and low-melting-point metal.

[0165] For another example, when the puncture template 100 is a support plate formed by curing a fast-curing material, a flexible isolation layer is provided at the bottom of the fast-curing material to prevent the fast-curing material from directly contacting the epidermis of the organism, and the fast-curing material is a combination of one or more of hot melt adhesive, crystal soil, paraffin, thermoplastic resin, quick-drying gypsum, quick-drying cement, quick-drying glue, and low-melting-point metal;

[0166] It is worth noting that the needle removal mechanism in the embodiment of the present invention also includes a guide tube, which includes a rigid guide section 101, and the rigid guide section 101 is fixed on the puncture template 100. The needle body 3 passes through the rigid guide section 101 and the puncture module 100 in turn to puncture the target object.

[0167] Specifically, the guide tube 10 may further include a locking mechanism 103 disposed at the rigid guide section 101; the needle body 3 or the inner tube 1 is inserted into the rigid guide section 101 of the guide tube 10, and the locking mechanism 103 is used to lock the needle body 3 or the inner tube 1;

[0168] Or Fig.25 and Fig.26 As shown, the guide tube may further include a flexible guide section 102 connected to the rigid guide section 101 and a locking mechanism 103 disposed on the flexible guide section 102;

[0169] The needle body 3 is inserted into the flexible guide section 102 of the guide tube 10 , and the locking mechanism 103 is used to lock the needle body 3 .

[0170] Specifically, the locking mechanism 103 may adopt one locking form or a combination of multiple locking forms among a snap locking form, a thread locking form or a button locking form.

[0171] like Fig.26 As shown, when the locking mechanism 103 locks the needle body 3 in the form of threaded locking, the locking mechanism 103 includes:

[0172] A locking tube 1031, which is sleeved on the outside of the flexible guide section 102;

[0173] The locking screw 1032 is threadedly connected to the locking tube 1031 ; by turning the locking screw 1032 , the needle body 3 can be squeezed from the side, thereby fixing its relative position with the locking tube 1031 .

[0174] Specifically, the locking mechanism 103 further includes an elastic pad 1033 , which is disposed in the locking tube 1031 ;

[0175] Twisting the locking screw 1032 can push the elastic pad 1033 to squeeze the needle body 3 so that the relative positions of the needle body 3 and the locking tube 1031 are fixed.

[0176] When the puncture template 100 is an array template, the guide portion is at least one of a guide hole, a guide groove, a guide block, and a guide rod, and the multiple guide portions are arranged in a rectangular array. The guiding directions of the multiple guide portions are perpendicular to the array template, and the array template has multiple indicator marks at positions located around the guide portions. The multiple indicator marks correspond one-to-one to the multiple guide portions arranged in rows and the multiple guide portions arranged in columns, respectively.

[0177] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the embodiments disclosed herein. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary technical means in the art that are not disclosed in the present invention. The description and examples are to be regarded as exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0178] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A needle removal mechanism with tube, characterized in that: The tube-withdrawing needle mechanism comprises a tube-withdrawing needle transmission assembly and a tube-withdrawing needle drive assembly. The tube-withdrawing needle transmission assembly is used to be arranged outside the outer tube or the inner tube. The tube-withdrawing needle drive assembly is used to provide power for the tube-withdrawing needle transmission assembly. The tube-withdrawing needle transmission assembly is used to drive the outer tube and the inner tube to move relative to each other. Preferably, the manner in which the tube-withdrawing needle transmission assembly drives the outer tube and the inner tube to perform relative movement includes one or more combinations of friction transmission, meshing transmission, direct push-pull transmission, and clamping transmission.

2. The needle removal mechanism according to claim 1, characterized in that: The tube-mounted needle removal drive assembly includes one or a combination of an independent power element, a drive wire, a hydraulic oil pipe, and an air pipe, wherein; When the needle-withdrawing drive assembly is an independent power element, the independent power element is a motor or electric push rod arranged near or inside the needle-withdrawing drive assembly, and the independent power element directly transmits power to the needle-withdrawing drive assembly; When the tube-withdrawing needle drive assembly is a drive wire, a drive wire sleeve is provided on the outside of the drive wire, one end of the drive wire sleeve can be abutted against or connected to the tube-withdrawing needle drive assembly, and the other end can be abutted against or connected to an external power mechanism, and the relative movement between the drive wire and the drive wire sleeve is achieved through the external power mechanism to transmit power to the tube-withdrawing needle drive assembly; When the needle-in-tube drive assembly is a hydraulic oil pipe, hydraulic oil is provided inside the hydraulic oil pipe, one end of the hydraulic oil pipe can be connected to the needle-in-tube drive assembly, and the other end can be connected to an external power mechanism, and the hydraulic oil is injected or extracted through the external power mechanism, so that the hydraulic oil transmits power to the needle-in-tube drive assembly along the hydraulic oil pipe; When the needle-withdrawal drive assembly is a trachea, one end of the trachea is connected to the needle-withdrawal drive assembly, and the other end is connected to an external power mechanism. Gas is injected or extracted into the trachea through the external power mechanism, so that the gas transmits power to the needle-withdrawal drive assembly along the trachea.

3. The needle removal mechanism according to claim 1, characterized in that: When the needle-withdrawing transmission assembly adopts a friction drive mode, the needle-withdrawing transmission assembly includes a friction wheel or a friction belt, a part of which is in contact with the outer tube or the inner tube, and the friction force generated by the contact drives the outer tube and the inner tube to move relative to each other.

4. The needle removal mechanism according to claim 1, characterized in that: When the needle-withdrawing transmission assembly adopts a meshing drive mode, the needle-withdrawing transmission assembly includes a rack arranged on the outer tube or the inner tube and a gear or worm matched with the rack, and the outer tube and the inner tube are driven to move relative to each other through the meshing of the gear or worm and the rack.

5. The needle removal mechanism according to claim 1, characterized in that: When the tube-withdrawal needle transmission assembly adopts a push-pull drive mode, the tube-withdrawal needle transmission assembly includes a push-pull motion assembly and a push-pull assembly. The push-pull assembly is arranged on the push-pull motion assembly and can move along a certain trajectory under the drive of the push-pull motion assembly. The push-pull assembly can directly apply a thrust or a pull to the end face of the inner tube or the outer tube or to the step surface or the connection part arranged on the inner tube or the outer tube, so as to directly push / pull the inner tube or the outer tube through the cooperation between the push-pull motion assembly and the push-pull assembly to drive the inner tube and the outer tube to perform relative sliding motion. The push-pull motion assembly adopts linear motion or arc motion.

6. The needle removal mechanism according to claim 1, characterized in that: When the tube-withdrawing needle transmission assembly adopts a clamping drive mode, the tube-withdrawing needle transmission assembly includes a clamping motion assembly and a clamping assembly. The clamping assembly is arranged on the clamping motion assembly and can move along a certain trajectory under the drive of the clamping motion assembly. The clamping assembly can clamp or loosen the inner tube or the outer tube. Through the cooperation between the clamping motion component and the clamping component, the inner tube or the outer tube is driven unidirectionally to one side, or; the clamping motion component can also drive the clamping component to reciprocate along a certain trajectory, clamp the inner tube or the outer tube and then drive the clamping component to move to one side, then release the inner tube or the outer tube to reset to the other side, repeat the above process to drive the inner tube or the outer tube unidirectionally to one side; The clamping assembly is an active clamping assembly or a passive clamping assembly; The active clamping assembly is provided with an independent power source to actively control the clamping or loosening of the active clamping assembly, and its specific form is a clamping claw that can be actively opened and closed, or a rotating clamping mechanism that can be actively rotated, or a side clamping mechanism or a side tensioning mechanism that can actively compress or tighten the inner tube or the outer tube; The passive clamping assembly is automatically clamped when pushed to one side by the clamping motion assembly, and is automatically released when moved to the other side to reset, so as to realize uninterrupted driving of the inner tube or the outer tube to one side; The passive clamping assembly is one or a combination of a clamping claw assembly, a rotating clamping mechanism, a side clamping mechanism or a side tensioning mechanism.

7. The needle removal mechanism according to claim 2, characterized in that: The tube-withdrawing needle mechanism includes a tube-withdrawing needle assembly and a needle-withdrawing driving mechanism that drives the tube-withdrawing needle assembly to reciprocate through a driving wire. The inner tube passes through the tube-withdrawing needle assembly and is connected to the hollow puncture needle. The inner tube and the tube-withdrawing needle assembly can achieve relative movement.

8. The tube-mounted needle-removing mechanism according to claim 7, wherein the tube-mounted needle-removing assembly comprises a hollow traction box, a needle-removing group arranged in the traction box, and end covers at both ends of the traction box, wherein a needle-removing through hole is arranged on the end cover, and the inner tube passes through two needle-removing through holes and the needle-removing group, and the needle-removing driving mechanism drives the needle-removing group to reciprocate, and the needle-removing group and the inner tube are in one-way motion, and when the needle-removing group moves toward the direction close to the hollow puncture needle, the inner tube is released and can be moved on the inner tube, and when the needle-removing group moves away from the hollow puncture needle, the inner tube is clamped and the inner tube is moved away from the hollow puncture needle; The needle extraction through hole extends outward from the traction box to form a needle extraction positioning cylinder, and the inner tube is arranged in the needle extraction positioning cylinder; The needle pulling group comprises a needle pulling sliding block which can move along the inner tube direction in the traction box and a needle pulling paddle arranged in the needle pulling sliding block, and a needle pulling groove or through hole is arranged on the needle pulling sliding block; Preferably, a needle-pulling groove is provided on the needle-pulling sliding block, and the inner tube is inserted into the needle-pulling groove; The needle pulling paddle is provided with a paddle hole, the inner tube passes through the paddle hole, the paddle hole is larger than the diameter of the inner tube, the needle pulling sliding block is provided with a storage cavity, the needle pulling paddle is arranged in the storage cavity, and the storage cavity has an activity space for the needle pulling paddle to move inside the activity space. When the needle pulling paddle moves toward the side close to the hollow puncture needle, the angle between the needle pulling paddle and the inner tube becomes larger, and the maximum value can reach that the needle pulling paddle is perpendicular to the inner tube. At this time, the needle pulling paddle can slide on the inner tube using the paddle hole. When the needle pulling paddle moves in the direction away from the hollow puncture needle, the angle between the needle pulling paddle and the inner tube becomes smaller. At this time, the needle pulling paddle is tilted, and the paddle hole is tilted so that the needle pulling paddle clamps the inner tube and drives the inner tube to move in the direction away from the hollow puncture needle to realize the needle pulling operation; The needle-pulling driving mechanism comprises a needle-pulling quick-connect group connected to the tube-pulling needle assembly, and the needle-pulling quick-connect group can be driven to perform reciprocating motion by an external driving mechanism.

9. The tube-mounted needle removal mechanism according to claim 8, characterized in that: A drive wire sleeve is sleeved on the drive wire, one end of the drive wire sleeve abuts against the tube-following needle extraction assembly, and the other end abuts against the quick-connect outer sleeve, and power is transmitted through relative slippage between the drive wire sleeve and the drive wire; A quick-connect inner sleeve, a quick-connect plug fixed at one end of the quick-connect inner sleeve, a quick-connect slider located at the other end of the quick-connect inner sleeve, and a quick-connect spring located between the quick-connect plug and the quick-connect slider, a quick-connect through hole is opened in the center of the quick-connect plug, a metal capillary is arranged on the quick-connect slider, a driving wire is arranged on the metal capillary, one end of the driving wire passes through the quick-connect through hole, and the other end is connected with the needle pulling paddle in the needle pulling group; the needle pulling power group moves forward and pushes the quick-connect slider to move in the quick-connect inner sleeve toward the quick-connect plug, at this time, the driving wire pushes the needle pulling slider forward in the tube-mounted needle pulling assembly; the needle pulling power group moves backward to disengage the quick-connect slider, and the quick-connect slider moves in the direction away from the quick-connect plug through the action of the quick-connect spring, at this time, the driving wire pulls the needle pulling sliding block backward in the tube-mounted needle pulling assembly; this reciprocating process is used to realize the needle pulling operation.

10. A needle extraction device, comprising a needle extraction accessory and the tube-mounted needle extraction mechanism according to any one of claims 1 to 9; The needle removal accessories include: An inner tube, the inner tube being used to be connected to the needle body; An outer tube, the outer tube is sleeved outside the inner tube, and one end of the outer tube is used to press against or connect to a target object; The inner tube and the outer tube can move relative to each other, so that the needle body moves in a direction away from the target object and the needle body is pulled out of the target object; The needle extraction accessory adopts a tube-mounted needle extraction transmission component to drive the inner tube and the outer tube to produce relative movement to achieve the needle extraction action.

11. The needle removal device according to claim 10, characterized in that: The needle removal device also includes a puncture template, and the puncture template is used for the needle body to pass through; The puncture template is a personalized template, which is made by 3D printing or CNC processing to meet the surgical needs of different organisms; Or the puncture template is an array template, and an array of guide parts are distributed on the array template, and the guide part is at least one of a guide hole, a guide groove, a guide block, and a guide rod; Or the puncture template is a thermoplastic template that can be flexibly deformed and shaped; Or the puncture template is a scale-type template; Alternatively, the puncture template is a support plate formed by curing a fast-curing material.

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