Array type needle withdrawing mechanism and needle withdrawing device for sleeve type puncture needle

Abstract

The invention provides an array type needle withdrawing mechanism and device for a sleeve type puncture needle, and belongs to the technical field of medical instruments. The array type needle pulling mechanism comprises a multi-channel selection type needle pulling driving mechanism, and the multi-channel selection type needle pulling driving mechanism drives the inner tube and the outer tube to relatively slide in one or combination of a push-pull driving mode and a clamping driving mode; a selective driving part is arranged on the multi-channel selective needle withdrawing driving mechanism, the selective driving part comprises a selective resisting part or a selective clamping part, and the selective resisting part can be controlled to selectively push a specified outer tube or inner tube; or the selective clamping part can be controlled to selectively clamp the specified outer pipe or inner pipe. The array type needle pulling mechanism can be controlled to selectively push or clamp the specified outer tube or inner tube and drive the inner tube and the outer tube to relatively slide, so that the needle pulling operation is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an array-type needle-pulling mechanism and a needle-pulling device for a cannula-type puncture needle. 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 an array-type needle removal mechanism and a needle removal device for a cannula-type puncture needle. The needle removal mechanism can be controlled to select to push or clamp a specified outer tube or inner tube and drive the inner and outer tubes to perform relative sliding movement, thereby realizing the needle removal operation.

[0004] A first aspect of an embodiment of the present invention proposes an array-type needle removal mechanism for a cannula-type puncture needle, comprising a multi-channel selective needle removal drive mechanism, which drives the inner and outer tubes to slide relative to each other by one or a combination of a push-pull drive mode or a clamping drive mode; the multi-channel selective needle removal drive mechanism is provided with a selective driving component, which comprises a selective resisting portion or a selective clamping portion, and the selective resisting portion can be controlled to select a specified outer tube or inner tube for pushing; or the selective clamping portion can be controlled to select a specified outer tube or inner tube for clamping.

[0005] In the above technical solution, the selective blocking portion can partially block one of the mounting holes or mounting slots on the multi-channel selective needle removal drive mechanism, while not blocking the inner tubes or outer tubes in the remaining mounting holes or mounting slots;

[0006] When the selective resisting part moves along a certain trajectory, it pushes or pulls the end surface of the inner tube or outer tube penetrating the mounting hole or the mounting groove or the step surface arranged on the inner tube or the outer tube, thereby driving the inner tube or the outer tube to perform relative sliding movement, thereby realizing multi-channel needle extraction;

[0007] Alternatively, the selective clamping portion can move along a certain trajectory and can clamp the inner tube or outer tube in one of the mounting holes or mounting grooves on the multi-channel selective needle extraction drive mechanism, and loosen the inner tube or outer tube in the remaining mounting holes or mounting grooves;

[0008] When the selective clamping part moves along a certain trajectory, it directly drives the clamped inner tube or outer tube to perform relative sliding movement, thereby realizing multi-channel needle extraction.

[0009] In the above technical solution, the selective blocking portion includes a blocking member and a moving component, and the moving component can drive the blocking member to selectively block the mounting hole on the needle-pulling drive mechanism.

[0010] In the above technical solution, the moving component includes a driving module, which drives the blocking member to move along a certain trajectory, and drives the inner tube and the outer tube to generate relative movement through the blocking member;

[0011] The driver module includes:

[0012] Installation Department;

[0013] A plurality of mounting holes are distributed on the circumference of the mounting portion, and the mounting holes are used to pass through the inner tube and the outer tube that are fitted together, and the plurality of mounting holes are arranged in an array on the mounting portion;

[0014] A plurality of mounting holes are arranged on the mounting portion in a square array, a ring array or a fan-shaped array;

[0015] Preferably, the plurality of mounting holes are arranged on the mounting portion in a circular array, wherein a line connecting the plurality of mounting holes forms a virtual circle, wherein the circumferential direction of the virtual circle serves as the first direction, and the axial direction of the mounting holes serves as the second direction;

[0016] A first driving part and a second driving part, the first driving part and the second driving part are connected in power, the first driving part is connected to the blocking member, and the blocking member is rotatably arranged on the mounting part and is located at the center of a virtual circle;

[0017] The first driving part can drive the blocking member to rotate along the first direction, and the second driving part can drive the blocking member to move along the second direction through the first driving part. The blocking member abuts against the outer tube and drives the outer tube to translate along the second direction to make the inner and outer tubes produce relative movement.

[0018] In the above technical solution, the mounting portion includes a limit plate and an inner tube mounting plate which are arranged opposite to each other and spaced apart by a preset distance, and both the limit plate and the inner tube mounting plate are provided with mounting holes;

[0019] The inner tube passes through the mounting hole on the limit plate and the mounting hole on the inner tube mounting plate in sequence and is fixed by an inner tube clamping assembly or a threaded tightening assembly or a buckle clamping assembly, and the outer tube passes through the mounting hole on the limit plate and its end is placed between the limit plate and the inner tube mounting plate;

[0020] The limiting plate and the inner tube mounting plate are connected via an intermediate connecting plate.

[0021] In the above technical solution, the blocking member is arranged between the limit plate and the inner tube mounting plate;

[0022] The second driving part is an electric cylinder, an oil cylinder or a lead screw arranged along the second direction;

[0023] The first driving part is fixedly arranged at the output end of the second driving part;

[0024] When the first driving part drives the blocking member to rotate to a position relative to the outer tube, the second driving part can drive the blocking member to translate along the second direction through the first driving part to push the outer tube.

[0025] In the above technical solution, a push plate is provided between the limit plate and the inner tube mounting plate, the blocking member and the first driving part are provided on the push plate, the push plate is connected to the second driving part, and the second driving part can drive the push plate and the blocking member to translate along the second direction;

[0026] The push plate is provided with a plurality of mounting holes, the positions of the mounting holes correspond to the positions of the mounting holes on the limit plate, and the diameter of the mounting holes is larger than the diameter of the outer tube;

[0027] When the blocking member pushes the outer tube to translate along the second direction, the outer tube not pushed by the blocking member can pass through the mounting hole on the push plate.

[0028] In the above technical solution, the selective clamping part includes a clamping module and a lifting module;

[0029] The clamping module has a clamping state for clamping the inner tube or the outer tube and a non-clamping state for allowing the inner tube or the outer tube to move;

[0030] The lifting module can drive the clamping module to rise or fall;

[0031] The lifting module comprises a base and a lifting seat. The base is provided with a transmission assembly, and the transmission assembly comprises one or a combination of a screw transmission assembly, a gear rack transmission assembly, and a pull rope transmission assembly.

[0032] In the above technical solution, the selective clamping part includes a clamping module, the clamping module includes a synchronous clamping mechanism, and the synchronous clamping mechanism includes a synchronous motion mechanism and a clamping motion mechanism that cooperate with each other, so as to achieve clamping or loosening of the inner tube or the outer tube through the synchronous motion mechanism and the clamping motion mechanism;

[0033] The synchronous motion mechanism adopts one or a combination of a belt drive mechanism, a gear drive mechanism, and a chain drive mechanism;

[0034] The clamping movement mechanism adopts one or a combination of a clamping claw mechanism, a side clamping mechanism, and a rotating clamping mechanism.

[0035] A second aspect of an embodiment of the present invention provides a needle extraction device, which includes a needle extraction accessory and the above-mentioned array-type needle extraction mechanism for a cannula-type puncture needle;

[0036] Needle extraction accessories include:

[0037] An inner tube, the inner tube is used to connect with the needle body;

[0038] 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;

[0039] 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;

[0040] The array-type needle-pulling mechanism is used to drive the inner tube and the outer tube to produce relative movement to achieve the needle-pulling action.

[0041] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0042] An embodiment of the present invention proposes an array-type needle extraction mechanism for a cannula-type puncture needle. Based on the cannula needle extraction principle, it can replace manual extraction of the needle body and can reliably extract the needle when the needle bodies are densely packed and the distance between two adjacent needle bodies is small. The array-type needle extraction mechanism can choose to push or clamp a designated outer tube or inner tube and drive the inner and outer tubes to perform relative sliding motion, thereby realizing multi-channel selective needle extraction operation. In some radiation-containing scenarios, fully automatic needle extraction can be realized to avoid radiation damage to the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] 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.

[0044] Figure 1 is a schematic diagram of a three-dimensional structure of a driving mechanism in an embodiment of the driving mechanism of the present invention at a first viewing angle when a push-pull driving mode is adopted;

[0045] Figure 2 is a schematic diagram of a three-dimensional structure of a driving mechanism in an embodiment of the driving mechanism of the present invention at a second viewing angle when a push-pull driving mode is adopted;

[0046] Figure 3 for Figure 2 A schematic diagram of the method structure at A in the embodiment;

[0047] Figure 4 It is a side view structural schematic diagram of the driving mechanism in the driving mechanism embodiment of the present invention when the driving mechanism adopts a push-pull driving mode;

[0048] Figure 5 It is a schematic diagram of the three-dimensional structure of the selective clamping part of the driving mechanism in the embodiment of the driving mechanism of the present invention when the clamping driving mode is adopted;

[0049] Figure 6 for Figure 5 Schematic diagram of the explosion structure of the selective clamping part in the embodiment;

[0050] Figure 7 It is a schematic diagram of the three-dimensional structure of the claw mechanism in the first perspective;

[0051] Figure 8 It is a schematic diagram of a three-dimensional mechanism of the claw mechanism at a second viewing angle;

[0052] Fig. 9 for Figure 8 A schematic diagram of the enlarged structure of point A in the embodiment;

[0053] Fig.10 for Figure 7 A schematic cross-sectional view of the clamping assembly in the embodiment;

[0054] Fig.11 It is a structural schematic diagram of a synchronous motion component in a claw mechanism adopting a gear transmission structure;

[0055] Fig.12 for Figure 7 A schematic diagram of the main structure of the mounting plate in the embodiment;

[0056] Fig.13 It is a schematic diagram of the three-dimensional structure of the array-type claw clamping mechanism;

[0057] Fig.14 It is a schematic diagram of the three-dimensional structure of the array-type claw clamping mechanism when the upper cover is removed;

[0058] Fig.15 It is a schematic diagram of the three-dimensional structure of the side tightening mechanism;

[0059] Fig.16 To remove the side tightening mechanism Fig.14 A schematic diagram of the three-dimensional structure when the cover is on in the embodiment;

[0060] Fig.17 To remove the side tightening mechanism Fig.14 A schematic diagram of the top view of the structure when the cover is on in the embodiment;

[0061] Fig.18 It is a schematic diagram of the three-dimensional structure of the array type rotary clamping mechanism;

[0062] Fig.19 for Fig.18 Schematic diagram of the enlarged structure of the support block in the embodiment

[0063] Fig. 20 It is a schematic diagram of the side structure of the array-type claw clamping mechanism. DETAILED DESCRIPTION

[0064] 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.

[0065] 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 driving mechanism, which can be pressed against the inner tube or the outer tube, and drive the inner and outer tubes to perform relative sliding motion through the friction force generated, thereby realizing the needle removal operation.

[0066] The following is combined with Figure 1 -Attached Fig. 20 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.

[0067] Embodiment 1

[0068] like Figure 1-Figure 6 As shown, a first aspect of an embodiment of the present invention proposes a driving mechanism for adjusting the relative positions of the inner tube 1 and the outer tube 2. The driving mechanism drives the inner tube 1 and the outer tube 2 to slide relative to each other by one or a combination of a push-pull driving mode and a clamping driving mode.

[0069] like Figure 1-Figure 4 As shown, when the driving mechanism adopts a push-pull drive or a clamping drive, the driving mechanism includes a multi-channel selective needle extraction drive mechanism, which drives the inner and outer tubes to slide relative to each other through one or a combination of push-pull drive modes or clamping drive modes. The multi-channel selective needle extraction drive mechanism is provided with a selective driving component, which includes a selective resisting portion or a selective clamping portion. The selective resisting portion can be controlled to select the designated outer tube 2 or inner tube 1 for pushing; or the selective clamping portion can be controlled to select the designated outer tube 2 or inner tube 1 for clamping.

[0070] Specifically, the selective blocking portion can partially block one of the mounting holes 1-61 or mounting grooves on the multi-channel selective needle extraction drive mechanism, while not blocking the inner tube 1 or outer tube 2 in the remaining mounting holes 1-61 or mounting grooves, so that when the inner tube 1 or outer tube 2 moves along a certain trajectory, it pushes or pulls the end surface of the inner tube 1 or outer tube 2 passing through the mounting hole 1-61 or the step surface provided on the inner tube 1 or outer tube 2, thereby driving the inner tube 1 or outer tube 2 to perform relative sliding movement;

[0071] Alternatively, the selective clamping portion can move along a certain trajectory and can clamp the inner tube 1 or outer tube 2 in one of the mounting holes or mounting grooves on the multi-channel selective needle extraction drive mechanism, and loosen the inner tube 1 or outer tube 2 in the remaining mounting holes or mounting grooves;

[0072] When the selective clamping part moves along a certain trajectory, it directly drives the clamped inner tube 1 or outer tube 2 to perform relative sliding movement, thereby realizing multi-channel needle extraction.

[0073] Specifically, when the selective blocking portion includes a blocking member 1-6 and a moving component, the moving component can drive the blocking member 1-6 to selectively block the mounting hole 1-61 on the needle extraction drive mechanism.

[0074] Specifically, the moving part includes a driving module, which drives the blocking member to move along a certain trajectory, and drives the inner tube 1 and the outer tube 2 to generate relative movement through the blocking members 1-6;

[0075] The driver module includes:

[0076] Installation part 1-62;

[0077] A plurality of mounting holes 1-61 are distributed in the circumferential direction of the mounting portion 1-62, and the mounting holes 1-61 are used to pass the inner tube 1 and the outer tube 2 which are fitted together. The plurality of mounting holes 1-61 are arranged in an array on the mounting portion 1-62;

[0078] A plurality of mounting holes 1-61 are arranged on the mounting portion 1-62 in a square array, a ring array or a fan-shaped array;

[0079] Preferably, the plurality of mounting holes 1-61 are arranged on the mounting portion 1-62 in a circular array, wherein a line connecting the plurality of mounting holes 1-61 forms a virtual circle, wherein the circumferential direction of the virtual circle serves as a first direction, and the axial direction of the mounting holes 1-61 serves as a second direction;

[0080] A first driving part 1-63 and a second driving part 1-64, the first driving part 1-63 and the second driving part 1-64 are connected in power, the first driving part 1-63 is connected to the blocking member 1-6, and the blocking member 1-6 is rotatably arranged on the mounting part 1-62 and is located at the center of a virtual circle;

[0081] The first driving part 1-63 can drive the blocking member 1-6 to rotate along the first direction, and the second driving part 1-64 can drive the blocking member 1-6 to move along the second direction through the first driving part 1-63. The blocking member 1-6 abuts against the outer tube 2 and drives the outer tube 2 to translate along the second direction to make the inner and outer tubes produce relative movement.

[0082] Specifically, the mounting portion 1-62 includes a limiting plate 1-621 and an inner tube mounting plate 1-622 that are arranged opposite to each other and spaced apart by a preset distance, and both the limiting plate 1-621 and the inner tube mounting plate 1-622 are provided with mounting holes 1-61;

[0083] The inner tube 1 passes through the mounting hole 1-61 on the limiting plate 1-621 and the mounting hole 1-61 on the inner tube mounting plate 1-622 in sequence and is clamped and fixed by the inner tube clamping assembly 1-65. The outer tube 2 passes through the mounting hole 1-61 on the limiting plate 1-621 and its end is placed between the limiting plate 1-621 and the inner tube mounting plate 1-622. The limiting plate is used to straighten the pipeline, thereby facilitating smooth needle removal.

[0084] The limiting plate 1-621 and the inner tube mounting plate 1-622 are connected via an intermediate connecting plate 1-623.

[0085] Of course, in some alternative embodiments, the inner tube clamping assembly 1-65 can also be replaced by a threaded tightening assembly or a snap-on clamping assembly, and the intermediate connecting plate is not limited to a plate-like form, and other connecting parts that can connect the limit plate and the inner tube mounting plate together can be used.

[0086] Specifically, the blocking member 1-6 is disposed between the limiting plate 1-621 and the inner tube mounting plate 1-622;

[0087] The second driving part 1-64 is an electric cylinder or an oil cylinder or a lead screw arranged along the second direction;

[0088] The first driving part 1-63 is fixedly arranged at the output end of the second driving part 1-64;

[0089] When the first driving part 1-63 drives the blocking member 1-6 to rotate to a position relative to the outer tube 2, the second driving part 1-64 can drive the blocking member 1-6 to translate along the second direction through the first driving part 1-63 to push the outer tube 2.

[0090] Specifically, a push plate 1-624 is provided between the limit plate 1-621 and the inner tube mounting plate 1-622, the blocking member 1-6 and the first driving portion 1-63 are relatively arranged on both sides of the push plate 1-624, the push plate 1-624 is connected to the second driving portion 1-64 through the first driving portion 1-63, and the second driving portion 1-64 can drive the blocking member 1-6 to translate along the second direction through the first driving portion 1-63 and the push plate 1-624;

[0091] A plurality of mounting holes 1-61 are provided on the push plate 1-624, and the setting positions of the mounting holes 1-61 correspond to the positions of the mounting holes 1-61 on the limiting plate 1-621, and the diameter of the mounting holes 1-61 is larger than the diameter of the outer tube 2;

[0092] When the blocking member 1-6 pushes the outer tube 2 to translate along the second direction, the outer tube 2 not pushed by the blocking member 1-6 can pass through the mounting hole 1-61 on the push plate 1-624, while the outer tube pushed by the blocking member is pressed against the target object and changes the curvature of the outer tube, so that the flexible inner tube moves in the direction away from the target object under the action of the inner wall of the flexible outer tube, thereby realizing the needle removal operation.

[0093] Embodiment 2

[0094] The difference between this embodiment and the first embodiment is that the driving mechanism in this embodiment adopts a clamping driving mode. It is worth noting that when the driving mechanism adopts a clamping driving mode, a part of the driving mechanism clamps the inner tube 1 or the outer tube 2, and then the part moves to one side, thereby driving the inner tube 1 or the outer tube 2 to perform relative sliding motion.

[0095] The driving mechanism comprises a multi-channel selective needle removal driving mechanism, on which a selective driving component is provided. The selective driving component comprises a selective clamping portion, and the selective clamping portion can be controlled to selectively clamp a designated inner tube 1 or outer tube 2.

[0096] Specifically, the selective clamping part can move along a certain trajectory, and can clamp the inner tube 1 or outer tube 2 in one of the mounting holes or mounting grooves on the multi-channel selective needle extraction drive mechanism, and loosen the inner tube 1 or outer tube 2 in the remaining mounting holes or mounting grooves, so that when it moves along a certain trajectory, it can directly drive the clamped inner tube 1 or outer tube 2 to make relative sliding motion, thereby realizing multi-channel needle extraction.

[0097] like Figure 5-Figure 6 As shown, the selective clamping portion includes a clamping module 1-86 and a lifting module;

[0098] The clamping module has a clamping state for clamping the inner tube 1 or the outer tube 2 and a non-clamping state for allowing the inner tube 1 or the outer tube 2 to move;

[0099] The lifting module 1-86 can drive the clamping module to rise or fall.

[0100] Specifically, the lifting module includes a base 1-8 and a lifting seat 1-81, and a transmission assembly is provided on the base 1-8, and the transmission assembly includes one or a combination of a screw transmission assembly, a gear rack transmission assembly, and a pull rope transmission assembly;

[0101] Preferably, the transmission assembly is a screw transmission assembly;

[0102] The screw transmission assembly 1-82 is rotatably connected to the base 1-8, the lifting seat 1-81 is arranged above the base 1-8 and is threadedly connected to the screw transmission assembly 1-82, and the clamping module 1-86 is installed on the lifting seat 1-81;

[0103] The lifting module also includes a driving component for driving the screw transmission component 1-82 to rotate. When the driving component drives the screw transmission component 1-82 to rotate, the lifting module can be lifted and lowered relative to the base 1-8 to drive the clamping module to lift and lower.

[0104] Specifically, a first bevel gear 1-83 and a second bevel gear 1-84 meshing with each other are rotatably arranged between the base 1-8 and the lifting seat 1-81, and the first bevel gear 1-83 is driven by a driving shaft;

[0105] The rotation axis of the second bevel gear 1-84 is parallel to the rotation axis of the screw assembly 1-82, and a first synchronous pulley is provided between the two;

[0106] When the second bevel gear 1-84 rotates, it drives the screw assembly 1-82 to rotate through the first synchronous pulley so that the lifting seat 1-81 can be lifted and lowered relative to the base 1-8.

[0107] Specifically, at least one set of screw rod assemblies 1-82 is provided;

[0108] When there are multiple groups of screw rod assemblies 1-82, a second synchronous pulley 1-85 is provided between two adjacent groups of screw rod assemblies 1-82, and the second bevel gear 1-84 can be connected to one of the screw rod assemblies 1-82 through the first synchronous pulley.

[0109] Of course, in some embodiments not shown in the figure, a pull rope or a transmission belt may also be provided between two adjacent groups of screw assemblies 1-82 and between the second bevel gear and the screw assembly to achieve transmission connection between the two components through the pull rope or the transmission belt.

[0110] Embodiment 3

[0111] like Figure 7-Figure 17 As shown, the selective clamping part in this embodiment includes a clamping module, wherein the clamping module includes a synchronous clamping mechanism, and the synchronous clamping mechanism includes a synchronous motion mechanism and a clamping motion mechanism that cooperate with each other, so as to achieve clamping or loosening of the inner tube or the outer tube through the synchronous motion mechanism and the clamping motion mechanism;

[0112] The synchronous motion mechanism adopts one or a combination of a belt drive mechanism, a gear drive mechanism, and a chain drive mechanism;

[0113] The clamping movement mechanism adopts one or a combination of a clamping claw mechanism, a side clamping mechanism, and a rotating clamping mechanism.

[0114] Claw mechanism

[0115] When the clamping motion mechanism is a claw mechanism, the claw mechanism includes:

[0116] An inner tube clamping assembly, wherein the inner tube clamping assembly is provided with a plurality of clamping holes, and the inner tube clamping assembly can simultaneously clamp or release a plurality of inner tubes 1 arranged in the clamping holes;

[0117] The clamping holes are arranged in an array on the inner tube clamping assembly;

[0118] The inner tube clamping assembly includes a synchronous motion assembly and a clamping assembly. There are multiple clamping assemblies corresponding to multiple clamping holes. The synchronous motion assembly can synchronously drive the multiple clamping assemblies to move so that they clamp the inner tube 1 set in the clamping hole.

[0119] Specifically, the synchronous motion component adopts a belt transmission mechanism, and the clamping component adopts a multi-claw motion mechanism;

[0120] Or the synchronous motion component adopts a gear mechanism, and the clamping component adopts a multi-claw motion mechanism

[0121] Specifically, Figure 7-Figure 12 As shown, the claw mechanism includes:

[0122] Mounting plate 1b;

[0123] The clamping assembly 1b1 includes a multi-jaw assembly;

[0124] The multi-jaw assembly includes a first mounting seat 1b11, a second mounting seat 1b12, a bearing 1b13 and a plurality of jaws 1b14. The first mounting seat 1b11 is fixedly connected to the mounting plate 1b, and the second mounting seat 1b12 is installed on the first mounting seat 1b11 through the bearing 1b13. One end of the jaw 1b14 is hinged to the first mounting seat 1b11, and the other end is slidably connected to the second mounting seat 1b12. A storage space for accommodating the inner tube 1 is surrounded by the plurality of jaws 1b14. The second mounting seat 1b12 rotates relative to the first mounting seat 1b11 to drive the plurality of jaws 1b14 to rotate synchronously to change the size of the storage space.

[0125] Specifically, the synchronous motion component adopts a belt transmission mechanism, which includes a driven pulley 1b2, a driving pulley 1b3, a synchronous belt 1b4 and a tensioning pulley 1b5;

[0126] The driven pulley 1b2 is fixedly connected to the second mounting seat 1b12;

[0127] The driving pulley 1b3 is rotatably mounted on the mounting plate 1b and is located between two adjacent driven pulleys 1b2. The synchronous belt 1b4 is sleeved on a plurality of driven pulleys 1b2 and the driving pulley 1b3. A tensioning pulley 1b5 is provided between two adjacent driven pulleys 1b2. The tensioning pulley 1b5 is located outside the synchronous belt 1b4.

[0128] The plurality of groups of clamping jaw assemblies 1b1 are distributed on the mounting plate 1b in a circular array, and the plurality of driven pulleys 1b2 are arranged in one-to-one correspondence with the plurality of groups of clamping assemblies 1b1.

[0129] It is worth noting that when the synchronous motion mechanism adopts a gear transmission structure, such as Figure 10-12 As shown, the gear transmission mechanism includes a driven gear 1b6, a driving gear 1b7 and a transmission gear 1b8;

[0130] The driven gear 1b6 is fixedly connected to the second mounting seat 1b12;

[0131] Multiple groups of clamping components 1b1 are distributed on the mounting plate 1b in a circular array; multiple driven gears 1b6 are arranged in one-to-one correspondence with the multiple groups of clamping components 1b1;

[0132] The driving gear 1b7 is rotatably disposed on the mounting plate 1b and is located between two adjacent driven gears 1b6;

[0133] The transmission gear 1b8 is disposed inside the plurality of driven gears 1b6 and the driving gear 1b7, wherein the driving gear 1b7 meshes with the transmission gear 1b8, and the transmission gear 1b8 meshes with the plurality of driven gears 1b6.

[0134] In some embodiments, Fig. 20 As shown, the claw mechanism also includes:

[0135] The clamping jaw 3522208 is fixed to the radial motion assembly 3522210 {which can use an electric slide, an electric cylinder, an oil cylinder, an air cylinder, etc.} through the clamping jaw radial motion plate 3522209. The radial motion assembly 3522210 is installed at the end of the central rotating shaft 3522213. The output end of the precision indexing plate 3522214 is connected to the central rotating shaft 3522213. The precision indexing plate 3522214 can drive the central rotating shaft 3522213 The clamp rotates around its axis so that the clamp can abut against the tail end faces of multiple groups of sleeves A arranged in the circumferential direction; the lower part of the clamp is sleeved on the central rotating shaft 3522213 and driven by the radial motion component 3522210 to make the clamp move radially relative to the central rotating shaft 3522213; the precision indexing plate 3522214 starts to work and rotates the radial motion component 3522210 and the clamp 3522208 to the specified position through the central rotating shaft 3522213;

[0136] The radial motion component 3522210 starts to work and sends the clamping claw 3522208 to the tail end face of the sleeve A 3522206; the axial motion component 3522216 is installed on the clamping mounting plate, and the output end of the axial motion component 3522216 passes through the clamping mounting plate and is connected to the precision dividing plate 3522214, and a guide column is provided between the precision dividing plate 3522214 and the clamping mounting plate for guidance; the central rotating shaft can move axially through the drive of the axial motion component 3522216; the axial motion component 3522216 (which can use electric cylinders, oil cylinders, screws and other mechanisms) starts to move forward according to the required needle pulling depth (due to the sleeve A The tail of 3522206 is not necessarily in the same plane, so the starting point of the movement is the point when the pressure sensor 3522215 senses the contact force each time. The pressure sensor can be replaced by a spring needle, a travel switch, or a photoelectric switch) to drive the clamp 3522208 to push the sleeve B 3522204, the AB middle tube 3522205, and the sleeve A 3522206 forward together, generating a thrust in the same direction as the puncture needle 3522202. Through this thrust, the puncture needle 3522202 is retreated to the specified position to achieve the purpose of needle removal;

[0137] Before pulling out the next puncture needle, the radial motion assembly 3522210 returns the clamping jaws 3522208 to the initial position, and the axial motion assembly 3522216 returns to the initial position; the precision dividing plate 3522214 starts to rotate to the next station to pull out the next puncture needle 3522202; after all puncture needles 3522202 are pulled out, the radial motion assembly 3522210 and the central rotating axis, and the front-back motion assembly 3522217 return to the initial position; after completion, the inner tube clamping assembly 3522211 loosens the inner tube 3522212.

[0138] It is worth noting that in Fig. 20 The structural composition of the inner tube clamping assembly 2522211 is the same as that of the inner tube clamping assembly 1-65 mentioned above.

[0139] Side tightening mechanism:

[0140] like Figure 15-17 As shown, when the clamping movement mechanism is a side clamping mechanism, the side clamping mechanism at this time includes a plurality of clamping rods, and the plurality of clamping rod pairs are distributed on the mounting frame in an array;

[0141] The clamping rod comprises a first clamping rod and a second clamping rod, the first clamping rod and the second clamping rod can switch between a clamping state and a release state by translation or rotation, the first clamping rod and the second clamping rod are arranged horizontally and vertically, each intersection position of the first clamping rod and the second clamping rod corresponds to a clamping position, when the first clamping rod and the second clamping rod corresponding to a clamping position are both in the clamping state, the inner tube 1 or the outer tube 2 located in the clamping position can be clamped; accordingly,

[0142] The synchronous motion mechanism is configured to be able to drive any one of the first clamping rods and any one of the second clamping rods to move respectively, so as to switch them between a clamping state and a releasing state.

[0143] Specifically, the first clamping rod extends in the longitudinal direction and can move in the longitudinal direction or rotate around its own axis, and the plurality of first clamping rods in the plurality of clamping members are sequentially spaced and distributed in the transverse direction;

[0144] The second clamping rod extends transversely and can move transversely or rotate around its own axis, and the plurality of second clamping rods in the plurality of clamping members are sequentially spaced and distributed longitudinally;

[0145] The first clamping rod has a plurality of first clamping rods, and the second clamping rod has a plurality of second clamping parts. The plurality of first clamping rods and the plurality of second clamping parts correspond one to one to cooperate in clamping the inner tube 1 or the outer tube 2 .

[0146] More specifically, the first clamping rod and the second clamping portion are both in the shape of a convex block or a concave groove, and the first clamping rod and the second clamping portion clamp the inner tube 1 or the outer tube 2 by means of an inclined surface fit.

[0147] More specifically, Figure 15-17 As shown, the side tightening mechanism includes:

[0148] Mounting frame 1d;

[0149] The first bracket 1d1 and the second bracket 1d2 are arranged on the mounting frame 1d at intervals along the first direction;

[0150] A first clamping rod 1d3, the first clamping rod 1d3 is arranged between the first bracket 1d1 and the second bracket 1d2, the first clamping rod 1d3 comprises M first protrusions 1d31 arranged at intervals along the first direction, the M first protrusions 1d31 form M first clamping blocks, and N first clamping rods 1d3 are arranged at intervals along the second direction;

[0151] The third bracket 1d4 and the fourth bracket 1d5 are arranged on the mounting frame 1d at intervals along the second direction;

[0152] A second clamping rod 1d6, the second clamping rod 1d6 is arranged between the third bracket 1d4 and the fourth bracket 1d5, the second clamping rod 1d6 comprises N second protrusions 1d61 arranged at intervals along the second direction, the N second protrusions 1d61 form N second clamping blocks, and the M second clamping rods 1d6 are arranged at intervals along the first direction;

[0153] Each first clamp block corresponds to a second clamp block, and a receiving space for receiving the needle body 3 or the inner tube 1 or the outer tube 2 is formed between the corresponding first clamp block and the second clamp block;

[0154] A first slider 1d7, the first slider 1d7 is movably disposed between the first bracket 1d4 and the second bracket 1d5 along the second direction, the first slider 1d7 can selectively push one of the N first clamping rods 1d3, the first slider 1d7 has a first pushing position for pushing the first clamping rod 1d3 and a first avoidance position located at one side of the first clamping rod 1d3;

[0155] A second slider 1d8, the second slider 1d8 is movably disposed between the first bracket 1d4 and the second bracket 1d5 along the first direction, the second slider 1d8 can selectively push one of the M second clamping rods 1d6, the second slider 1d8 has a second pushing position for pushing the second clamping rod 1d6 and a second avoidance position located at one side of the second clamping rod 1d6;

[0156] When clamping the needle body 3 or the inner tube 1 or the outer tube 2 at the set position, the first slider 1d7 selects to push the first clamping rod 1d3 corresponding to the set position, and the second slider 1d8 selects to push the second clamping rod 1d6 corresponding to the set position, and the first clamping block and the second clamping block corresponding to the set position are close to each other to clamp the inner tube 1 or the outer tube 2 at the set position;

[0157] When the needle body 3 or inner tube 1 or outer tube 2 at the set position is released, the first slider 1d7 moves to the side of the first clamping rod 1d3 corresponding to the set position, and the second slider 1d8 moves to the side of the second clamping rod 1d6 corresponding to the set position, and the first clamping block and the second clamping block corresponding to the set position move away from each other to allow the needle body 3 or inner tube 1 or outer tube 2 to move freely in the accommodating space.

[0158] Specifically, at least one of the first bracket 1d1, the second bracket 1d2, the third bracket 1d4, the fourth bracket 1d5, the first clamping rod 1d3 and the second clamping rod 1d6 is an elastic body;

[0159] When the needle body 3 or the inner tube 1 or the outer tube 2 at the set position is released, the first bracket 1d1 and the second bracket 1d2 squeeze the first clamping rod 1d3 corresponding to the set position, and the third bracket 1d4 and the fourth bracket 1d5 squeeze the second clamping rod 1d6 corresponding to the set position;

[0160] When the needle body 1 or the inner tube 1 or the outer tube 2 is clamped at the set position, the first slider 1d7 squeezes the first clamping rod 1d3 corresponding to the set position, and the second slider 1d8 squeezes the second clamping rod 1d6 corresponding to the set position.

[0161] Specifically, the side tightening mechanism also includes:

[0162] A first roller 1d9, the first roller 1d9 is rotatably disposed on the mounting frame 1d;

[0163] A first connecting body 1d91, the first connecting body 1d91 is wound around the first roller 1d9, and the first connecting body 1d91 is connected to the first sliding block 1d7, so as to drive the first sliding block 1d7 to move relative to the mounting frame 1d by pulling the first connecting body 1d91;

[0164] A second roller 1d92, wherein the second roller 1d92 is rotatably disposed on the mounting frame 1d;

[0165] The second connecting body 1d93 is wound around the second roller 1d92, and the second connecting body 1d93 is connected to the second slider 1d8 to drive the second slider 1d8 to move relative to the mounting frame 1d by pulling the second connecting body 1d93.

[0166] Specifically, the side tightening mechanism also includes:

[0167] A bracket 1d94, on which the clamping assembly is movably arranged in the up-down direction;

[0168] Pulley assembly 1d95, the pulley assembly is arranged on the bracket;

[0169] The third connector 1d96 is fixedly connected to the four bottom corners of the mounting frame 1d of the clamping assembly. The third connector 1d96 is wound around the pulley assembly 1d95 to drive the clamping assembly to move up and down by pulling the third connector 1d96.

[0170] Array type rotating clamping mechanism:

[0171] like Fig.18 and Fig.19 As shown, when the clamping movement mechanism is a rotary clamping mechanism, the rotary clamping mechanism is an array-type rotary clamping mechanism, which includes a plurality of rotating parts, which are distributed in an array on the mounting frame 1c, and the inner tube 1 or the outer tube 2 passes through the middle of the clamping portion on the rotating part. The rotating part rotates or bends to tighten the inner tube 1 or the outer tube 2, thereby realizing rotary clamping, and the clamping portion is a through hole, a through groove, or two clamping columns.

[0172] Specifically, the rotating member includes a first rotating member and a second rotating member, and a plurality of clamping parts are arranged in an array on the rotating member, and the plurality of first rotating members 1c1 and the plurality of second rotating members 1c2 are arranged horizontally and vertically; or there is only one clamping part on the rotating member, and each first rotating member is correspondingly provided with a second rotating member, thereby forming a rotating clamping pair, and the plurality of rotating clamping pairs are distributed in a matrix array on the mounting frame 1c;

[0173] When a plurality of clamping parts are arranged in an array on the rotating member, the first rotating member and the second rotating member can be rotated or bent to switch between a clamping state and a releasing state. When both the first rotating member and the second rotating member are in a clamping state, they can clamp an inner tube 1 or an outer tube 2 that passes through the corresponding clamping parts at the same time; accordingly,

[0174] The synchronous motion mechanism is configured to drive the first rotating member and the second rotating member in any pair of rotating members to rotate;

[0175] Alternatively, when multiple rotary clamping pairs are distributed in a matrix array on the mounting frame 1c, each row of multiple first rotary members can be driven by a synchronous motion mechanism to perform switching movements in a linked manner, and each column of multiple second rotary members can be driven by a synchronous motion mechanism to perform switching movements in a linked manner. When a row of multiple first rotary members and a column of multiple second rotary members are both in the clamping position, the corresponding rotary clamping pairs at their intersections can clamp an inner tube 1 or an outer tube 2.

[0176] More specifically, Fig.18 and Fig.19 As shown, the multiple first clamping parts 1c11 on the first rotating member 1c1 are sequentially spaced and distributed along the longitudinal direction, and the multiple first rotating members 1c1 are sequentially spaced and distributed along the transverse direction, so the multiple first clamping parts 1c11 corresponding to the multiple first rotating members 1c1 are arranged in the longitudinal and transverse directions. Correspondingly, the multiple second clamping parts 1c21 on the second rotating member 1c2 are sequentially spaced and distributed along the transverse direction, and the multiple second rotating members 1c2 are sequentially spaced and distributed along the longitudinal direction, so the multiple second clamping parts 1c21 corresponding to the multiple second rotating members 1c2 are arranged in the longitudinal and transverse directions. Finally, the multiple first clamping parts 1c11 and the multiple second clamping parts 1c21 cooperate to form multiple clamping points arranged in an array.

[0177] The first rotating member 1c1 is in the shape of a rod, such as a cylindrical rod, and the first clamping portion 1c11 is a through hole that vertically penetrates the top and bottom of the first rotating member 1c1. Also, the second rotating member 1c2 is in the shape of a rod, such as a cylindrical rod, and the second clamping portion 1c21 is a through hole that vertically penetrates the top and bottom of the second rotating member 1c2.

[0178] Of course, it is not excluded that the first clamping portion 1c11 and the second clamping portion 1c21 may also be through grooves or clamping columns, that is, through grooves or clamping columns are used instead of the above-mentioned through holes. In this way, the first clamping portion 1c11 and the second clamping portion 1c21 will still reduce their respective projection areas during rotation to achieve clamping of the inner tube 1 or the outer tube 2.

[0179] It should be noted that the reduction of the projected area of ​​a single clamping portion is not sufficient to clamp the inner tube 1 or the outer tube 2. The inner tube 1 or the outer tube 2 can only be clamped if the projected areas of the first clamping portion 1c11 and the second clamping portion 1c21 are reduced at the same time.

[0180] When the first rotating member 1c1 and the second rotating member 1c2 are both in the release position, the first clamping portion 1c11 and the second clamping portion 1c21 in the form of a through hole are connected and the central axes of the two coincide. When the first rotating member 1c1 and the second rotating member 1c2 are both in the clamping position, the first clamping portion 1c11 and the second clamping portion 1c21 in the form of a through hole are connected in a staggered manner so that the central axes of the two do not coincide, so that the area of ​​the overlapping portion between the two is reduced to match the diameter of the inner tube 1 or the outer tube 2, thereby clamping the inner tube 1 or the outer tube 2.

[0181] A plurality of support blocks 1c3 are provided on the mounting frame 1c, and the two ends of each first rotating member 1c1 are rotatably mounted in the rotation holes or rotation grooves of the two corresponding support blocks 1c3, so as to support the first rotating member 1c1 and guide the rotation of the first rotating member 1c1. Similarly, the two ends of each second rotating member 1c2 are rotatably mounted in the rotation holes or rotation grooves of the two corresponding support blocks 1c3, so as to support the second rotating member 1c2 and guide the rotation of the second rotating member 1c2.

[0182] It also includes a first elastic reset member 1c4 and a second elastic reset member 1c5; the first elastic reset member 1c4 is used to reset the multiple first rotating members 1c1 from the clamping position to the release position; the second elastic reset member 1c5 is used to reset the multiple second rotating members 1c2 from the clamping position to the release position.

[0183] The structural form of the elastic reset member includes but is not limited to at least one of a spring, a spring block, a spring sheet, and a torsion spring.

[0184] As attached Fig.18 and attached Fig.19 As shown, one end of the first rotating member 1c1 extends outward from the corresponding supporting block 1c3, and the bottom of the rod body of the first rotating member 1c1 located outside the supporting block 1c3 has a connecting column 1c6, which extends downward.

[0185] The first elastic return member 1c4 is a torsion spring, and the spring body of the first elastic return member 1c4 is sleeved on the rod body of the first rotating member 1c1 located outside the supporting block 1c3, and the first torsion arm of the first elastic return member 1c4 abuts against the outer wall of the supporting block 1c3, and the second torsion arm of the first elastic return member 1c4 abuts against the connecting column 1c6.

[0186] The second elastic return member 1c5 is also a torsion spring, and its installation structure is similar to that of the first elastic return member 1c4, so it is not described in detail in this article.

[0187] The synchronous motion mechanism includes a plurality of first pull ropes 1c7, a plurality of second pull ropes 1c8, at least one first guide wheel 1c91 and at least one second guide wheel 1c92.

[0188] Multiple first pull ropes 1c7 correspond one by one to multiple first rotating members 1c1, at least one first guide wheel 1c91 is located on the mounting frame 1c, and multiple first pull ropes 1c7 are all introduced by the first guide wheel 1c91 and each extends to the end of the corresponding first rotating member 1c1 and is connected thereto.

[0189] The bottom of the first end of the first rotating member 1c1 has a connecting column 1c6, and the connecting columns 1c6 of the multiple first rotating members 1c1 and the first guide wheel 1c91 and the first guide wheel 1c91 can be distributed in sequence along the same straight line direction. For the first rotating member 1c1 closest to the first guide wheel 1c91, the first pull rope 1c7 corresponding to it is fixedly connected to its connecting column 1c6, and the remaining multiple first pull ropes 1c7 all pass through the connecting column 1c6 but are not fixed between the two. By analogy, for the first rotating member 1c1 farthest from the first guide wheel 1c91, only the first pull rope 1c7 corresponding to it extends to be fixedly connected to its connecting column 1c6, and the remaining multiple first pull ropes 1c7 do not extend to this position.

[0190] The installation structure of the multiple second pull ropes 1c8 is similar to that of the multiple first pull ropes 1c7, so it will not be described in detail in this article.

[0191] Array-type jaw clamping mechanism:

[0192] like Figure 13-14 As shown, when the clamping movement mechanism adopts a claw mechanism, the claw mechanism includes an array-type claw clamping mechanism, wherein the array-type claw clamping mechanism includes a claw pair, and a plurality of claw pairs are connected to the mounting frame 1c in an array, and each claw pair includes a first claw and a second claw, and the first claw and the second claw can switch between a clamping state and a release state. When the first claw and the second claw are both in the clamping position, they can clamp the inner tube 1 or the outer tube 2; accordingly,

[0193] The synchronous motion mechanism is configured to drive the first jaw and the second jaw in any jaw pair to move.

[0194] Specifically, the movement of the first clamping claw and the second clamping claw is guided by a hinge shaft, a slide groove or a slide rail to clamp or release the inner tube 1 or the outer tube 2;

[0195] Multiple pairs of claws are distributed in a matrix array on the mounting frame 1c. Multiple first claws in each row can be switched in a linked manner under the drive of a synchronous motion mechanism, and multiple second claws in each column can be switched in a linked manner under the drive of a synchronous motion mechanism. When multiple first claws in a row and multiple second claws in a column are both in the clamping position, the corresponding claw pairs at their intersection can clamp the inner tube 1 or the outer tube 2.

[0196] More specifically, Figure 13-14 As shown, the array-type claw clamping mechanism includes:

[0197] Mounting frame 1c;

[0198] A first elastic body 1c1, at least one first claw 1c2 and a first top block 1c3 are arranged on the mounting frame 1c at intervals along a first direction and are connected through a first connecting body 1c4; a first end 1c21 of the first claw is rotatably arranged on the mounting frame 1c, the first connecting body 1c4 is connected to the second end 1c22 of the first claw, the first top block 1c3 is movably installed on the mounting frame 1c along a first direction through a first guide seat 1c31, and the first top block 1c3 has a first tightening position for tightening the first connecting body 1c4 and a first relaxing position for relaxing the first connecting body 1c4;

[0199] The second elastic body 1c5, at least one second claw 1c6 and the second top block 1c7 are sequentially arranged on the mounting frame 1c at intervals along the second direction and connected through the second connecting body 1c8; the first end 1c61 of the second claw is rotatably arranged on the mounting frame 1c, the second connecting body 1c8 is connected to the second end 1c62 of the second claw, the second top block 1c7 is movably installed on the mounting frame 1c along the second direction through the second guide seat 1c71, and the second top block 1c7 has a second tightening position for tightening the second connecting body 1c8 and a second relaxing position for relaxing the second connecting body 1c8;

[0200] The first clamping claw 1c2 and the second clamping claw 1c6 are arranged opposite to each other, and a receiving space for receiving the needle body 3 or the inner tube 1 or the outer tube 2 is formed therebetween. By moving the first clamping claw 1c2 and the second clamping claw 1c6 closer to or farther away from each other, the size of the receiving space is controlled to achieve clamping or loosening of the needle body 3 or the inner tube 1 or the outer tube 2.

[0201] A third top block 1c91, the third top block 1c91 is movably disposed on the mounting frame 1c along the second direction and is located on a side of the first top block 1c3 away from the first guide seat 1c5;

[0202] A fourth top block 1c92, the fourth top block 1c92 is movably disposed on the mounting frame 1c along the first direction and is located on a side of the second top block 1c7 away from the second guide seat 1c71;

[0203] When the clamping module is in a non-clamping state, the third top block 1c91 is separated from the first top block 1c3, the fourth top block 1c92 is separated from the second top block 1c7, the first top block 1c3 is located in a first relaxed position, and the second top block 1c7 is located in a second relaxed position;

[0204] When the clamping module is in a clamping state, the third top block 1c91 abuts against the first top block 1c3, and the first top block 1c3 moves to the first tightening position under the pushing action of the third top block 1c91, and the fourth top block 1c92 abuts against the second top block 1c7, and the second top block 1c7 moves to the second tightening position under the pushing action of the fourth top block 1c92, and the first claw 1c2 and the second claw 1c6 approach each other under the pulling of the first connecting body 1c4 and the second connecting body 1c8 to clamp the inner tube 1 or outer tube or needle body 3 located in the accommodating space.

[0205] Among them, a first elastic body 1c1, N first claws 1c2, a first top block 1c3 and a first guide seat 1c31 form a group of first clamping block assemblies, M groups of first clamping block assemblies are arranged at intervals along the second direction, and the third top block 1c91 can selectively abut against one of the M first top blocks 1c3 in the M groups of first clamping block assemblies;

[0206] The M second clamping claws 1c6 are located between the second elastic body 1c5 and the second top block 1c7. A second elastic body 1c5, N second clamping claws 1c6, a second top block 1c7 and a second guide seat 1c71 form a second clamping block assembly. The N groups of second clamping block assemblies are arranged at intervals along the first direction. The fourth top block 1c92 can selectively abut against one of the N second top blocks 1c7 in the N groups of first clamping block assemblies.

[0207] The clamping module also includes:

[0208] The first conveying assembly 1c9, the third top block 1c91 is installed on the first conveying member of the first conveying assembly 1c9, so that the third top block 1c91 is driven to move along the second direction through the first conveying assembly 1c9;

[0209] The second conveying assembly 1c0, the fourth top block 1c92 is installed on the second conveying member of the second conveying assembly 1c0, so that the fourth top block 1c92 is driven to move along the first direction through the second conveying assembly 1c0.

[0210] Embodiment 4

[0211] This embodiment provides a needle extraction device, including a needle extraction accessory and the above-mentioned array-type needle extraction mechanism for cannula-type puncture needles;

[0212] Needle extraction accessories include:

[0213] An inner tube 1, which is used to connect with a needle body 3;

[0214] 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;

[0215] 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;

[0216] The array-type needle-pulling mechanism is used to drive the inner tube and the outer tube to produce relative movement to achieve the needle-pulling action.

[0217] 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 array-type needle removal mechanism drives the inner tube to move away from the target object, or the inner tube can be fixed, and the array-type needle removal mechanism drives the outer tube to move toward the target object.

[0218] It should be noted that, preferably, the inner tube 1 and the outer tube 2 are both flexible tubes. When the needle removal operation is realized by the driving mechanism, 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;

[0219] The driving mechanism applies a 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;

[0220] Preferably, a force is applied 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, thereby realizing the needle removal operation.

[0221] 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.

[0222] 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. An array-type needle removal mechanism for a cannula-type puncture needle, characterized in that: It includes a multi-channel selective needle extraction drive mechanism, which drives the inner and outer tubes to slide relative to each other through one or a combination of push-pull drive modes or clamping drive modes; the multi-channel selective needle extraction drive mechanism is provided with a selective drive component, and the selective drive component includes a selective resisting portion or a selective clamping portion, and the selective resisting portion can be controlled to selectively push a specified outer tube or inner tube; or the selective clamping portion can be controlled to selectively clamp a specified outer tube or inner tube.

2. The array-type needle removal mechanism for cannula-type puncture needles according to claim 1, characterized in that: The selective blocking portion can partially block one of the mounting holes or mounting slots on the multi-channel selective needle removal drive mechanism, while not blocking the inner tubes or outer tubes in the remaining mounting holes or mounting slots; When the selective resisting part moves along a certain trajectory, it pushes or pulls the end surface of the inner tube or outer tube passing through the mounting hole or the mounting groove or the step surface provided on the inner tube or the outer tube, thereby driving the inner tube or the outer tube to perform relative sliding movement, thereby realizing multi-channel needle extraction; Alternatively, the selective clamping portion can move along a certain trajectory and can clamp the inner tube or outer tube in one of the mounting holes or mounting grooves on the multi-channel selective needle extraction drive mechanism, and loosen the inner tube or outer tube in the remaining mounting holes or mounting grooves; The selective clamping part directly drives the clamped inner tube or outer tube to perform relative sliding movement when moving along a certain trajectory, thereby realizing multi-channel needle extraction.

3. The array-type needle removal mechanism for cannula-type puncture needles according to claim 2, characterized in that: When the selective blocking portion includes a blocking member and a moving component, the moving component can drive the blocking member to selectively block the mounting hole on the needle-pulling drive mechanism.

4. The array-type needle removal mechanism for cannula-type puncture needles according to claim 3, characterized in that: The moving component includes a driving module, and the driving module drives the blocking member to move along a certain trajectory, and can drive the inner tube and the outer tube to generate relative movement through the blocking member; The driving module includes: Installation Department; A plurality of mounting holes are distributed on the circumference of the mounting portion, and the mounting holes are used to pass through the inner tube and the outer tube that are fitted together, and the plurality of mounting holes are arranged in an array on the mounting portion; The plurality of mounting holes are arranged on the mounting portion in a square array, a ring array or a fan-shaped array; Preferably, the plurality of mounting holes are arranged on the mounting portion in a circular array, wherein a line connecting the plurality of mounting holes forms a virtual circle, wherein the circumferential direction of the virtual circle serves as the first direction, and the axial direction of the mounting holes serves as the second direction; A first driving part and a second driving part, wherein the first driving part and the second driving part are connected in power, the first driving part is connected to the blocking member, and the blocking member is rotatably arranged on the mounting part and is located at the center of the virtual circle; The first driving part can drive the blocking member to rotate along the first direction, and the second driving part can drive the blocking member to move along the second direction through the first driving part. The blocking member abuts against the outer tube and drives the outer tube to translate along the second direction to make the inner and outer tubes produce relative movement.

5. The array-type needle removal mechanism for cannula-type puncture needles according to claim 4, characterized in that: The mounting portion comprises a limit plate and an inner tube mounting plate which are arranged opposite to each other and spaced apart by a preset distance, and the limit plate and the inner tube mounting plate are both provided with the mounting holes; The inner tube passes through the mounting hole on the limit plate and the mounting hole on the inner tube mounting plate in sequence and is fixed by an inner tube clamping assembly or a threaded tightening assembly or a buckle clamping assembly, and the outer tube passes through the mounting hole on the limit plate and its end is placed between the limit plate and the inner tube mounting plate; The limiting plate and the inner tube mounting plate are connected via an intermediate connecting plate.

6. The array-type needle removal mechanism for cannula-type puncture needles according to claim 5, characterized in that: The blocking member is arranged between the limiting plate and the inner tube mounting plate; The second driving part is an electric cylinder, a hydraulic cylinder or a lead screw arranged along the second direction; The first driving part is fixedly arranged at the output end of the second driving part; When the first driving part drives the blocking member to rotate to a position relative to the outer tube, the second driving part can drive the blocking member to translate along the second direction through the first driving part to push the outer tube.

7. The array-type needle removal mechanism for cannula-type puncture needles according to claim 6, characterized in that: A push plate is provided between the limit plate and the inner tube mounting plate, the blocking member and the first driving part are provided on the push plate, the push plate is connected to the second driving part, and the second driving part can drive the push plate and the blocking member to translate along the second direction; The push plate is provided with a plurality of mounting holes, the arrangement positions of the mounting holes correspond to the positions of the mounting holes on the limit plate, and the diameter of the mounting holes is larger than the diameter of the outer tube; When the blocking member pushes the outer tube to translate along the second direction, the outer tube that is not pushed by the blocking member can pass through the mounting hole on the pushing plate.

8. The array-type needle removal mechanism for cannula-type puncture needles according to claim 2, characterized in that: When the selective clamping portion includes a clamping module and a lifting module; The clamping module has a clamping state for clamping the inner tube or the outer tube and a non-clamping state for allowing the inner tube or the outer tube to move; The lifting module can drive the clamping module to rise or fall; The lifting module comprises a base and a lifting seat. The base is provided with a transmission assembly, and the transmission assembly comprises one or a combination of a screw transmission assembly, a gear rack transmission assembly, and a pull rope transmission assembly.

9. The array-type needle removal mechanism for cannula-type puncture needles according to claim 2, characterized in that: When the selective clamping portion includes a clamping module, the clamping module includes a synchronous clamping mechanism, and the synchronous clamping mechanism includes a synchronous motion mechanism and a clamping motion mechanism that cooperate with each other, so as to achieve clamping or loosening of the inner tube or the outer tube through the synchronous motion mechanism and the clamping motion mechanism; The synchronous motion mechanism adopts one or a combination of a belt transmission mechanism, a gear transmission mechanism, and a chain transmission mechanism; The clamping movement mechanism adopts one or a combination of a clamping claw mechanism, a side clamping mechanism, and a rotating clamping mechanism.

10. A needle removal device, characterized in that: It comprises a needle extraction accessory and an array-type needle extraction mechanism for a cannula-type puncture needle 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 array-type needle-pulling mechanism is used to drive the inner tube and the outer tube to produce relative movement to achieve the needle-pulling action.

Images