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

Abstract

The invention provides a friction type needle withdrawing mechanism and a friction type needle withdrawing device for a sleeve type puncture needle, and belongs to the technical field of medical instruments. The needle pulling mechanism is used for adjusting the relative position of the inner tube and the outer tube, and the needle pulling mechanism drives the inner tube and the outer tube to slide relatively in a friction driving mode; when the needle pulling mechanism drives the inner tube and the outer tube to move relatively in a friction driving mode, one part of the needle pulling mechanism is tightly pressed with the inner tube or the outer tube, and the inner tube and the outer tube are driven to slide relatively through generated friction force. When the needle pulling mechanism adopts the friction driving mode, the needle pulling mechanism comprises non-array type friction driving or array type friction driving. The needle pulling mechanism provided by the invention can be tightly pressed with the inner tube or the outer tube, and the inner tube and the outer tube are driven to perform relative sliding motion through the generated friction force, 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 a friction needle extraction mechanism and a needle extraction 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 a friction needle removal mechanism and a needle removal device for a cannula-type puncture needle. The needle removal mechanism can be pressed tightly against the inner tube or the outer tube, and the friction force generated drives the inner and outer tubes to perform relative sliding motion, thereby realizing the needle removal operation.

[0004] In a first aspect of an embodiment of the present invention, a friction needle removal mechanism for a cannula-type puncture needle is provided, which is used to adjust the relative position of an inner tube and an outer tube. The needle removal mechanism drives the inner tube and the outer tube to slide relative to each other by means of friction driving.

[0005] When the needle pulling mechanism drives the inner tube and the outer tube to move relative to each other by friction driving, a part of the needle pulling mechanism is pressed against the inner tube or the outer tube, and the friction force generated drives the inner and outer tubes to slide relative to each other;

[0006] The needle pulling mechanism includes a non-array type friction drive or an array type friction drive.

[0007] In the above technical solution, when the needle pulling mechanism adopts non-array friction drive, the needle pulling mechanism includes multiple driving elements, each of which drives a pair of friction wheels or friction belts, and each pair of friction wheels or friction belts drives an inner tube or an outer tube to make the inner and outer tubes move relative to each other;

[0008] The needle extraction mechanism includes a base and a friction assembly, the friction assembly is arranged on the base and connected to the driving element, the friction assembly is two friction wheels or two friction belts, the circumferential surfaces of the two friction wheels or the two friction belts can press the inner tube or the outer tube under the action of the clamping mechanism, and can drive the inner tube or the outer tube to move through the friction driving force, and the clamping mechanism is an active clamping mechanism or a passive clamping mechanism;

[0009] In the above technical solution, when the clamping mechanism is a passive clamping mechanism, the passive clamping mechanism includes a passive clamping guide mechanism and an elastic element. The passive clamping guide mechanism is used to guide the friction wheel or friction belt to move along a fixed track. The elastic element drives the friction wheel or friction belt to move closer to each other through its own elastic force to jointly clamp the inner tube or outer tube.

[0010] When the clamping mechanism is an active clamping mechanism, the active clamping mechanism includes an active clamping guide mechanism and a driving element, the active clamping guide mechanism is used to guide the friction wheel or friction belt to move along a fixed track, and the driving element is used to actively apply a clamping force to the friction wheel or friction belt to clamp the inner tube or outer tube;

[0011] It also includes a hinge separation mechanism, through which the two friction wheels or friction belts can be opened and closed around the hinge.

[0012] In the above technical solution, when the needle pulling mechanism adopts an array friction drive mode;

[0013] The needle extraction mechanism includes a single driving element and a motion platform, and the motion platform can drive the single driving element to selectively drive each pair of friction wheels;

[0014] Alternatively, the needle pulling mechanism includes a drive selection mechanism and at least one power transmission mechanism, and the drive selection mechanism can drive a designated power transmission mechanism to selectively drive each pair of friction wheels.

[0015] In the above technical solution, the needle extraction mechanism includes a single driving element and a motion platform, and the motion platform can drive the single driving element to selectively drive one of the pairs of friction wheels;

[0016] The motion platform adopts one or a combination of single rotation motion, rotation plus radial motion, double rotation motion, single linear motion, and xy double linear motion. The motion platform includes a plane displacement mechanism, a front and rear docking mechanism, and a fixed plate. The fixed plate is provided with a follower connected to the friction wheel.

[0017] The plane displacement mechanism is a single-joint rotary motion mechanism, a single-joint rotary motion mechanism combined with a linear motion module, a double-joint rotary motion mechanism or an XY axis linear motion mechanism, and the front and rear docking mechanisms are arranged at the movable end of the plane displacement mechanism;

[0018] When the plane displacement mechanism is a single-joint rotary motion mechanism combined with a radial linear motion module, the plane displacement mechanism also includes a cantilever, the single-joint rotary motion mechanism drives the cantilever to rotate in a plane, the linear motion module is arranged on the cantilever, and drives the slider arranged on the rotary arm to move radially along the rotary arm, and the front and rear docking mechanisms are arranged on the side of the slider;

[0019] The front and rear docking mechanisms are provided with an active part with a single driving element. The motion platform controls the active part to connect with driven parts at different positions on the fixed plate. A power conversion mechanism is provided between the driven part and the friction wheel to convert the power of the driven part into the rotational motion of the friction wheel, thereby realizing the selective driving of different friction wheels.

[0020] In the above technical solution, the needle extraction mechanism includes a drive selection mechanism and a power transmission mechanism;

[0021] The drive selection mechanism includes multiple sets of transmission clutch assemblies, which work together to achieve selective transmission connection. The power transmission mechanism transmits power to the transmission clutch assembly, and the transmission clutch assembly is one or a combination of a gear fork transmission assembly, a pin transmission assembly, and a friction plate clutch assembly.

[0022] In the above technical solution, when the transmission clutch assembly adopts a gear fork transmission assembly, the power transmission mechanism includes a plurality of first power transmission shafts, each of which is located at one side of a row of friction wheels, and the transmission clutch assembly includes a plurality of groups of first transmission clutch assemblies, each group of first transmission clutch assemblies is connected to a corresponding first power transmission shaft, and the first transmission clutch assemblies are used to specify the column number of a pair of friction wheels to be driven in the plurality of groups of friction wheels in the corresponding row;

[0023] The power transmission mechanism also includes a second power transmission shaft, which is located on the same side of the multiple rows of friction wheels. The transmission clutch assembly also includes a second transmission clutch assembly, which is connected to the second power transmission shaft. The second transmission clutch assembly is used to specify the row number of a pair of friction wheels to be driven in the multiple rows of friction wheels.

[0024] The first transmission clutch assembly includes a plurality of first gears and a plurality of second gears, the plurality of second gears respectively correspond to the plurality of first power transmission shafts one by one, and the second gears are sleeved on the corresponding first power transmission shafts axially movable; the second gears can mesh with any one of the plurality of first gears in sequence through axial movement, and the end face of each first gear is fixedly connected to the end face of one of the corresponding first friction wheel and the second friction wheel, or each first gear is an integral structure with the corresponding one of the first friction wheel and the second friction wheel;

[0025] The first linear drive mechanism drives the second gear to move in the axial direction of the first power transmission shaft;

[0026] The second transmission clutch assembly includes a fourth gear and multiple third gears. The fourth gear can be axially movably mounted on the second power transmission shaft; the fourth gear can mesh with any one of the multiple third gears in sequence through axial movement, and the third gear is connected to a corresponding first power transmission shaft through a transmission structure.

[0027] In the above technical solution, when the transmission clutch assembly is a friction disc clutch assembly:

[0028] It includes a driving shaft and a driven shaft, and a synchronization mechanism is provided between the driving shafts to drive them to rotate synchronously. The friction disc clutch assembly selectively establishes a transmission connection between one of the driving shafts and the target driven shaft, while the other shafts remain in a disengaged state. The driven shaft drives the friction wheel to rotate through the power transmission mechanism;

[0029] The synchronous mechanism includes one or a combination of synchronous belts, chains, rope drives, and gears.

[0030] In the above technical solution, the friction disc clutch assembly includes a first mounting disc, a plurality of mounting holes are distributed on the disc surface of the first mounting disc, a friction wheel group is correspondingly arranged at each mounting hole position, and the friction wheel group includes at least one friction wheel arranged on one side of the mounting hole;

[0031] The mounting hole is used to penetrate the inner tube or the outer tube. When the friction wheel is driven by the power transmission mechanism and acts on the inner tube or the outer tube, the inner tube and the outer tube generate relative movement through the friction force.

[0032] When the synchronous mechanism includes a synchronous belt, the synchronous mechanism includes a gear transmission shaft, a synchronous belt pulley is sleeved on the outer side of the gear transmission shaft, and a synchronous belt is sleeved on the outer side of the synchronous belt pulley, and the synchronous belt drives the multiple sets of gear transmission shafts to move synchronously;

[0033] The power transmission mechanism is a bevel gear structure, which includes a bevel gear set connected to the friction wheel. When a force is applied to the gear transmission shaft in one of the synchronous mechanisms, the gear transmission shaft can move along the axial direction of the synchronous pulley relative to the synchronous pulley to achieve contact with the bevel gear set connected to the friction wheel and transmit power.

[0034] A second aspect of an embodiment of the present invention provides a needle removal device, which includes a needle removal accessory and the above-mentioned friction needle removal mechanism for a cannula-type puncture needle; the needle removal accessory includes:

[0035] An inner tube, the inner tube is used to connect with the needle body;

[0036] An outer tube, which is sleeved outside the inner tube, and one end of the outer tube is used to press against or connect to the target object; the inner tube and 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;

[0037] The friction needle-pulling mechanism is used to drive the inner tube and the outer tube to produce relative movement to achieve the needle-pulling action.

[0038] Beneficial Effects

[0039] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0040] The needle extraction mechanism proposed in the embodiment of the present invention is based on the principle of cannula needle extraction, and can replace manual extraction of the needle body. It can reliably extract the needle when the needle bodies are densely packed and the distance between two adjacent needle bodies is small. The friction-type needle extraction mechanism can selectively press against one group of multiple groups of inner tubes or outer tubes, and drive the inner and outer tubes to perform relative sliding motion through the generated friction force, thereby realizing multi-channel selective needle extraction operation, and in some scenarios with radiation, fully automatic needle extraction can be realized to avoid radiation damage to the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] 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.

[0042] Figure 1 It is a schematic diagram of the first structure of the needle pulling mechanism in the embodiment of the needle pulling mechanism of the present invention when the needle pulling mechanism adopts a non-array friction drive mode;

[0043] Figure 2 It is a second structural schematic diagram of the needle pulling mechanism in the needle pulling mechanism embodiment of the present invention when the needle pulling mechanism adopts a non-array friction driving mode;

[0044] Figure 3 It is a third structural schematic diagram of the needle pulling mechanism in the embodiment of the needle pulling mechanism of the present invention when the needle pulling mechanism adopts a non-array friction driving mode;

[0045] Figure 4 It is a fourth structural schematic diagram of the needle pulling mechanism in the needle pulling mechanism embodiment of the present invention when the needle pulling mechanism adopts a non-array friction drive mode;

[0046] Figure 5 It is a fifth structural schematic diagram of the needle pulling mechanism in the embodiment of the needle pulling mechanism of the present invention when the needle pulling mechanism adopts a non-array friction driving mode;

[0047] Figure 6 It is a three-dimensional structural schematic diagram of the first array-type friction drive mode in the needle extraction mechanism embodiment of the present invention;

[0048] Figure 7 for Figure 6 A schematic diagram of the structure of the power source in the embodiment;

[0049] Figure 8 for Figure 6 A side structural schematic diagram of an embodiment;

[0050] Fig. 9 It is a three-dimensional structural schematic diagram of the second array-type friction drive mode in the needle extraction mechanism embodiment of the present invention;

[0051] Fig.10 for Fig. 9 A schematic diagram of the structure of the needle removal mechanism in the embodiment when the upper cover is removed;

[0052] Fig.11 for Fig.10 A schematic diagram of the enlarged structure of point A in the embodiment;

[0053] Fig.12 It is a three-dimensional structural schematic diagram of the third array-type friction drive mode in the needle extraction mechanism embodiment of the present invention;

[0054] Fig.13 It is a side view structural schematic diagram of the third array-type friction drive mode in the needle extraction mechanism embodiment of the present invention;

[0055] Fig.14 It is a partial enlarged structural schematic diagram of the third array-type friction drive mode in the needle extraction mechanism embodiment of the present invention;

[0056] Fig.15 for Fig.12 Schematic diagram of the three-dimensional structure of the pressure ring in the embodiment. DETAILED DESCRIPTION

[0057] 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.

[0058] 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 needle removal mechanism, which can be pressed against the inner tube or the outer tube, and drive the inner and outer tubes to perform relative sliding movement through the friction force generated, thereby realizing the needle removal operation.

[0059] The following is combined with Figure 1 -Attached Fig.15 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.

[0060] Example

[0061] like Figure 1-Figure 15 As shown, in the first aspect of this embodiment, a friction needle-pulling mechanism for a cannula-type puncture needle is proposed, which is used to adjust the relative position of the inner tube 1 and the outer tube 2. The needle-pulling mechanism drives the inner tube 1 and the outer tube 2 to slide relative to each other by friction driving;

[0062] When the needle pulling mechanism drives the inner tube and the outer tube to move relative to each other by friction driving, a part of the needle pulling mechanism is pressed against the inner tube 1 or the outer tube 2, and the friction force generated drives the inner and outer tubes to slide relative to each other;

[0063] The needle pulling mechanism includes a non-array type friction drive or an array type friction drive.

[0064] More specifically, when the needle pulling mechanism adopts a non-array friction drive, the needle pulling mechanism includes multiple driving elements, each of which drives a pair of friction wheels or friction belts, and each pair of friction wheels or friction belts drives an inner tube 1 or an outer tube 2 to make the inner and outer tubes move relative to each other.

[0065] like Figure 1-Figure 5 As shown, when the needle pulling mechanism adopts a non-array friction drive mode, the needle pulling mechanism includes a base and a friction component, the friction component is arranged on the base and connected to the driving element, the friction component is two friction wheels or two friction belts, the circumferential surfaces of the two friction wheels or the two friction belts can press the inner tube 1 or the outer tube 2 under the action of the clamping mechanism, and can drive the inner tube 1 or the outer tube 2 to move through the friction driving force, and the clamping mechanism is an active clamping mechanism or a passive clamping mechanism;

[0066] When the clamping mechanism is a passive clamping mechanism, the passive clamping mechanism includes a passive clamping guide mechanism and an elastic element. The passive clamping guide mechanism is used to guide the friction wheel or friction belt to move along a fixed track. The elastic element drives the friction wheel or friction belt to move closer to each other through its own elastic force to jointly clamp the inner tube 1 or the outer tube 2.

[0067] When the clamping mechanism is an active clamping mechanism, the active clamping mechanism includes an active clamping guide mechanism and a driving element, the active clamping guide mechanism is used to guide the friction wheel or friction belt to move along a fixed track, and the driving element is used to actively apply a clamping force to the friction wheel or friction belt to make it clamp the inner tube 1 or the outer tube 2;

[0068] It also includes a hinge separation mechanism, through which the two friction wheels or friction belts can be opened and closed around the hinge.

[0069] Specifically, the friction assembly includes a left roller 121201 and a right roller 121203, the right roller 121203 is a driving wheel, the circumferential surfaces of the left roller 121201 and the right roller 121203 can cooperate with each other to clamp the inner tube 1 or the outer tube 2 and can drive the inner tube 1 or the outer tube 2 to move by rotation, and the circumferential surfaces of the left roller 121201 and the right roller 121203 are both provided with anti-skid grooves for accommodating the inner tube 1 or the outer tube 2, and the anti-skid grooves extend continuously along the circumference of the rollers;

[0070] The friction assembly also includes two guide slide plates 1211109 arranged opposite to each other, each of which has a waist hole, and both ends of the left shaft 125105 where the left roller 121201 is located are matched in the waist hole through the left bearing 1211202, and the guide slide plate 1211109 is provided with a top screw 12301 that can extend into the waist hole, and the top screw 121301 can abut against the left bearing 1211202 to push the left roller 121201 Move in the waist hole so that the left roller 121201 moves toward the direction close to the right roller 121203 to clamp the inner tube 1 or the outer tube 2. An elastic block 1211103 is also arranged between the left shaft 125105 and the top screw 121301 in the waist hole. Both ends of the right shaft 125205 where the right roller 121203 is located are respectively installed on the first side plate 1211104 and the second side plate 1211105 through the right bearing 1211201;

[0071] An installation cavity is formed inside the base, and the friction component is arranged in the installation cavity. The cavities on the two opposite sides of the installation cavity have through holes facing each other and used for the inner tube 1 or the outer tube 2 to pass through, and the through holes face the area between the left roller 121201 and the right roller 121203. The base includes an upper support 1211106 and a lower support 1211107 that are arranged oppositely, and a first side plate 1211104 and a second side plate 1211105 that are arranged oppositely. The upper support, the lower support, and the first side plate and the second side plate jointly form the installation cavity, and the upper support and the lower support are respectively provided with through holes. The guide slide plate 1211109 is respectively installed on the inner walls of the first side plate 1211104 and the second side plate 1211105, and the two ends of the right shaft where the right roller 121203 is located are respectively installed on the first side plate 1211104 and the second side plate 1211105 through right bearings;

[0072] The base includes a first part and a second part which are hinged to each other and can be opened and closed relative to each other. The first part and the second part respectively have inner cavities constituting installation cavities. The left roller 121201 and the right roller 121203 are respectively arranged in the inner cavities of the first part and the second part. The perforation is composed of two semicircular parts respectively located on the first part and the second part, so that the base can be opened and then can be used to connect the inner tube 1 or the outer tube 2.

[0073] A transmission assembly is arranged on the base, and the transmission assembly includes a winding wheel 121204 coaxial with the right roller 121203, the winding wheel 121204 is used to cooperate with the driving wire 124101 or the driving rope of the driving mechanism, a plurality of clamping wheels 121202 and 121205 are distributed around the winding wheel 121204, the clamping wheels 121202 and 121205 are used to clamp the driving wire 124101 on the circumferential surface of the winding wheel 121204, a shoulder screw 121206 is provided on the wheel axle where the clamping wheel 12105 is located, a guide block 124103 is arranged at the winding wheel 121204, and a first wire passing channel and a second wire passing channel for the driving wire 124101 to be routed are provided on the guide block 124103 Channel, the driving wire 124101 can pass through the first wire-passing channel, then be wound around the winding wheel 121204 and pass out through the second wire-passing channel, and the guide block 124103 is respectively provided with a guide column, i.e., the guide portion 124104 in this embodiment, at one end of the first wire-passing channel and the second wire-passing channel close to the winding wheel 121204. The guide column 124104 is used for changing the direction of the driving wire 124101 when passing through the first wire-passing channel to the winding wheel 121204 or from the winding wheel 121204 to the second wire-passing channel, and the guide sleeve 12410 for the driving wire 124101 to pass through is respectively provided at the channel opening of the first wire-passing channel and the second wire-passing channel at one end away from the winding wheel 121204;

[0074] The driving element is a driving motor 1211101, and the transmission assembly includes a housing 1211102, a winding wheel 1211108 arranged in the housing 1211102 and wound with a driving wire 124101, and both ends of the driving wire 124101 extend out to connect to the needle removal assembly. The driving motor 1211101 drives the winding wheel 1211108 to rotate forward and reverse, and the driving wire 124101 can drive the winding wheel 121204 of the needle removal assembly to rotate, thereby driving the right roller 121203 to rotate forward and reverse, so that it can cooperate with the left roller 121201 to realize the movement of the first puncture needle 11 of the inner tube 1 or the outer tube 2.

[0075] In some alternative embodiments, when the needle pulling mechanism adopts an array-type friction drive mode, the array-type friction drive mode also includes multiple drive modes:

[0076] Drive mode 1:

[0077] When the needle pulling mechanism adopts an array friction drive mode; the needle pulling mechanism includes a single driving element and a motion platform, and the motion platform can drive the single driving element to selectively drive each pair of friction wheels;

[0078] Alternatively, the needle pulling mechanism includes a drive selection mechanism and at least one power transmission mechanism, and the drive selection mechanism can drive a designated power transmission mechanism to selectively drive each pair of friction wheels.

[0079] When the needle extraction mechanism includes a single driving element and a motion platform, the motion platform can drive the single driving element to selectively drive one of the pairs of friction wheels;

[0080] The motion platform adopts one or a combination of single rotation motion, rotation plus radial motion, double rotation motion, single linear motion, and xy double linear motion. The motion platform includes a plane displacement mechanism, a front and rear docking mechanism, and a fixed plate 1-2. The fixed plate 1-2 is provided with a follower connected to the friction wheel.

[0081] The plane displacement mechanism is a single-joint rotary motion mechanism, a single-joint rotary motion mechanism combined with a linear motion module, a double-joint rotary motion mechanism or an XY axis linear motion mechanism, and the front and rear docking mechanisms are arranged at the movable end of the plane displacement mechanism;

[0082] When the plane displacement mechanism is a single-joint rotational motion mechanism combined with a radial linear motion module, the plane displacement mechanism further includes a cantilever 1-235, the single-joint rotational motion mechanism drives the cantilever 1-235 to rotate in a plane, the linear motion module is arranged on the cantilever 1-235, and drives the slider arranged on the rotating arm to move radially along the rotating arm, and the front and rear docking mechanisms are arranged on the side of the slider;

[0083] The front and rear docking mechanisms are provided with an active part with a single driving element. The motion platform controls the active part to connect with driven parts at different positions on the fixed plate 1-2. A power conversion mechanism is provided between the driven part and the friction wheel to convert the power of the driven part into the rotational motion of the friction wheel, thereby realizing the selective driving of different friction wheels.

[0084] Specifically, Figure 6-Figure 8 As shown, when the needle extraction mechanism includes a single driving element and a moving platform, the moving platform includes a fixed plate 1-2, and a plurality of driven gears 1-21 are rotatably arranged on the fixed plate 1-2;

[0085] The single driving element includes a driving gear 1-22 and a power source 1-23. The driving gear 1-22 can be driven by the power source 1-23. The power source 1-23 can drive the driving gear 1-22 to engage with the driven gears 1-21 at different positions on the fixed plate 1-2. The rotation of the driving gear 1-22 can transmit the power of the driving gear 1-22 to the driven gear 1-21 that cooperates with it.

[0086] Specifically, the power source 1-23 has multiple motion forms, including one or a combination of a single rotation motion form, a rotation plus radial motion form, a double rotation motion form, a single linear motion form, and an xy double linear motion form;

[0087] The combination of multiple motion forms can drive a single drive element to selectively drive each pair of friction wheels;

[0088] Each group of motion forms corresponds to a motion mechanism;

[0089] The motion mechanism includes a first motion mechanism, a second motion mechanism, a third motion mechanism and a fourth motion mechanism, wherein the first motion mechanism includes a first power source 1-231, the second motion mechanism includes a second power source 1-232, the third motion mechanism includes a third power source 1-233, and the fourth motion mechanism includes a fourth power source 1-234;

[0090] The driving gear 1-22 can be controlled by the first power source 1-231 to revolve around the center of the fixed plate 1-2, controlled by the second power source 1-232 to make a first linear motion parallel to the fixed plate 1-2, controlled by the third power source 1-233 to make a second linear motion perpendicular to the fixed plate 1-2, and controlled by the fourth power source 1-234 to rotate;

[0091] The first power source 1-231, the second power source 1-232, the third power source 1-233 and the fourth power source 1-234 cooperate with each other to enable the driving gear 1-22 to selectively engage with different driven gears 1-21 on the fixed plate 1-2 to transmit the power of the driving gear 1-22 to the driven gear 1-21 on the fixed plate 1-2. The driven gear 1-21 drives the friction wheel to rotate to drive the inner and outer tubes to achieve relative sliding.

[0092] Specifically, the single driving element also includes a cantilever 1-235, the output end of the first power source 1-231 is connected to the cantilever 1-235, a guide rail A1-236 is arranged on the cantilever, and a slider A1-237 is arranged on the guide rail A1-236;

[0093] The second power source 1-232 is disposed at the bottom end of the cantilever 1-235, and the output end of the second power source 1-232 is connected to a linear motion module;

[0094] The linear motion module includes a screw rod A1-238 connected to the output end of the second power source 1-232, a nut A1-239 is arranged on the screw rod A1-238, an up and down movement block 1-240 is arranged on the nut A1-239, a gear seat 1-241 is arranged on the up and down movement block 1-240, a guide rail B1-242 is arranged on the gear seat, a slider B1-243 is arranged on the guide rail B1-242, the third power source 1-233 is arranged on the gear seat 1-241, the output end of the third power source 1-233 is connected to the screw rod B1-244, a nut B1-245 is arranged on the screw rod B1-244, the motor fixing plate 1-246 is fixed to the slider B1-243 and the nut B1-245, the fourth power source 1-234 is fixed on the motor fixing plate 1-246, and the output end of the fourth power source 1-234 is connected to the driving gear 1-22.

[0095] Specifically, the first power source 1-231 includes a reduction motor, the second power source 1-232 includes motor A, the third power source 2-233 includes motor B, and the fourth power source 1-234 includes motor C.

[0096] Specifically, a plurality of holes are evenly distributed on the above-mentioned fixed plate 1-2, and a transmission shaft 1-247 is arranged through the holes. Bearings 1-248 are respectively installed at both ends of the transmission shaft 1-247 and are arranged in a transmission shaft seat 1-249. The transmission shaft seat 1-249 is arranged on the fixed plate 1-2. The fixed plate 1-2 is connected to the cover plate 1-250. A driven gear 1-21 is arranged at one end of the transmission shaft 1-247.

[0097] The plurality of holes are evenly distributed in the circumferential direction of the fixing plate 1 - 2 .

[0098] Drive mode 2:

[0099] When the needle pulling mechanism adopts an array friction drive method, the needle pulling mechanism can also include a drive selection mechanism and a power transmission mechanism. The drive selection mechanism includes multiple sets of transmission clutch assemblies. The multiple sets of transmission clutch assemblies cooperate to achieve selective transmission connection. The power transmission mechanism transmits power for the transmission clutch assembly. The transmission clutch assembly is one or a combination of a gear fork transmission assembly, a pin transmission assembly, and a friction disc clutch assembly.

[0100] Specifically, when the transmission clutch assembly adopts a gear fork transmission assembly, the power transmission mechanism includes a plurality of first power transmission shafts 1-36, each of which is located on one side of a row of friction wheels, and the transmission clutch assembly includes a plurality of groups of first transmission clutch assemblies, each group of first transmission clutch assemblies is connected to a corresponding first power transmission shaft 1-36, and the first transmission clutch assemblies are used to specify the column number of a pair of friction wheels to be driven in the plurality of groups of friction wheels in the corresponding row;

[0101] The power transmission mechanism further includes a second power transmission shaft 1-394, the second power transmission shaft 1-394 is located on the same side of the multiple rows of friction wheels, the transmission clutch assembly further includes a second transmission clutch assembly, the second transmission clutch assembly is connected to the second power transmission shaft 1-394, and the second transmission clutch assembly is used to specify the row number of the pair of friction wheels to be driven in the multiple rows of friction wheels;

[0102] The first transmission clutch assembly includes a plurality of first gears 1-35 and a plurality of second gears 1-38, wherein the plurality of second gears 1-38 correspond to the plurality of first power transmission shafts 1-36 one by one, and the second gears 1-38 are axially movably sleeved on the corresponding first power transmission shafts 1-36; the second gears 1-38 can mesh with any one of the plurality of first gears 1-35 in sequence through axial movement, and the end face of each first gear 1-35 is fixedly connected to the end face of one of the corresponding first friction wheels 1-32 and the second friction wheels 1-34, or each first gear 1-35 is an integrated structure with the corresponding first friction wheels 1-32 and the second friction wheels 1-34;

[0103] The first linear drive mechanism drives the second gear 1-38 to move in the axial direction of the first power transmission shaft 1-36;

[0104] The second transmission clutch assembly includes a fourth gear 1-396 and a plurality of third gears 1-392. The fourth gear 1-396 is axially movably mounted on the second power transmission shaft 1-394. The fourth gear 1-396 can mesh with any one of the plurality of third gears 1-392 in sequence through axial movement. The third gear 1-392 is transmission-connected to a corresponding first power transmission shaft 1-36 through a transmission structure.

[0105] Specifically, Figure 9-11 As shown, when the needle pulling mechanism includes a drive selection mechanism and a power transmission mechanism, the drive selection mechanism includes:

[0106] Mounting racks 1-3;

[0107] A first mounting shaft 1-31, the first mounting shaft 1-31 is arranged on the mounting frame 1-3;

[0108] M first friction wheels 1-32 are arranged on the first mounting shaft 1-31 at intervals, and each first friction wheel 1-32 can rotate relative to the first mounting shaft 1-31;

[0109] A second mounting shaft 1-33, the second mounting shaft 1-33 is arranged on the mounting frame 1-3;

[0110] M second friction wheels 1-34 are arranged on the second mounting shaft 1-33 at intervals, each second friction wheel 1-34 can rotate relative to the second mounting shaft 1-33, and the plurality of second friction wheels 1-34 are arranged one-to-one correspondingly to the plurality of first friction wheels 1-32, so as to form an accommodating space for accommodating the needle body 3 or the inner tube 1 or the outer tube 2 between the corresponding first friction wheels 1-32 and the second friction wheels 1-34;

[0111] M first gears 1-35 are arranged on the second mounting shaft 1-33 at intervals, each first gear 1-35 can rotate relative to the second mounting shaft 1-33, and the multiple first gears 1-35 are connected to the multiple second friction wheels 1-34 in a one-to-one correspondence, so that the second friction wheels 1-34 are driven to rotate through the first gears 1-35;

[0112] The power transmission mechanism includes a first power transmission shaft 1-36, which is rotatably arranged on the mounting frame 1-3; the first power transmission shaft 1-36 includes one or a combination of a hexagonal shaft, a square shaft, a spline shaft, and a D-shaped shaft;

[0113] The drive selection mechanism also includes a first slider 1-37 and a second gear 1-38, the first slider 1-37 is slidably connected to the first power transmission shaft 1-36, the second gear 1-38 is sleeved on the first power transmission shaft 1-36 and connected to the first slider 1-37, and the second gear 1-38 can selectively mesh with one of the M first gears 1-35;

[0114] A first linear drive mechanism, the first linear drive mechanism is disposed on the mounting frame 1-3, and the first linear drive mechanism is connected to the first slider 1-37 to drive the first slider 1-37 to move;

[0115] When the needle body 3 or inner tube 1 or outer tube 2 at the set position is driven to move up and down, the second gear 1-38 on the first slider 1-37 is driven by the first linear drive mechanism to engage with the first gear 1-35 corresponding to the set position, and the second gear 1-38 is driven to rotate by the first power transmission shaft, so that the first friction wheel 1-32 and the second friction wheel 1-34 rotate, driving the needle body 1 or inner tube 1 or outer tube 2 located in the accommodating space to move up and down.

[0116] Specifically, the first mounting shaft 1-31, M first friction wheels 1-32, the second mounting shaft 1-33, M second friction wheels 1-34, M first gears 1-35, the first power transmission shaft 1-36, the first slider 1-37, the second gear 1-38 and the first linear drive mechanism form a multi-channel assembly;

[0117] N groups of multi-channel components are arranged on mounting frames 1-3 at intervals;

[0118] The drive selection mechanism further includes: N first bevel teeth 1-39, the N first bevel teeth 1-39 being arranged one-to-one at the ends of the N first power transmission shafts 1-36 of the N groups of multi-channel components;

[0119] A fourth mounting shaft 1-391, a third gear 1-392 and a second bevel gear 1-393, the fourth mounting shaft 1-391 is rotatably arranged on the mounting frame 1-3, the third gear 1-392 is sleeved on the fourth mounting shaft 1-391, and the second bevel gear 1-393 is sleeved on the fourth mounting shaft 1-391;

[0120] The synchronously rotating fourth mounting shaft 1-391, the third gear 1-392 and the second bevel gear 1-393 form a transmission assembly, and the N second bevel gears 1-393 of the N groups of transmission assemblies mesh with the N first bevel gears 1-39 in a one-to-one correspondence;

[0121] The power transmission mechanism also includes a second power transmission shaft 1-394, and the second power transmission shaft 1-394 is rotatably disposed on the mounting frame 1-3;

[0122] The drive selection mechanism also includes a second slider 1-395 and a fourth gear 1-396, the second slider 1-395 is slidably connected to the second power transmission shaft 1-394, the fourth gear 1-396 is sleeved on the second power transmission shaft 1-394 and connected to the second slider 1-395, and the fourth gear 1-396 can selectively mesh with one of the N third gears 1-392;

[0123] The second linear drive mechanism is arranged on the mounting frame, and the second linear drive mechanism is connected to the second slider 1-395; when the needle body 3 or the inner tube 1 or the outer tube 2 at the set position is driven to move up and down, the fourth gear 1-396 is driven to move by the second linear drive mechanism, so that the fourth gear 1-396 is engaged with the third gear 1-392 corresponding to the set position; the third gear 1-392 is driven to rotate by the second power transmission shaft 1-394, and the third gear 1-392 drives the corresponding first power transmission shaft 1-36 to rotate through the corresponding second bevel gear 1-393 and the first bevel gear 1-39.

[0124] Specifically, the first linear drive mechanism includes a first synchronous belt assembly, the first synchronous belt assembly is arranged on the mounting frame 1-3, and the first slider 1-37 is connected to the first synchronous belt 1-397 of the first synchronous belt assembly;

[0125] The N first synchronous belt pulleys 1-397 of the N first synchronous belt assemblies of the N groups of multi-channel assemblies are all sleeved on the third mounting shaft 1-398;

[0126] The second linear drive mechanism includes a second synchronous belt assembly, which is arranged on the mounting frame 1-3, and the second slider 1-395 is connected to the second synchronous belt 1-399 of the second synchronous belt assembly.

[0127] More specifically, the second synchronous belt assembly further includes:

[0128] A first transmission shaft 1-3991 is connected to a second synchronous belt 1-399 of a second synchronous belt assembly;

[0129] The third bevel gear 1-3992 is connected to the end of the first transmission shaft 1-3991;

[0130] The fourth bevel tooth 1-3993 meshes with the third bevel tooth 1-3992;

[0131] The second transmission shaft 1-3994 is connected to the fourth bevel gear 1-3993;

[0132] The second synchronous belt 1-399 of the second synchronous belt assembly is driven to rotate through the second transmission shaft 1-3994, the fourth bevel gear 1-3993, the third bevel gear 1-3992, and the first transmission shaft 1-3991.

[0133] Drive mode 3:

[0134] like Figure 12-Figure 15 As shown, when the transmission clutch assembly is a friction plate clutch assembly:

[0135] It includes a driving shaft and a driven shaft, and a synchronization mechanism is provided between the driving shafts to drive them to rotate synchronously. The friction disc clutch assembly selectively establishes a transmission connection between one of the driving shafts and the target driven shaft, while the other shafts remain in a disengaged state. The driven shaft drives the friction wheel to rotate through the power transmission mechanism;

[0136] The synchronous mechanism includes one or a combination of synchronous belts, chains, rope drives, and gears.

[0137] Specifically, the friction disc clutch assembly includes a first mounting disc 1-4, a plurality of mounting holes are distributed on the disc surface of the first mounting disc 1-4, a friction wheel set 1-41 is correspondingly arranged at each mounting hole position, and the friction wheel set 1-41 includes at least one friction wheel arranged on one side of the mounting hole;

[0138] The mounting hole is used to penetrate the inner tube 1 or the outer tube 2. When the friction wheel is driven by the power transmission mechanism and acts on the inner tube 1 or the outer tube 2, the inner tube 1 and the outer tube 2 generate relative movement through the friction force.

[0139] When the synchronization mechanism includes a synchronous belt, the synchronization mechanism also includes a gear transmission shaft 1-46, the outer sleeve of the gear transmission shaft 1-46 is provided with a synchronous belt pulley, the outer sleeve of the synchronous belt pulley is provided with a synchronous belt 1-47, and the synchronous belt 1-47 drives the multiple sets of wheel transmission shafts 1-46 to move synchronously;

[0140] The power transmission mechanism is a bevel gear structure, which includes a bevel gear group connected to the friction wheel. When a force is applied to the gear transmission shaft 1-46 in one of the synchronous mechanisms, the gear transmission shaft 1-46 can move along the axial direction of the synchronous pulley relative to the synchronous pulley to achieve contact with the bevel gear group connected to the friction wheel and transmit power.

[0141] Specifically, the friction wheel set 1-41 includes a first friction wheel 1-411 disposed close to the center of the first mounting disk 1-4 and a second friction wheel 1-412 disposed away from the center of the first mounting disk 1-4;

[0142] A friction wheel mounting seat 1-42 is provided on the first mounting plate 1-4, and a sliding groove 1-421 is opened on the friction wheel mounting seat 1-42. The first friction wheel 1-411 is rotatably installed in the sliding groove 1-421, and the first friction wheel 1-411 can move along the opening path of the sliding groove 1-421 to the side close to the second friction wheel 1-412 under the drive of external force.

[0143] Specifically, the drive selection mechanism also includes a friction wheel clamping structure for driving the first friction wheel 1-411 to move toward the second friction wheel 1-412, and the friction wheel clamping structure includes one or a combination of a cam clamping structure, a connecting rod clamping structure, and a pressure ring clamping structure;

[0144] Preferably, the friction wheel clamping structure is an active clamping mechanism, including a clamping ring clamping structure, the clamping ring clamping structure includes a clamping ring 1-43 spaced apart from the first mounting plate 1-4, and a spring is connected between the clamping ring 1-43 and the first mounting plate 1-4;

[0145] When force is applied to the pressure ring 1-43, the pressure ring 1-43 can move toward one side of the first mounting plate 1-4 and cooperate with the first friction wheel 1-411 to drive the first friction wheel 1-411 to move toward one side of the second friction wheel 1-412.

[0146] Specifically, a locking member 1-4311 is also provided on the pressure ring 1-43, and the locking member 1-4311 is configured to lock the position of the pressure ring 1-43 when the pressure ring 1-43 cooperates with the first friction wheel 1-411;

[0147] A wedge-shaped groove 1-431 is provided on one side of the pressure ring 1-43 facing the first mounting plate 1-4;

[0148] The first friction wheel 1-411 includes a friction wheel body 1-4111 and a friction wheel mounting frame 1-4112 fixed to the friction wheel body 1-4111, and the friction wheel mounting frame 1-4112 has an inclined surface adapted to the wedge-shaped groove on the pressure ring 1-43;

[0149] When a force is applied to the pressure ring 1-43 toward one side of the first mounting plate 1-4, the wedge-shaped groove 1-431 on the pressure ring 1-43 cooperates with the inclined surface on the friction wheel mounting frame 1-4112 and the inclined surface on the friction wheel mounting frame 1-4112 moves along the wedge-shaped groove 1-431 of the pressure ring 1-43. When the friction wheel mounting frame 1-4112 moves along the wedge-shaped groove 1-431 of the pressure ring 1-43, the first friction wheel 1-411 is driven to move toward one side of the second friction wheel 1-412, thereby pressing the outer tube or the inner tube.

[0150] Specifically, the power transmission mechanism includes a gear transmission structure, and the gear transmission structure can be driven to rotate to drive the second friction wheel 1-412 to rotate;

[0151] The gear transmission structure includes a first bevel gear 1-44 fixedly connected to the second friction wheel 1-412 and a second bevel gear 1-45 meshing with the first bevel gear 1-44. The axial plane of the first bevel gear 1-44 is arranged parallel to the end face of the first mounting disk 1-4, and the axial plane of the second bevel gear 1-45 is arranged perpendicular to the end face of the first mounting disk 1-4.

[0152] Specifically, the power transmission mechanism further includes a gear driving structure spaced apart from the second bevel gears 1-45, and each second bevel gear 1-45 is correspondingly provided with a set of gear driving structures;

[0153] The gear drive structure includes a gear transmission shaft 1-46, the outer sleeve of the gear transmission shaft 1-46 is provided with a synchronous belt pulley, the outer sleeve of the synchronous belt pulley is provided with a synchronous belt 1-47, and the synchronous belt 1-47 drives multiple groups of gear transmission shafts 1-46 to move synchronously;

[0154] When a force is applied to the gear transmission shaft 1-46 in one of the gear drive structures, the gear transmission shaft 1-46 can move relative to the synchronous pulley along the axial direction of the synchronous pulley to achieve abutment with the second bevel gear 1-45 to achieve power transmission between the gear transmission shaft 1-46 and the second bevel gear 1-45 through friction torque. When the external force applied to the gear transmission shaft 1-46 is removed, the position of the gear transmission shaft 1-46 can be restored to the initial position to disconnect the power transmission between the gear transmission shaft 1-46 and the second bevel gear 1-45. The abutment surface between the gear transmission shaft 1-46 and the second bevel gear 1-45 can be replaced by a toothed wheel, thereby providing power transmission with greater torque through the meshing of the teeth.

[0155] Specifically, the drive selection mechanism further includes a second mounting plate 1-48 spaced apart from the first mounting plate 1-4, and a plurality of mounting holes are provided on the second mounting plate 1-48, and the mounting holes on the second mounting plate 1-48 correspond one-to-one to the mounting holes on the first mounting plate 1-4;

[0156] A first mounting ring 1-481 and a second mounting ring 1-482 are also provided between the first mounting plate 1-4 and the second mounting plate 1-48. The first mounting ring 1-481 and the second mounting ring 1-482 are spaced apart from each other, and the synchronous pulley is rotatably installed between the first mounting ring 1-481 and the second mounting ring 1-482;

[0157] The gear transmission shaft 1-46 has a first end facing the second bevel gear 1-45 and a second end facing the second mounting plate 1-48, and a distance is spaced between the first end of the gear transmission shaft 1-46 and the output shaft of the second bevel gear 1-45;

[0158] When a thrust acting on the gear transmission shaft 1-46 is sequentially applied toward one of the plurality of second bevel gears 1-45, the first end portion of the gear transmission shaft 1-46 is connected to the output shaft of the second bevel gear 1-45 to achieve power transmission between the gear transmission shaft 1-46 and the second bevel gear 1-45;

[0159] When the synchronous belt 1-47 rotates, the rotational driving force is transmitted to the second bevel gear 1-45 through the gear transmission shaft 1-46.

[0160] Specifically, the gear transmission shaft 1-46 may be pressed by a pressing shaft 1-49 that moves axially along the gear transmission shaft 1-46, and the pressing shaft 1-49 may be driven to rotate. When the pressing shaft 1-49 presses the gear transmission shaft 1-46, the gear transmission shaft 1-46 may be driven to rotate;

[0161] A through hole 1-491 corresponding to the position of the gear transmission shaft 1-46 is provided on the surface of the second mounting plate 1-48. When the pressing shaft 1-49 moves toward one side of the gear transmission shaft 1-46, it can pass through the through hole 1-491 and connect with the second end of the gear transmission shaft 1-46 to drive the first end of the gear transmission shaft 1-46 to connect with the transmission shaft of the second bevel gear 1-45.

[0162] More specifically, the first end of the gear transmission shaft 1-46 is placed between the first mounting plate 1-4 and the first mounting ring 1-481, and the second end of the gear transmission shaft 1-46 is placed between the second mounting plate 1-48 and the second mounting ring 1-482;

[0163] The second end of the gear transmission shaft 1-46 has an annular abutment surface that exceeds the diameter of the gear transmission shaft 1-46, and a return spring 1-492 is provided between the annular abutment surface and the second mounting ring 1-482;

[0164] When the external force applied to the gear transmission shaft 1-46 is removed, the gear transmission shaft 1-46 can be restored to its original position under the reset action of the reset spring 1-492 to disconnect the power transmission between the gear transmission shaft 1-46 and the second bevel gear 1-45.

[0165] More specifically, a plurality of mounting holes are provided on the disk surface of the second mounting disk 1-48, and the positions of the plurality of mounting holes on the second mounting disk 1-48 correspond one-to-one to the positions of the plurality of mounting holes on the first mounting disk 1-4;

[0166] In the same axial direction, the inner tube 1 and / or the outer tube 2 may sequentially pass through the mounting holes on the first mounting plate 1-4 and the mounting holes on the second mounting plate 1-48;

[0167] The second mounting plate 1-48 is also provided with a clamping assembly for clamping and fixing the position of the inner tube 1 and / or outer tube 2 after insertion.

[0168] A second aspect of the embodiment of the present invention further provides a needle extraction device, which comprises: a needle extraction accessory and the above-mentioned friction needle extraction mechanism for a cannula-type puncture needle;

[0169] Needle extraction accessories include:

[0170] An inner tube 1, which is used to connect with a needle body 3;

[0171] 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;

[0172] The inner tube 1 and the outer tube 2 can move relative to each other, so that the needle body 3 moves in a direction away from the target object, and the needle body 3 is pulled out of the target object;

[0173] The friction needle-pulling mechanism is used to drive the inner tube and the outer tube to produce relative movement to achieve the needle-pulling action.

[0174] 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 friction drives the inner tube to move away from the target object, or the inner tube can be fixed, and friction drives the outer tube to move toward the target object.

[0175] 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 performed by the needle removal 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;

[0176] The needle removal 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 achieve needle removal;

[0177] 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.

[0178] 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.

[0179] 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 friction needle removal mechanism for a cannula-type puncture needle, used to adjust the relative position of an inner tube and an outer tube, characterized in that: The needle removal mechanism drives the inner tube and the outer tube to slide relative to each other by friction driving; When the needle pulling mechanism drives the inner tube and the outer tube to move relative to each other by means of friction driving, a part of the needle pulling mechanism is pressed against the inner tube or the outer tube, and the friction force generated drives the inner tube and the outer tube to slide relative to each other; The needle pulling mechanism includes non-array friction drive or array friction drive.

2. The friction needle removal mechanism for a cannula-type puncture needle according to claim 1, characterized in that: When the needle pulling mechanism adopts non-array friction drive, the needle pulling mechanism includes multiple driving elements, each of which drives a pair of friction wheels or friction belts, and each pair of friction wheels or friction belts drives an inner tube or outer tube to make the inner and outer tubes move relative to each other; The needle extraction mechanism includes a base and a friction assembly, which is arranged on the base and connected to the driving element. The friction assembly is two friction wheels or two friction belts. The circumferential surfaces of the two friction wheels or the two friction belts can clamp the inner tube or the outer tube under the action of the clamping mechanism, and can drive the inner tube or the outer tube to move through the friction driving force. The clamping mechanism is an active clamping mechanism or a passive clamping mechanism.

3. The friction needle removal mechanism for a cannula-type puncture needle according to claim 2, characterized in that: When the clamping mechanism is a passive clamping mechanism, the passive clamping mechanism includes a passive clamping guide mechanism and an elastic element, wherein the passive clamping guide mechanism is used to guide the friction wheel or the friction belt to move along a fixed track, and the elastic element drives the friction wheel or the friction belt to move closer to each other and clamp the inner tube or the outer tube together through its own elastic force; When the clamping mechanism is an active clamping mechanism, the active clamping mechanism includes an active clamping guide mechanism and a driving element, the active clamping guide mechanism is used to guide the friction wheel or friction belt to move along a fixed track, and the driving element is used to actively apply a clamping force to the friction wheel or friction belt to clamp the inner tube or outer tube; It also includes a hinge separation mechanism, through which the two friction wheels or friction belts can be opened and closed around the hinge.

4. The friction needle removal mechanism for a cannula-type puncture needle according to claim 1, characterized in that: When the needle pulling mechanism adopts an array-type friction drive mode; The needle extraction mechanism comprises a single driving element and a motion platform, and the motion platform can drive the single driving element to selectively drive each pair of friction wheels; Alternatively, the needle pulling mechanism includes a drive selection mechanism and at least one power transmission mechanism, and the drive selection mechanism can drive a designated one power transmission mechanism to selectively drive each pair of friction wheels.

5. The friction needle removal mechanism for a cannula-type puncture needle according to claim 4, characterized in that: The needle extraction mechanism comprises a single driving element and a motion platform, and the motion platform can drive the single driving element to selectively drive one of the pairs of friction wheels; The motion platform adopts one or a combination of single rotation motion, rotation plus radial motion, double rotation motion, single linear motion, and xy double linear motion. The motion platform includes a plane displacement mechanism, a front and rear docking mechanism, and a fixed plate. The fixed plate is provided with a follower connected to the friction wheel. The plane displacement mechanism is at least one of a single-joint rotational motion mechanism, a single-joint rotational motion mechanism combined with a linear motion module, a double-joint rotational motion mechanism, and an XY axis linear motion mechanism, and the front and rear docking mechanism is arranged at the movable end of the plane displacement mechanism; When the plane displacement mechanism is a single-joint rotary motion mechanism combined with a radial linear motion module, the plane displacement mechanism further includes a cantilever, the single-joint rotary motion mechanism drives the cantilever to rotate in a plane, the linear motion module is arranged on the cantilever, and drives the slider arranged on the rotary arm to move radially along the rotary arm, and the front and rear docking mechanism is arranged on the side of the slider; The front and rear docking mechanisms are provided with an active part with a single driving element. The motion platform controls the active part to connect with driven parts at different positions on the fixed plate. A power conversion mechanism is provided between the driven part and the friction wheel to convert the power of the driven part into the rotational motion of the friction wheel, thereby realizing the selective driving of different friction wheels.

6. The friction needle removal mechanism for a cannula-type puncture needle according to claim 4, characterized in that: The needle pulling mechanism includes a drive selection mechanism and a power transmission mechanism; The drive selection mechanism includes multiple groups of transmission clutch assemblies, which cooperate to achieve selective transmission connection. The power transmission mechanism is a transmission clutch assembly that transmits power. The transmission clutch assembly is one or a combination of a gear fork transmission assembly, a latch transmission assembly, and a friction plate clutch assembly.

7. The friction needle removal mechanism for a cannula-type puncture needle according to claim 6, characterized in that: When the transmission clutch assembly adopts a gear fork transmission assembly, The power transmission mechanism includes a plurality of first power transmission shafts, each of which is located at one side of a row of friction wheels; the transmission clutch assembly includes a plurality of first transmission clutch assemblies, each of which is connected to a corresponding first power transmission shaft, and the first transmission clutch assembly is used to specify the column number of a pair of friction wheels to be driven in the plurality of friction wheels in the corresponding row; The power transmission mechanism further includes a second power transmission shaft, the second power transmission shaft is located on the same side of the multiple rows of friction wheels, the transmission clutch assembly further includes a second transmission clutch assembly, the second transmission clutch assembly is connected to the second power transmission shaft, and the second transmission clutch assembly is used to specify the row number of the pair of friction wheels to be driven in the multiple rows of friction wheels; The first transmission clutch assembly includes a plurality of first gears and a plurality of second gears, the plurality of second gears respectively correspond to the plurality of first power transmission shafts one by one, and the second gears are sleeved on the corresponding first power transmission shafts axially movable; the second gears can mesh with any one of the plurality of first gears in sequence through axial movement, and the end face of each of the first gears is fixedly connected to the end face of one of the corresponding first friction wheel and the second friction wheel, or each of the first gears is an integral structure with the corresponding one of the first friction wheel and the second friction wheel; The first linear drive mechanism drives the second gear to move in the axial direction of the first power transmission shaft; The second transmission clutch assembly includes a fourth gear and multiple third gears, and the fourth gear can be axially movably mounted on the second power transmission shaft; the fourth gear can be meshed with any one of the multiple third gears in sequence through axial movement, and the third gear is transmission-connected to a corresponding one of the first power transmission shafts through a transmission structure.

8. The friction needle removal mechanism for a cannula-type puncture needle according to claim 6, characterized in that: When the transmission clutch assembly is a friction disc clutch assembly: It includes a driving shaft and a driven shaft, wherein a synchronization mechanism is provided between the driving shafts to drive them to rotate synchronously, and the friction disc clutch assembly selectively establishes a transmission connection between one of the driving shafts and the target driven shaft, while the other shafts remain in a disengaged state, and the driven shaft drives the friction wheel to rotate through the power transmission mechanism; The synchronization mechanism includes one or a combination of a synchronization belt, a chain, a rope drive, and a gear.

9. The friction needle removal mechanism for a cannula-type puncture needle according to claim 8, characterized in that: The friction disc clutch assembly comprises a first mounting disc, a plurality of mounting holes are distributed on the disc surface of the first mounting disc, a friction wheel group is correspondingly arranged at the position of each mounting hole, and the friction wheel group comprises at least one friction wheel arranged on one side of the mounting hole; The mounting hole is used to penetrate the inner tube or the outer tube, and when the friction wheel is driven by the power transmission mechanism and acts on the inner tube or the outer tube, the inner tube and the outer tube generate relative movement due to the friction force; When the synchronous mechanism includes a synchronous belt, the synchronous mechanism includes a gear transmission shaft, the outer sleeve of the gear transmission shaft is provided with a synchronous belt pulley, the outer sleeve of the synchronous belt pulley is provided with a synchronous belt, and the synchronous belt drives the multiple groups of gear transmission shafts to move synchronously; The power transmission mechanism is a bevel gear structure, which includes a bevel gear group connected to the friction wheel. When a force is applied to a gear transmission shaft in one of the synchronous mechanisms, the gear transmission shaft can move along the axial direction of the synchronous pulley relative to the synchronous pulley to achieve contact with the bevel gear group connected to the friction wheel and transmit power.

10. A needle removal device, characterized in that: include: A needle extraction accessory and a friction 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 friction needle-pulling mechanism is used to drive the inner tube and the outer tube to produce relative movement to achieve the needle-pulling action.

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