Navigation positioning injection device with force feedback function and injection method

Abstract

The invention relates to the technical field of automatic injection, in particular to a navigational positioning injection device with a force feedback function and an injection method, and the navigational positioning injection device comprises a liquid pushing mechanism, a needle inserting mechanism and a force sensor; the needle inserting mechanism comprises a base plate, and the liquid pushing mechanism is slidably connected with the base plate in the needle inserting direction. The stress end of the force sensor is connected with the substrate, and the fixed end of the force sensor is used for being connected with the tail end of the mechanical arm. The force sensor is used for being in signal connection with an upper computer controlling the mechanical arm to act. The force sensor is arranged on the base plate, the force sensor is directly connected with the mechanical arm, equivalently, the force sensor is arranged at the connecting position of a traditional mechanical arm tail end executor and the mechanical arm, and when the injection device is just in contact with the skin, excessively in contact with the skin or accidentally in contact with other parts of a user, the force sensor can be directly connected with the mechanical arm. And the force sensor can feed detected change signals back to the upper computer, so that the mechanical arm is controlled to stop acting quickly, and damage to a user is avoided.

Description

Technical Field

[0001] The present disclosure relates to the technical field of automated injection, and in particular to a navigation positioning injection device and an injection method with a force feedback function. Background Art

[0002] Syringes are essential professional tools in the medical industry and can be used for injections, dispensing medicines, etc. Traditionally, syringes are usually operated by people holding them. With the continuous development of science and technology and the medical industry, syringes are no longer operated solely by people holding them, but are combined with automated equipment such as needle insertion and fluid injection at a specific rate to ensure accuracy during the operation.

[0003] The process of automated injection is usually divided into several stages: positioning, needle insertion, fluid pushing, and needle withdrawal. In each stage, the movement state and speed of the entire device are not the same. Especially in the connection between the positioning stage and the needle insertion stage, under the control of the robotic arm, the injection device needs to be as close to the user's skin as possible. In this process, it is very easy for the end of the injection device to abut the skin and fail to stop in time due to accuracy or failure. In addition, when the injection device accidentally touches other parts of the user during movement in different stages, the injection device cannot stop in the first time, which may affect the normal needle insertion and fluid pushing process, thereby posing certain safety hazards. Summary of the invention

[0004] In order to solve the above technical problems or partially solve the above technical problems, the present disclosure provides a navigation positioning injection device and injection method with force feedback function, which can ensure that the injection device stops in time when touching the skin during the navigation positioning process to prevent damage to the user's skin, while also ensuring the accuracy of subsequent needle insertion; in addition, the setting of the needle tip guide can also correct the needle insertion error, and also prevent the entire device from accidentally stabbing the user during the positioning process.

[0005] In a first aspect, the present disclosure provides a navigation positioning injection device with a force feedback function, comprising a liquid pushing mechanism, a needle insertion mechanism and a force sensor;

[0006] The needle insertion mechanism comprises a base plate, and the liquid pushing mechanism is slidably connected to the base plate along the needle insertion direction;

[0007] The force-bearing end of the force sensor is connected to the substrate, and the fixed end of the force sensor is used to be connected to the end of the robotic arm; the force sensor is used to be connected to the upper computer signal that controls the movement of the robotic arm.

[0008] Optionally, an angle adjustment motor is also included;

[0009] A first connection seat is provided on the substrate and on one side in the needle insertion direction, a rotating flange is provided on the transmission end of the angle adjustment motor, and a side of the rotating flange facing away from the angle adjustment motor is connected to the first connection seat, and the angle adjustment motor is used to drive the substrate to swing;

[0010] A second connecting seat is provided on the housing of the angle adjustment motor, and the force-bearing end of the force sensor is connected to the second connecting seat.

[0011] Optionally, a visual camera is also included;

[0012] The visual camera is arranged on the substrate through a connecting arm.

[0013] Optionally, the liquid pushing mechanism includes a mounting plate, a fixed sleeve, a liquid pushing screw, a push rod, a connecting plate and a syringe clamping assembly;

[0014] The syringe clamping assembly is arranged on one end of the mounting plate facing the needle insertion direction;

[0015] The fixed sleeve is fixedly connected to the mounting plate, and the push screw is located inside the fixed sleeve;

[0016] The end of the fixed sleeve facing away from the syringe clamping assembly is provided with a liquid pushing motor, and the liquid pushing motor is transmission-connected with the end of the liquid pushing screw facing away from the needle insertion direction;

[0017] The connecting plate is arranged on one end of the fixed sleeve facing the syringe clamping assembly, and a stop hole is provided on the connecting plate. The end of the push rod facing away from the syringe clamping assembly passes through the stop hole and is threadedly engaged with the push screw. The push rod is slidably connected to the stop hole along the needle insertion direction and is circumferentially limited.

[0018] Optionally, both ends of the connecting plate are provided with sliding blocks, and the side of the base plate on which the fixing sleeve is provided is provided with a first sliding rail;

[0019] A fixing plate is vertically provided on one side of the base plate provided with the first sliding rail, and a second sliding rail is provided on the side of the fixing plate facing the connecting plate;

[0020] The two sliding blocks are slidably matched with the first sliding rail and the second sliding rail respectively.

[0021] Optionally, the needle insertion mechanism includes a needle insertion motor, a needle insertion nut and a needle insertion screw;

[0022] The needle insertion screw is arranged on one side of the base plate where the first slide rail is arranged through a bearing seat, and one end of the needle insertion screw away from the syringe clamping assembly is transmission-connected to the transmission end of the needle insertion motor through a coupling;

[0023] The needle-entry nut is screwed onto the needle-entry screw and is connected to the connecting plate.

[0024] Optionally, the syringe clamping assembly includes a mounting seat, an adjusting threaded rod, a support seat and two clamping blocks for clamping the syringe;

[0025] The mounting seat is arranged on one side of the mounting plate where the fixing sleeve is arranged, and a sliding cavity is arranged inside the mounting seat, and two clamping blocks are arranged in the sliding cavity for sliding in opposite directions;

[0026] The screw-in end of the adjusting threaded rod passes through the side wall of the sliding cavity and is located inside the sliding cavity; the adjusting threaded rod is rotationally matched with the side wall of the sliding cavity and is threadably matched with the clamping block, so that when the adjusting threaded rod is rotated, the two clamping blocks move closer to or farther from each other;

[0027] The support seat is connected to the inside of the sliding cavity. A rotation hole is provided on the support seat. The rotation hole is rotationally connected to the adjusting threaded rod.

[0028] Optionally, a threaded hole is provided on the clamping block corresponding to the adjusting threaded rod, and two sections of threads are provided on the adjusting threaded rod corresponding to the two clamping blocks;

[0029] The threaded holes have opposite threaded directions, and the two threaded sections have the same threaded direction;

[0030] or,

[0031] The thread rotation directions of the two threaded holes are the same, and the thread rotation directions of the two sections are opposite.

[0032] Optionally, a needle tip guide is provided at one end of the base plate facing the skin, and the needle tip guide is bolted to the base plate;

[0033] The needle tip guide comprises a guide hole, and the inner diameter of the guide hole gradually decreases along the needle insertion direction.

[0034] Optionally, a clamping block is provided at one end of the push rod facing the syringe, a clamping cavity is provided on the side of the clamping block facing the syringe, two clamping plates are provided in the clamping cavity for sliding in opposite directions, and an elastic member is provided in the clamping cavity for driving the two clamping plates to slide away from each other;

[0035] A gap for accommodating the piston handle at the end of the piston rod of the syringe is formed between the side of the two clamping plates facing away from the syringe and the side of the clamping cavity facing the syringe;

[0036] The clamping block is provided with a draw-out cavity, and two limit plates are provided inside the draw-out cavity for sliding toward each other, and the sliding direction of the limit plates is the same as the sliding direction of the clamping plate;

[0037] The limiting plate is used to limit the backward movement of the two clamping plates;

[0038] A step pin is elastically inserted in the drawer cavity, and the step pin is used to lock the back movement of the two drawer plates.

[0039] In a second aspect, a method for performing injection using the navigation positioning injection device with force feedback function as described above is also disclosed, comprising:

[0040] In the vertical needle insertion mode, the mechanical arm and the angle adjustment motor are controlled to make the needle tip of the syringe perpendicular to the user's skin, and then the needle insertion mechanism is controlled to insert the needle, and finally the liquid is pushed through the liquid pushing mechanism;

[0041] In the oblique angle needle insertion mode, the mechanical arm and the angle adjustment motor are controlled to make the needle tip of the syringe present an acute angle with the user's skin, and then the needle insertion mechanism is controlled to insert the needle, and finally the liquid is pushed through the liquid pushing mechanism;

[0042] In the needle withdrawal and injection mode, the mechanical arm and the angle adjustment motor are controlled to make the needle tip of the syringe tilt toward the user's skin, and then the needle insertion mechanism is controlled to withdraw the needle, and the liquid pushing mechanism is controlled to push the liquid during the needle withdrawal process;

[0043] In the fan-shaped injection mode, the mechanical arm and the angle adjustment motor are controlled to tilt the needle tip of the syringe toward the user's skin, and then the needle insertion mechanism is controlled to withdraw the needle, and at the same time, the liquid pushing mechanism is controlled to push the liquid during the process of withdrawing the needle. Before the needle tip of the syringe is completely pulled out of the skin, the mechanical arm and the angle adjustment motor are controlled again to adjust the angle of the needle tip and insert the needle again. Then, the needle is withdrawn again and liquid is pushed simultaneously during the process of withdrawing the needle. Before the needle tip of the syringe is completely pulled out of the skin, the angle of the needle tip is adjusted again to advance the needle. This is repeated several times, and finally the needle is completely withdrawn to complete the injection.

[0044] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0045] The navigation and positioning injection device with force feedback function provided by the present disclosure has a force sensor arranged on the base plate, and the force sensor is directly connected to the robotic arm, which is equivalent to setting a force sensor at the position where the traditional robotic arm end effector is connected to the robotic arm. When the injection device happens to touch the skin, excessively touches the skin, or accidentally touches other parts of the user, the force sensor can feed back the detected change signal to the host computer, thereby controlling the robotic arm to stop the action quickly to avoid causing harm to the user. In addition, under the action of the robotic arm, the entire injection device can be accurately navigated and positioned.

[0046] In addition, the injection device can realize injection methods such as vertical needle insertion mode, oblique angle needle insertion mode, injection while withdrawing the needle mode, and fan-shaped injection mode. The injection method is flexible and changeable, can adapt to a variety of different needs, and has good adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0049] Figure 1 It is a structural schematic diagram of the navigation positioning injection device with force feedback function according to an embodiment of the present disclosure;

[0050] Figure 2 It is a structural schematic diagram of the syringe clamping assembly according to an embodiment of the present disclosure;

[0051] Figure 3 A cross-sectional view of the syringe clamping assembly according to an embodiment of the present disclosure along the plane where the axis of the adjusting threaded rod is located;

[0052] Figure 4 It is a structural schematic diagram of the position of the clamping block according to the embodiment of the present disclosure;

[0053] Figure 5 This is a schematic diagram of the internal structure of the drawer cavity according to an embodiment of the present disclosure;

[0054] Figure 6 This is a schematic diagram of the internal structure of the clamping cavity according to an embodiment of the present disclosure;

[0055] Figure 7 This is a schematic diagram of the structure of the clamping block according to an embodiment of the present disclosure;

[0056] Figure 8 It is a schematic diagram of the stepped pin structure according to an embodiment of the present disclosure;

[0057] Fig. 9 It is a cross-sectional view of the position of the clamping block according to the embodiment of the present disclosure;

[0058] Fig.10 This is a schematic diagram of the needle tip guide structure described in an embodiment of the present disclosure.

[0059] Among them, 1. force sensor; 10. connecting flange; 11. angle adjustment motor; 12. rotating flange; 13. first connecting seat; 14. second connecting seat; 2. base plate; 20. needle feeding motor; 21. coupling; 22. needle feeding nut; 23. needle feeding screw; 24. bearing seat; 3. liquid pushing motor; 30. fixed sleeve; 31. push rod; 32. connecting plate; 33. mounting plate; 34. first slide rail; 35. fixed plate; 350. second slide rail; 4. syringe clamping assembly; 40. mounting seat; 41. sliding cavity; 42. clamping Block; 420, snap-in groove; 43, adjusting threaded rod; 430, rotating cap; 44, supporting seat; 5, syringe; 6, snap-in block; 60, snap-in plate; 600, clearance notch; 601, elastic member; 61, limit plate; 610, arc-shaped limit groove; 611, baffle; 6100, limit gap; 62, step pin; 620, first limit column; 621, second limit column; 622, third limit column; 63, groove plate; 64, mounting hole; 7, needle tip guide; 70, guide hole; 8, connecting arm; 80, structured light camera. DETAILED DESCRIPTION

[0060] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0061] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0063] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0064] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0065] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0066] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0067] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0068] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0069] Reference Figure 1 to Figure 2As shown, the present disclosure provides a navigation positioning injection device with a force feedback function, including a liquid pushing mechanism, a needle insertion mechanism and a force sensor 1; the needle insertion mechanism includes a substrate 2, and the liquid pushing mechanism is slidably connected to the substrate 2 along the needle insertion direction; the force-bearing end of the force sensor 1 is connected to the substrate 2, and the fixed end of the force sensor 1 is used to connect to the end of a robotic arm; the force sensor 1 is used to connect to a host computer signal that controls the movement of the robotic arm.

[0070] Among them, the substrate 2 is in the needle insertion direction. Figure 1 The front-to-back direction of the force sensor 1 has a certain length, so that the whole device is more stable when performing the needle-piercing action; the liquid-pushing mechanism is slidably arranged on the upper side of the substrate 2, and under the drive of the needle-inserting mechanism, the whole liquid-pushing mechanism can move forward along the upper side of the substrate 2 to perform the needle-piercing or move backward to push the needle; the force-bearing end of the force sensor 1 is connected to the substrate 2, and the fixed end is used to connect with the end of the mechanical arm. When the mechanical arm drives the whole injection device to move, the state and speed of the injection device movement will change. At this time, the force sensor 1 can sense the change of force or torque, and transmit the signal to the upper computer that controls the action of the mechanical arm, so as to adjust the action of the mechanical arm in time, such as controlling its stopping process, so that when the front end of the injection device touches the user's skin, the mechanical arm can be controlled to stop moving in time to avoid further moving forward and injuring the user, thereby ensuring the safety of the user; at the same time, in the process of the mechanical arm controlling the injection device to move, if the injection device touches other objects, the mechanical arm can also stop in time to avoid damage to the injection device.

[0071] In this embodiment, the force sensor 1 is a six-dimensional force sensor 1, which can sense the changes of forces in the X, Y, and Z directions and the corresponding torques, so as to more flexibly sense the changes of the injection device.

[0072] In addition, in some other embodiments, the end surface of the force-bearing end of the force sensor 1 is perpendicular to the front-to-back direction, so as to more accurately and sensitively sense the change of force during the needle insertion process.

[0073] It should be noted that the specific speed, the change of the motion state, and the stop, retreat or other adaptive actions after the change will be programmed according to the actual situation or the experience of relevant personnel, and will not be repeated in this embodiment.

[0074] In some other embodiments, an angle adjustment motor 11 is also included; specifically, a first connecting seat 13 is provided on the substrate 2 and on one side of the needle insertion direction, and a rotating flange 12 is provided on the driving end of the angle adjustment motor 11, and the rotating flange 12 is connected to the first connecting seat 13 on the side facing away from the angle adjustment motor 11, and the angle adjustment motor 11 is used to drive the substrate 2 to swing; the first connecting seat 13 is an L-shaped structure, one section of which is fixed to the upper side of the substrate 2 by screws, and the other section is arranged upward perpendicular to the substrate 2 and is a disc-shaped structure, which is used to be bolted to the rotating flange 12, and when the driving end of the angle adjustment motor 11 rotates, the rotating flange 12 will rotate synchronously, thereby driving the first connecting seat 13 to rotate, and then the substrate 2 swings at a certain angle in the plane formed by the four directions of up, down, front and back.

[0075] In some further embodiments, a limit switch is provided on the housing of the angle adjustment motor 11. There are two limit switches in total, which are opposite to each other in the upper and lower directions. A limit block is provided on the side of the rotating flange 12 close to the angle adjustment motor 11. When the angle adjustment motor 11 is in operation, when the rotating flange 12 is rotated upward by 90°, the limit block will abut against a limit switch relatively located above to trigger it to avoid excessive upward rotation; when the rotation is rotated downward by 90°, the limit block will abut against a limit switch relatively located below to trigger it to avoid excessive rotation. However, it should be understood that not every rotation will cause the limit switch to operate. The function of the limit switch is to limit the range of angle adjustment to increase the safety performance of the entire device.

[0076] In addition, the force sensor 1 is indirectly set on the substrate 2 through the angle adjustment motor 11. For example, in some further embodiments, a second connecting seat 14 is provided on the shell of the angle adjustment motor 11, and the force-bearing end of the force sensor 1 is connected to the second connecting seat 14; specifically, one section of the second connecting seat 14 is connected to the substrate 2 by screws, and the other section is interconnected with the force-bearing end of the force sensor 1, and the fixed end of the force sensor 1 is connected to the robotic arm through a connecting flange 10.

[0077] The force sensor 1 is arranged between the angle adjustment motor 11 and the robot arm, that is, the force sensor 1 is arranged at the rear end of the entire end effector (injection device). No matter which action changes in the injection device, it can be sensed by the force sensor 1, so that the force sensor 1 can sense the motion state of the injection device more comprehensively.

[0078] In some other embodiments, a visual camera is also included, which is set on the substrate 2 through a connecting arm 8; the bottom of the connecting arm 8 is set on the upper side of the substrate 2 through a screw, and the visual camera is set on the top of the connecting arm 8. In this embodiment, the visual camera is a structured light camera 80, which is used to collect position information of the front end of the injection device, i.e., the needle insertion part and the skin. At the same time, the structured light camera 80 can also recognize the user's face, thereby providing information feedback for the movement of the robotic arm.

[0079] In some other embodiments, the liquid pushing mechanism includes a mounting plate 33, a fixed sleeve 30, a liquid pushing screw, a push rod 31, a connecting plate 32 and a syringe clamping assembly 4; the syringe clamping assembly 4 is arranged on one end of the mounting plate 33 facing the needle insertion direction, that is, the front end of the mounting plate 33. In this embodiment, the mounting plate 33 also has a certain length in the front and rear directions.

[0080] The fixed sleeve 30 is fixedly connected to the mounting plate 33, and the liquid pushing screw is located inside the fixed sleeve 30; the fixed sleeve 30 is set at the rear end of the mounting plate 33 by screws, and the end of the fixed sleeve 30 facing away from the syringe clamping assembly 4, i.e., the rear end, is provided with a liquid pushing motor 3, and the liquid pushing motor 3 is transmission-connected to the end of the liquid pushing screw facing away from the needle insertion direction. When the liquid pushing motor 3 is in motion, the screw will rotate along with the transmission end of the liquid pushing motor 3.

[0081] The connecting plate 32 is arranged at the end of the fixed sleeve 30 facing the syringe clamping assembly 4, that is, the front end of the fixed sleeve 30. A stop hole is provided on the connecting plate 32. The end of the push rod 31 facing away from the syringe clamping assembly 4 passes through the stop hole and cooperates with the push screw thread. The push rod 31 is slidably connected to the stop hole along the needle insertion direction and is circumferentially limited.

[0082] Specifically, the rear end of the push rod 31 is provided with an internal thread that cooperates with the push screw, and a first planar portion is milled on the outer peripheral wall of the push rod 31, and a second planar portion is provided on the corresponding planar portion on the inner wall of the stop hole. When the push rod 31 cooperates with the stop hole, the first planar portion and the second planar portion can cooperate with each other, thereby limiting the circumferential rotation of the push rod 31, so that the push rod 31 can only slide in the front and rear directions in the stop hole and cannot rotate circumferentially. Of course, in some other embodiments, the push rod 31 can also be limited by the cooperation of the protrusion and the groove.

[0083] In some further embodiments, a push nut is screwed onto the push screw, and the front end face of the push nut is connected to the rear end of the push rod 31. When the push screw rotates, the push rod 31 can also be driven to move in the forward and backward directions under the action of the push nut, thereby avoiding the need to set a longer internal thread on the push rod and simplifying the manufacturing process.

[0084] In some other embodiments, the sliding between the liquid pushing mechanism and the substrate 2 is achieved by the cooperation of the slide rail slider, that is, sliders are provided at both ends of the connecting plate 32, and a first slide rail 34 is provided on the side of the substrate 2 where the fixed sleeve 30 is provided; a fixed plate 35 is vertically provided on the side of the substrate 2 where the first slide rail 34 is provided, and a second slide rail 350 is provided on the side of the fixed plate 35 facing the connecting plate 32; the two sliders correspond to the first slide rail 34 and the second slide rail 350 for sliding cooperation respectively.

[0085] Specifically, the length directions of the first slide rail 34 and the second slide rail 350 are both arranged along the front-to-back direction, and the track surface in the first slide rail 34 is parallel to the horizontal plane. Since the second slide rail 350 is arranged through the fixing plate 35, the track surface in the second slide rail 350 is parallel to the plane formed by the up-down and front-to-back directions. Therefore, when the entire liquid pushing mechanism moves in the front-to-back direction under the action of the connecting plate 32, the sliding of the liquid pushing mechanism will be more stable, that is, the cooperation between the second slide rail 350 and a slider limits the shaking of the first slide rail 34 and another slider in the up-down direction. Conversely, the cooperation between the first slide rail 34 and a slider limits the sliding of the second slide rail 350 and another slider in the left-right direction, so as to improve the accuracy of acupuncture.

[0086] In some further embodiments, the needle insertion mechanism includes a needle insertion motor 20, a needle insertion nut 22 and a needle insertion screw 23; the needle insertion screw 23 is arranged on a side of the substrate 2 where the first slide rail 34 is arranged, i.e., on the upper side of the substrate 2, through a bearing seat 24, and the end of the needle insertion screw 23 away from the syringe 5 is transmission-connected to the transmission end of the needle insertion motor 20 through a coupling 21; the needle insertion nut 22 is screwed on the needle insertion screw 23 and connected to the connecting plate 32.

[0087] Specifically, the needle insertion motor 20 is located at the rear end of the base plate 2 and is connected through a corresponding motor seat. The transmission end of the needle insertion motor 20 is set forward. When the transmission end of the needle insertion motor 20 rotates, the rotational motion is transmitted to the needle insertion screw 23 through the coupling 21. Since the needle insertion nut 22 is connected to the connecting plate 32, the rotational motion of the needle insertion nut 22 is limited. Therefore, when the needle insertion screw 23 rotates, the needle insertion nut 22 will move along the front and rear direction, thereby driving the connecting plate 32 to move, and then driving the movement of the entire liquid pushing mechanism.

[0088] refer to Figure 1-3 As shown, in some other embodiments, the syringe clamping assembly 4 includes a mounting seat 40, an adjusting threaded rod 43, a support seat 44 and two clamping blocks 42 for clamping the syringe 5; the mounting seat 40 is arranged on a side of the mounting plate 33 where a fixed sleeve 30 is provided, that is, the upper side of the mounting plate 33, and at the same time is close to the front end of the mounting plate 33, and a sliding cavity 41 is provided inside the mounting seat 40, and two clamping blocks 42 are arranged in the sliding cavity 41 to slide oppositely.

[0089] Specifically, the mounting seat 40 is arranged at the end of the mounting plate 33, and the sliding cavity 41 arranged inside it passes through the mounting seat 40 on the left and right sides, and the clamping block 42 can enter the interior of the sliding cavity 41 from the left and right sides of the mounting seat 40; the left and right side walls of the mounting seat 40 are additionally provided with side walls through screws to provide for the installation of the adjusting threaded rod 43; the screw-in end of the adjusting threaded rod 43 passes through the side wall of the sliding cavity 41 and is located inside the sliding cavity 41; the adjusting threaded rod 43 is rotationally matched with the side wall of the sliding cavity 41, and is threadedly matched with the two clamping blocks 42, so that when the adjusting threaded rod 43 is rotated, the two clamping blocks 42 move closer to or away from each other.

[0090] A rotating cap 430 is provided at one end of the adjusting threaded rod 43 located outside the sliding cavity 41, so as to facilitate rotation to drive the adjusting threaded rod 43 to rotate. When the adjusting threaded rod 43 rotates, the two clamping blocks 42 will move away from each other to allow the syringe 5 to be placed in, and when the adjusting threaded rod 43 is rotated in the opposite direction, the two clamping blocks 42 will move towards each other to clamp the syringe 5.

[0091] The support seat 44 is connected to the inside of the sliding cavity 41. A rotating hole is provided on the support seat 44. The rotating hole is rotatably connected to the adjusting threaded rod 43. A section of the adjusting threaded rod 43 located inside the sliding cavity 41 is supported by the support seat 44 to ensure the stability of the adjusting threaded rod 43 during rotation.

[0092] In some other embodiments, a threaded hole is provided on the clamping block 42 corresponding to the adjusting threaded rod 43, and two sections of threads are respectively provided on the adjusting threaded rod 43 corresponding to the two clamping blocks 42; the thread rotation directions of the two threaded holes are opposite, and the two sections of threads have the same rotation directions, so as to realize the relative approach or distance movement of the two clamping blocks 42 when the adjusting threaded rod 43 rotates. It can be imagined that in some other embodiments, the thread rotation directions of the two threaded holes are the same, and the two sections of threads have opposite rotation directions, which can also realize the relative approach or distance movement of the two clamping blocks 42.

[0093] In some further embodiments, clamping grooves are provided on the side walls facing each other in the two clamping blocks 42. When the syringe 5 is placed, the outer wall of the syringe 5 will contact the inner wall of the clamping groove, so that the cylindrical syringe 5 has a larger contact area with the clamping groove, thereby ensuring the stability of the clamping.

[0094] In some further embodiments, a clamping groove 420 is provided on the clamping block 42, and the clamping groove 420 is set at the top of the clamping block 42 and close to the rear end of the clamping block 42. When the syringe 5 is clamped in the clamping groove, the stop handle of the outer sleeve part of the syringe 5 will be clamped in the clamping groove 420, thereby limiting the forward and backward movement of the outer sleeve of the syringe 5 during the process of pushing liquid, and forming a relative movement with the piston part, thereby realizing pushing liquid.

[0095] Please refer to Fig.10 As shown, in some other embodiments, a needle tip guide 7 is provided at one end of the substrate 2 facing the skin, and the needle tip guide 7 is bolted to the substrate 2; the needle tip guide 7 includes a guide hole 70, and the inner diameter of the guide hole 70 gradually decreases along the needle insertion direction.

[0096] The needle tip guide 7 is specifically arranged at the front end of the base plate 2, and its bottom is fixed to the base plate 2 by bolts. A guide hole 70 is arranged at its top for guiding the needle part of the syringe 5 to correct the possible bending of the needle part. In addition, the front end of the needle tip guide 7 is hemispherical or has a curved surface with a certain curvature, so as to avoid damage to the skin when it contacts the skin.

[0097] Please refer to Figure 4-Figure 6 As shown, in some other embodiments, a clamping block 6 is provided at one end of the push rod 31 facing the syringe 5, a clamping cavity is provided on the side of the clamping block 6 facing the syringe 5, two clamping plates 60 are provided in the clamping cavity for sliding in opposite directions, and an elastic member 601 is provided in the clamping cavity for driving the two clamping plates 60 to slide in opposite directions; a gap for accommodating the piston handle at the end of the piston rod of the syringe 5 is formed between the side of the two clamping plates 60 facing away from the syringe 5 and the side of the clamping cavity facing the syringe 5.

[0098] In addition, specific reference Figure 6 A rectangular groove is provided on one side of the clamping cavity, i.e., the rear side of the clamping plate 60. When the two clamping plates 60 are pressed against each other, the rectangular groove is in a complete state. When the two clamping plates 60 move away from each other, the rectangular groove will be divided into two parts. In this embodiment, the elastic member 601 is a V-shaped elastic ring, which is arranged in the rectangular groove. Its two ends respectively abut against two opposite side walls of the rectangular groove, and the two opposite side walls are respectively located on two different clamping plates 60. When the two clamping plates 60 are in a pressed state, under the action of the V-shaped elastic ring, the two clamping plates 60 have a tendency to move away from each other.

[0099] In some other embodiments, the elastic member 601 may also be a spring, with both ends of the spring respectively abutting against a set of opposite side walls of the rectangular groove. Of course, in order to ensure the stability of the spring, a clamping column for the spring to be mounted may also be provided on the side wall.

[0100] Specifically, the front end of the push rod 31 is connected to the rear side of the clamping block 6. When the push rod 31 moves forward and backward, the clamping block 6 will also move in the forward and backward directions; the clamping cavity is arranged on the front side wall of the clamping block 6, and has a certain depth backward, and at the same time penetrates the clamping block 6 in the left and right directions; the two clamping plates 60 in the clamping cavity can slide in the left and right directions in the clamping cavity. When moving away from each other, the two clamping plates 60 are in an open state, and when moving closer to each other, the two clamping plates 60 are in a closed state; when in the open state, the piston handle at the rear end of the piston rod of the syringe 5 will be clamped in the gap reserved between the clamping plate 60 and the clamping cavity. At this time, the clamping plate 60 is moved relatively close to make it in a closed state, and the piston handle will be blocked. In this state, when the push rod 31 moves, it can drive the piston rod to move in the forward and backward directions to realize the process of pushing liquid.

[0101] In some further embodiments, a clearance notch 600 is provided on the opposite side of the two clamping plates 60 for making way for the piston rod of the syringe 5, so that when the rear side wall of the clamping plate 60 blocks the piston handle, the two clamping plates 60 can be completely close together.

[0102] In addition, a pull-out cavity is provided on the clamping block 6, and two limit plates 61 are provided inside the pull-out cavity for sliding toward each other. The sliding direction of the limit plates 61 is the same as the sliding direction of the clamping plate 60, that is, both are arranged along the left and right directions. The limit plates 61 are used to limit the movement of the two clamping plates 60 away from each other.

[0103] Specifically, the pull-out cavity is located at the top of the clamping block 6, and the two openings of the pull-out cavity are respectively set to the left and right; the limiting plate 61 is an L-shaped structure, a section parallel to the horizontal plane is located inside the pull-out cavity, and a section perpendicular to the horizontal plane is located outside the pull-out cavity, which is used to limit the limiting plate 61 from sliding out of the clamping cavity, and the left end of a limiting plate 61 relatively located on the left side is used to limit a clamping plate 60 relatively located on the left side, and the right end of a limiting plate 61 relatively located on the right side is used to limit a clamping plate 60 relatively located on the right side.

[0104] In some further embodiments, the pull-out cavity is formed by a groove plate 63 and a clamping block 6, and one side of the groove provided in the groove plate 63 faces the top of the clamping block 6, and the inner wall of the groove and the top wall of the clamping block 6 form four side walls of the pull-out cavity. In this embodiment, the groove plate 63 is fixed to the rear side of the clamping block 6 by bolts; in addition, the height of the pull-out cavity is consistent with the height of the limit plate 61 to avoid the limit plate 61 from shaking in the up and down directions when sliding in the pull-out cavity, thereby ensuring the stability of sliding.

[0105] A step pin 62 is elastically inserted in the drawer cavity, and the step pin 62 is used to lock the two drawer plates from moving backwards.

[0106] Please refer to Figure 8As shown, in some further embodiments, the step pin 62 includes a first limiting column 620, a second limiting column 621 and a third limiting column 622 arranged in sequence along its axial direction, the diameter of the first limiting column 620 is greater than the diameter of the second limiting column 621, and the diameter of the second limiting column 621 is greater than the diameter of the third limiting column 622. In this embodiment, the first limiting column 620, the second limiting column 621 and the third limiting column 622 are arranged in sequence from bottom to top.

[0107] Please refer to Figure 7-Figure 9 As shown, specifically, a mounting hole 64 is provided on the inner wall of the pull-out cavity, and a reset spring is provided in the mounting hole 64, one end of the reset spring abuts against the bottom of the mounting hole 64, and the other end abuts against one end of the first limiting column 620 facing away from the second limiting column 621; the mounting hole 64 is opened on the top side wall of the clamping block 6 that surrounds the pull-out cavity, and has a downward depth, and the two ends of the reset spring abut against the bottom of the mounting hole 64 and the bottom of the first limiting column 620 respectively; it can be imagined that in some other embodiments, an abutment groove is provided at the bottom of the mounting hole 64 and the bottom of the first limiting column 620, and the upper and lower ends of the reset spring abut against the two abutment grooves respectively, thereby ensuring the stability of the reset spring during the insertion of the step pin 62.

[0108] The diameter of the mounting hole 64 matches the diameter of the first limiting column 620, so that the first limiting column 620 can slide in the up and down directions in the mounting hole 64 without causing a large radial shaking; a through hole with a diameter matching the first limiting column 620 is provided on an inner wall opposite to the inner wall where the mounting hole 64 is set, and the through hole is specifically set in the side wall of the groove plate 63 parallel to the horizontal plane, and the through hole passes through the side wall; the end of the third limiting column 622 facing away from the second limiting column 621, that is, the upper end, passes through the through hole and is located outside the pulling cavity, so as to be used for pressing to release the lock of the step pin 62 and the limiting plate 61.

[0109] In addition, a limiting gap 6100 that fits with the third limiting column 622 is formed between the two side walls of the two limiting plates 61 that face each other in the needle insertion direction; the width of the limiting gap 6100 fits with the diameter of the third limiting column 622, so that when the third limiting column 622 and the limiting gap 6100 are in the same horizontal plane, the two limiting plates 61 can slide normally in the left and right directions.

[0110] In some other embodiments, in order to prevent the two limit plates 61 from infinitely moving away from each other when the limit gap 6100 and the third limit column 622 are in the same horizontal plane, a baffle 611 is provided at the right end of a section in the pull-out cavity of the left limit plate 61 and at the left end of a section in the pull-out cavity of the right limit plate 61. When the two limit plates 61 move away from each other to a certain extent, the baffle 611 will abut against the third limit column 622, thereby limiting the infinite movement of the two limit plates 61, and further limiting the infinite movement of the two clip plates 60.

[0111] An arc-shaped limiting groove 610 is respectively provided on the two side walls of the two limiting plates 61 facing each other in the needle insertion direction. When the connecting plate 32 is completely limited in the clamping cavity by the limiting plates 61, the two arc-shaped limiting grooves 610 are opposite in the needle insertion direction to clamp the second limiting column 621.

[0112] For easier understanding, the linkage relationship and movement principle among the clamping plate 60 , the limiting plate 61 , and the step pin 62 will be described in detail below.

[0113] Please also refer to Figure 4-Figure 9 In the initial state, the two clamping plates 60 are completely in the clamping cavity and are in a tight state. At this time, the limiting plates 61 are close to each other, and the arc-shaped limiting grooves 610 on the two limiting plates 61 are opposite in the front-to-back direction. The ends of the two limiting plates 61 correspond to the limiting of the two clamping plates 60 respectively, and the V-shaped elastic ring is in a compressed state; the third limiting column 622 of the step pin 62 passes through the through hole and is located above the groove plate 63, and the second limiting column 621 is clamped in the two opposite arc-shaped limiting grooves 610; at this time, the reset spring in the mounting hole 64 is in a compressed state, and there is still space in the mounting hole 64 for the step pin 62 to move downward.

[0114] When the two clamping plates 60 need to be opened to clamp the piston handle, it is only necessary to press down the top of the step pin 62, that is, the top of the third limiting column 622. At this time, the reset spring is compressed, the entire step pin 62 moves downward, and the second limiting column 621 gradually moves downward and disengages from the two opposite arc-shaped limiting grooves 610. When the second limiting column 621 is completely disengaged from the two opposite arc-shaped limiting grooves 610, the movement of the two limiting plates 61 in the left and right directions will no longer be restricted. At this time, the third limiting column 622 is in the same plane; at the same time, under the action of the V-shaped elastic ring, the clamping plates 60 move in directions away from each other, and since the limiting plate 61 is no longer constrained, the part that originally limited the clamping plate 60 will be pushed by the clamping plate 60, so that the two limiting plates 61 move in directions away from each other. When the movement reaches a certain extent, the baffle 611 in the limiting plate 61 will abut against the peripheral wall of the third limiting column 622 and no longer move. At this time, the clamping plate 60 is in an open state, and the piston handle can be stopped in the gap between the clamping plate 60 and the clamping cavity.

[0115] Afterwards, the two limit plates 61 are squeezed in the direction of making them approach each other, that is, the limit plates 61 are pushed to move toward the inside of the pulling cavity. When the two arc-shaped limit grooves 610 are opposite to each other in the front-to-back direction, under the action of the reset spring, the step pin 62 moves upward, and the second limit column 621 cooperates with the two arc-shaped limit grooves 610, and the limit plate 61 no longer moves to achieve locking; while pushing the limit plate 61 to move, a section of the upper limit clamping plate 60 on the limit plate 61 will synchronously push the clamping plate 60 to move into the clamping cavity, so that the two clamping plates 60 move toward each other until they are close to each other. At this time, the piston rod is located in the yield notch 600, and the piston handle is blocked by the clamping plate 60. When pushing the liquid thereafter, the piston handle will move with the push rod 31.

[0116] When the piston handle needs to be removed, just press the stepped pin 62 downwards. After pressing, the second limiting column 621 in the stepped pin 62 will be disengaged from the two arc-shaped limiting grooves 610. Under the action of the V-shaped elastic ring, the two clamping plates 60 will move away from each other and then become open.

[0117] In addition, the present disclosure also provides a method for performing injection using the navigation positioning injection device with force feedback function, comprising:

[0118] In the vertical needle insertion mode, the mechanical arm and the angle adjustment motor 11 are controlled to make the needle tip of the syringe 5 perpendicular to the user's skin, and then the needle insertion mechanism is controlled to insert the needle, and finally the liquid is pushed through the liquid pushing mechanism.

[0119] In the oblique angle needle insertion mode, the mechanical arm and the angle adjustment motor 11 are controlled so that the needle tip of the syringe 5 forms an acute angle with the user's skin, and then the needle insertion mechanism is controlled to insert the needle, and finally the liquid is pushed through the liquid pushing mechanism.

[0120] In the needle withdrawal and injection mode, the mechanical arm and the angle adjustment motor 11 are controlled to make the needle tip of the syringe 5 tilt toward the user's skin, and then the needle insertion mechanism is controlled to withdraw the needle, while the liquid pushing mechanism is controlled to push the liquid during the needle withdrawal process.

[0121] In the fan-shaped injection mode, the mechanical arm and the angle adjustment motor 11 are controlled to tilt the needle tip of the syringe 5 toward the user's skin, and then the needle insertion mechanism is controlled to withdraw the needle, and at the same time, the liquid pushing mechanism is controlled to push the liquid during the process of withdrawing the needle. Before the needle tip of the syringe 5 is completely pulled out of the skin, the mechanical arm and the angle adjustment motor 11 are controlled again to adjust the angle of the needle tip, and the needle is inserted again. Then, the needle is withdrawn again, and liquid is pushed simultaneously during the process of withdrawing the needle. Before the needle tip of the syringe 5 is completely pulled out of the skin, the angle of the needle tip is adjusted again to insert the needle. This is repeated several times, and finally the needle is completely withdrawn to complete the injection.

[0122] It should be noted that in both the injection while withdrawing the needle mode and the fan-shaped injection mode, the angle between the needle tip and the skin is relatively small; in addition, the number of repetitions in the fan-shaped injection mode depends on the actual situation.

[0123] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A navigation positioning injection device with force feedback function, characterized in that: It comprises a liquid pushing mechanism, a needle insertion mechanism and a force sensor (1); The needle insertion mechanism comprises a base plate (2), and the liquid pushing mechanism is slidably connected to the base plate (2) along the needle insertion direction; The force-bearing end of the force sensor (1) is connected to the substrate (2), and the fixed end of the force sensor (1) is used to be connected to the end of the mechanical arm; the force sensor (1) is used to be connected to a host computer signal that controls the movement of the mechanical arm.

2. The navigation positioning injection device with force feedback function according to claim 1, characterized in that: Also includes an angle adjustment motor (11); A first connecting seat (13) is provided on the base plate (2) and on one side in the needle insertion direction; a rotating flange (12) is sleeved on the driving end of the angle adjustment motor (11); a side of the rotating flange (12) facing away from the angle adjustment motor (11) is connected to the first connecting seat (13); and the angle adjustment motor (11) is used to drive the base plate (2) to swing; A second connecting seat (14) is provided on the housing of the angle adjustment motor (11), and the force-bearing end of the force sensor (1) is connected to the second connecting seat (14).

3. The navigation positioning injection device with force feedback function according to claim 2, characterized in that: Also included is a visual camera (80); The visual camera (80) is arranged on the substrate (2) via a connecting arm (8).

4. The navigation positioning injection device with force feedback function according to claim 2, characterized in that: The liquid pushing mechanism comprises a mounting plate (33), a fixed sleeve (30), a liquid pushing screw, a push rod (31), a connecting plate (32) and a syringe clamping assembly (4); The syringe clamping assembly (4) is arranged on one end of the mounting plate (33) facing the needle insertion direction; The fixed sleeve (30) is fixedly connected to the mounting plate (33), and the liquid pushing screw is located inside the fixed sleeve (30); The end of the fixed sleeve (30) facing away from the syringe clamping assembly (4) is provided with a liquid pushing motor (3), and the liquid pushing motor (3) is drivingly connected to the end of the liquid pushing screw facing away from the needle insertion direction; The connecting plate (32) is arranged at one end of the fixed sleeve (30) facing the syringe clamping assembly (4), and a stop hole is provided on the connecting plate (32). One end of the push rod (31) facing away from the syringe clamping assembly (4) passes through the stop hole and is threadedly engaged with the push rod. The push rod (31) is slidably connected to the stop hole along the needle insertion direction and is circumferentially limited.

5. The navigation positioning injection device with force feedback function according to claim 4, characterized in that: Both ends of the connecting plate (32) are provided with sliding blocks, and a first sliding rail (34) is provided on one side of the base plate (2) on which the fixing sleeve (30) is provided; A fixing plate (35) is vertically provided on one side of the base plate (2) on which the first sliding rail (34) is provided, and a second sliding rail (350) is provided on the side of the fixing plate (35) facing the connecting plate (32); The two sliding blocks are slidably matched with the first sliding rail (34) and the second sliding rail (350) respectively.

6. The navigation positioning injection device with force feedback function according to claim 5, characterized in that: The needle insertion mechanism comprises a needle insertion motor (20), a needle insertion nut (22) and a needle insertion screw (23); The needle insertion screw (23) is arranged on a side of the base plate (2) where the first slide rail (34) is arranged via a bearing seat (24); an end of the needle insertion screw (23) away from the syringe clamping assembly (4) is transmission-connected to a transmission end of the needle insertion motor (20) via a coupling (21); The needle-entry nut (22) is screwed onto the needle-entry screw (23) and connected to the connecting plate (32).

7. The navigation positioning injection device with force feedback function according to claim 6, characterized in that: The syringe clamping assembly (4) comprises a mounting seat (40), an adjusting threaded rod (43), a supporting seat (44) and two clamping blocks (42) for clamping the syringe (5); The mounting seat (40) is arranged on a side of the mounting plate (33) where the fixing sleeve (30) is arranged, and a sliding cavity (41) is arranged inside the mounting seat (40), and two clamping blocks (42) are arranged in the sliding cavity (41) to slide towards each other; The screw-in end of the adjusting threaded rod (43) passes through the side wall of the sliding cavity (41) and is located inside the sliding cavity (41); the adjusting threaded rod (43) is rotationally matched with the side wall of the sliding cavity (41) and is threadedly matched with the clamping block (42), so that when the adjusting threaded rod (43) is rotated, the two clamping blocks (42) move closer to or farther from each other; The support seat (44) is connected to the inside of the sliding cavity (41), and a rotation hole is provided on the support seat (44), and the rotation hole is rotationally connected to the adjusting threaded rod (43).

8. The navigation positioning injection device with force feedback function according to claim 7, characterized in that: The clamping block (42) is provided with a threaded hole corresponding to the adjusting threaded rod (43), and the adjusting threaded rod (43) is provided with two sections of threads corresponding to the two clamping blocks (42); The threaded holes have opposite threaded directions, and the two threaded sections have the same threaded direction; or, The thread rotation directions of the two threaded holes are the same, and the thread rotation directions of the two sections are opposite.

9. The navigation positioning injection device with force feedback function according to claim 8, characterized in that: A needle tip guide (7) is provided at one end of the base plate (2) facing the skin, and the needle tip guide (7) is bolted to the base plate (2); The needle tip guide (7) comprises a guide hole (70), and the inner diameter of the guide hole (70) gradually decreases along the needle insertion direction.

10. The navigation positioning injection device with force feedback function according to any one of claims 9, characterized in that: A clamping block (6) is provided at one end of the push rod (31) facing the syringe (5); a clamping cavity is provided at one side of the clamping block (6) facing the syringe (5); two clamping plates (60) are provided in the clamping cavity for sliding in opposite directions; and an elastic member (601) is provided in the clamping cavity for driving the two clamping plates (60) to slide away from each other; A gap for accommodating the piston handle at the end of the piston rod of the syringe (5) is formed between the side of the two clamping plates (60) facing away from the syringe (5) and the side of the clamping cavity facing the syringe (5); The clamping block (6) is provided with a draw-out cavity, and two limit plates (61) are provided inside the draw-out cavity for sliding toward each other, and the sliding direction of the limit plates (61) is the same as the sliding direction of the clamping plate (60); The limiting plate (61) is used to limit the backward movement of the two clamping plates (60); A step pin (62) is elastically inserted in the drawer cavity, and the step pin (62) is used to lock the back-to-back movement of the two drawer plates.

11. A method for injection using the navigation positioning injection device with force feedback function as claimed in any one of claims 1 to 10, characterized in that: include: In the vertical needle insertion mode, the mechanical arm and the angle adjustment motor (11) are controlled to make the needle tip of the syringe (5) perpendicular to the user's skin, and then the needle insertion mechanism is controlled to insert the needle, and finally the liquid pushing mechanism is used to push the liquid; In the oblique angle needle insertion mode, the mechanical arm and the angle adjustment motor (11) are controlled so that the needle tip of the syringe (5) forms an acute angle with the user's skin, and then the needle insertion mechanism is controlled to insert the needle, and finally the liquid pushing mechanism is used to push the liquid; In a needle-withdrawing and injection mode, the mechanical arm and the angle adjustment motor (11) are controlled to make the needle tip of the syringe (5) tilt toward the user's skin, and then the needle insertion mechanism is controlled to withdraw the needle, while the liquid pushing mechanism is controlled to push the liquid during the needle withdrawal process; In the fan-shaped injection mode, the mechanical arm and the angle adjustment motor (11) are controlled to tilt the needle tip of the syringe (5) toward the user's skin, and then the needle insertion mechanism is controlled to withdraw the needle, and at the same time, the liquid pushing mechanism is controlled to push the liquid during the needle withdrawal process. Before the needle tip of the syringe (5) is completely withdrawn from the skin, the mechanical arm and the angle adjustment motor (11) are controlled again to adjust the angle of the needle tip, and the needle is inserted again. Then, the needle is withdrawn again, and liquid is pushed simultaneously during the needle withdrawal process. Before the needle tip of the syringe (5) is completely withdrawn from the skin, the angle of the needle tip is adjusted again to insert the needle. This is repeated several times, and finally the needle is completely withdrawn to complete the injection.

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