Air bag type flexible needle and puncture mechanism

Abstract

The invention discloses an air bag type flexible needle and a puncture mechanism, and belongs to the field of medical instruments, a gear and rack transmission mechanism capable of adjusting a back clearance is used for realizing feeding and returning of the air bag type flexible needle, a transposition motor is used for clamping the air bag type flexible needle and controlling rotation of the air bag type flexible needle, a feeding motor is used for controlling rotation of a gear, and the air bag type flexible needle is driven by the gear to rotate. According to the airbag type flexible needle and the puncture mechanism, active bending of the airbag type flexible needle is achieved by introducing high-pressure gas into the airbag type flexible needle forming airbag, and then adjustment of the posture of the needle point of the airbag type flexible needle is achieved. The device is simple in structure and easy to operate, the posture of the needle tip can be adjusted more easily to complete puncture of a target spot, and the stability, accuracy and safety of puncture are further improved.

Description

Technical Field

[0001] The invention relates to a medical device, in particular to an airbag type flexible needle and a puncture mechanism. Background Art

[0002] In recent years, minimally invasive interventional medicine has attracted widespread attention for its advantages of small trauma, fast recovery, high precision, significant efficacy, and wide indications. It is an emerging treatment method between internal and external medicine, and the use of flexible needles provides more possibilities for minimally invasive interventional surgery. Compared with traditional rigid needles, flexible needles can adapt to the patient's body tissues more flexibly during surgery or treatment due to their softness, reducing damage to tissues, and can more effectively avoid sensitive areas such as blood vessels and nerves during puncture, thereby reducing surgical risks. In clinical practice, the accuracy of flexible needle insertion and the different degrees of deflection caused by needle-tissue interaction when the needle tip interacts with different types of tissues cause the traditional beveled flexible needle tip to deviate from the intended target. And this deflection is difficult to actively adjust. These problems have led to limitations in the practical application of flexible needles.

[0003] Based on the above problems, the problem that the present invention needs to solve is to design a flexible needle puncture device that can improve the accuracy of traditional needle insertion and withdrawal and can realize active adjustment of the needle tip posture. Based on the gear rack transmission, the feeding accuracy can be improved by adjusting the transmission backlash, and the active deflection of the flexible needle can be realized by actively adjusting the needle tip end posture using a molded airbag. The device improves the operating accuracy during the puncture process and the accuracy of the puncture results, thereby improving the efficiency and accuracy of the operation. Summary of the invention

[0004] Based on the above problems, the problem to be solved by the present invention is to provide an airbag-type flexible needle and puncture mechanism, which adopts a gear rack device for adjusting the back clearance to enable the flexible needle to accurately complete the needle advancement and withdrawal actions, and adopts a molded airbag to realize the active deflection of the needle tip during the puncture process, thereby improving the puncture accuracy.

[0005] The technical solution of the present invention is:

[0006] An airbag-type flexible needle and puncture mechanism, which comprises: a slide rail, a fixed seat, a slider, a fixed rack, a sliding rack, a feed motor, a motor connecting plate, a gear, a steering motor bracket, a movable top block, a gap adjustment spring, a fixed top block, a needle bracket, a telescopic needle bracket, a transfer motor, and an airbag-type flexible needle; characterized in that: the slide rail is fixedly connected to the right end of the fixed seat by screws; the slider is mounted on the slide rail and limited by a dovetail groove; the fixed rack is positioned at the left end of the fixed seat by two cylindrical pins, and then fixed to the fixed seat by screws, the dovetail groove of the sliding rack is placed on the dovetail groove wedge of the fixed seat, and the initial assembly position is flush with the fixed rack; the feed motor is first fixedly connected to the motor connecting plate, and then the gear is fixedly connected to the feed motor, and then the motor connecting plate is fixedly connected to the steering motor bracket by screws; the steering motor bracket is fixedly connected to the slider by screws, and at the same time Ensure that the gear is meshed with the fixed rack and the sliding rack teeth, then put the moving top block into the dovetail groove of the sliding rack, put the gap adjustment spring on the moving top block, and finally fit the fixed top block with the gap adjustment spring, and fix the fixed top block to the left front end of the fixed seat by screws. At this time, the spring is compressed to push the sliding rack to move, so that the sliding rack and the fixed rack move relative to each other, thereby eliminating the backlash of the gear rack transmission; the needle holder is positioned at the right front end of the fixed seat by two cylindrical pins and is fixed to the fixed seat by screws; the telescopic needle holder is connected to the needle holder by threads; the indexing motor is positioned with a stopper and fixed to the steering motor holder by screws, and the airbag flexible needle is fixed to the indexing motor and passes through the needle holder and the telescopic needle holder; the feed motor rotates, driving the gear to rotate, and the needle is advanced and retracted through the gear rack transmission.

[0007] As a preferred embodiment: the indexing motor comprises a driving mechanism, a rotor housing, and a clamping mechanism; the driving mechanism consists of a sealing ring 1, a magnetic steel, a winding core, a stator housing, a sealing ring 2, and a sealing plate; the sealing ring 1 is pre-installed into the sealing groove reserved on the central axis of the rotor housing, and the magnetic steel and the rotor housing are evenly distributed along the circumference and glued together; the winding core is glued together and fixedly connected to the stator housing, and the front end of the stator housing is assembled with a bearing and then installed into the rotor housing, and the rear bearing is installed at the rear end after assembly, and then the sealing ring 2 is embedded in the sealing groove of the sealing plate, assembled to the stator housing, and fastened with screws; the clamping mechanism consists of a unloading push rod, a pressure rod, a clamping sleeve, a bushing, a clamping spring, and a spring cover; the unloading push rod is installed in the rotor housing, and the pressure rod is passed through the reserved space of the rotor housing. The keyway-shaped hole is connected with the unloading push rod by thread; then the clamping sleeve is placed in the rotor housing so that the conical surface of the clamping sleeve fits with the conical surface of the rotor housing, the bushing is placed in the clamping sleeve, the clamping spring is stuck in the groove of the spring cover, the spring cover and the rotor housing are fixed by screws, and the clamping spring presses the bushing; when the motor is powered on, the magnetic steel and the winding core are relatively displaced due to the electromagnetic force, driving the motor to rotate; the spring cover presses the clamping spring, and the clamping spring pushes the bushing together with the clamping sleeve to produce a tendency to move backward, and a force is generated between the clamping sleeve and the conical surface, causing the clamping sleeve to contract and compress the bushing to achieve the clamping of the airbag flexible needle; when removing the flexible needle, the pressure rod is pushed forward, and the pressure rod pushes the clamping sleeve to move forward, so that the clamping sleeve is separated from the conical surface and the airbag flexible needle is released.

[0008] Preferably, the airbag-type flexible needle comprises an air guide tube, a molded air bag, a needle body sealing plug and a needle body; one end of the air guide tube is passed through the hole on the molded air bag, and the air guide tube and the molded air bag are glued together to form a whole, and the other end is inserted into the hole of the needle body sealing plug, and the assembly consisting of the air guide tube, the molded air bag and the needle body sealing plug is inserted into the needle body together, so that the air guide tube, the needle body sealing plug and the needle body are flush at the end; the airbag-type flexible needle passes through the spring cover, the bushing, the rotor housing and the sealing ring 1; the needle body sealing plug, the sealing ring 1 and the sealing ring 2 together constitute a sealing system, and high-pressure gas is introduced from the rear end of the sealing plate to allow the gas to enter the air guide tube, and the gas is introduced into the molded air bag through the air guide tube, so that the air bag is deformed from a free form to a bent state, thereby causing the needle body to actively deflect.

[0009] The gain effect of the present invention is:

[0010] The airbag-type flexible needle and puncture mechanism drive the flexible needle to advance and withdraw through gear and rack transmission, and the transmission accuracy is improved by adjusting the gear and rack transmission backlash, thereby improving the surgical accuracy.

[0011] The indexing motor integrates the motor for driving the flexible needle to rotate and the flexible needle clamping device into one body, thereby improving the efficiency of loading and unloading the needle and reducing the overall weight of the device, thereby improving the surgical efficiency and expanding the scope of use of the device.

[0012] The clamping mechanism uses a clamping sleeve that can produce large deformation, which reduces the difficulty of parts processing and assembly and improves the clamping reliability of the clamping mechanism.

[0013] The airbag-type flexible needle uses a shaped airbag to actively bend the flexible needle by shrinking the shape, thereby improving the surgical efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Attached Figure 1 , a schematic diagram of the overall assembly of the present invention;

[0015] Attached Figure 2 , a schematic diagram of the transfer motor in the present invention;

[0016] Attached Figure 3 , a schematic diagram of the transfer motor in the present invention;

[0017] Attached Figure 4 , a schematic diagram of the airbag-type flexible needle in the present invention;

[0018] In the figure: 1, slide rail, 2, fixed seat, 3, slider, 4, fixed rack, 5, sliding rack, 6, feed motor, 7, motor connecting plate, 8, gear, 9, steering motor bracket, 10, moving top block, 11, gap adjustment spring, 12, fixed top block, 13, needle bracket, 14, telescopic needle bracket, 15, indexing motor, 15-1, driving mechanism, 15-1-1, sealing ring 1, 15-1-2, magnetic steel, 15-1-3, winding core, 15-1-4 , stator housing, 15-1-5, sealing ring 2, 15-1-6, sealing plate, 15-2, rotor housing, 15-3, clamping mechanism, 15-3-1, unloading push rod, 15-3-2, pressure rod, 15-3-3, clamping sleeve, 15-3-4, bushing, 15-3-5, clamping spring, 15-3-6, spring cover, 16, airbag flexible needle, 16-1, air guide tube, 16-2, molded airbag, 16-3, needle body sealing plug, 16-4, needle body. DETAILED DESCRIPTION

[0019] The specific structure and implementation methods of the present invention are further described below in conjunction with the accompanying drawings.

[0020] The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that it is easy for a person skilled in the art to implement these embodiments. However, the present invention may be implemented in various forms, and therefore the present invention is not limited to the embodiments described below. In addition, in order to more clearly describe the present invention, parts that are not connected to the present invention will be omitted from the accompanying drawings.

[0021] In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "back", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the invention.

[0022] like Figure 1 The airbag flexible needle and puncture device shown in the figure include: a slide rail 1, a fixed seat 2, a slider 3, a fixed rack 4, a sliding rack 5, a feed motor 6, a motor connecting plate 7, a gear 8, a steering motor bracket 9, a movable top block 10, a gap adjustment spring 11, a fixed top block 12, a needle bracket 13, a telescopic needle bracket 14, a transfer motor 15, and an airbag flexible needle 16; characterized in that: the slide rail 1 is fixedly connected to the right end of the fixed seat 2 by screws; the slider 3 is installed on the slide rail 1 and limited by a dovetail groove; the fixed rack 4 is positioned at the left end of the fixed seat 2 by two cylindrical pins, and then fixedly connected to the fixed seat 2 by screws, and the dovetail groove of the sliding rack 5 is placed on the dovetail groove wedge of the fixed seat 2, and the initial assembly position is flush with the fixed rack 4; first, the feed motor 6 is fixedly connected to the motor connecting plate 7, and then the gear 8 is fixedly connected to the feed motor 6, and then the motor connecting plate 7 is fixedly connected to the steering motor bracket 9 by screws; the steering motor bracket 9 is fixedly connected to the slider 3 by screws, and at the same time When the gear 8 is in mesh with the fixed rack 4 and the sliding rack 5, the movable top block 10 is placed in the dovetail groove of the sliding rack 5, the gap adjustment spring 11 is sleeved on the movable top block 10, and finally the fixed top block 12 is sleeved with the gap adjustment spring 11, and the fixed top block 12 is fixed to the left front end of the fixed seat 2 by screws. At this time, the spring is compressed, pushing the sliding rack 5 to move, so that the sliding rack 5 and the fixed rack 4 move relative to each other, thereby eliminating the backlash of the gear rack transmission; the needle holder 13 is positioned at the right front end of the fixed seat 2 by two cylindrical pins and is fixed to the fixed seat 2 by screws; the telescopic needle holder 14 is connected to the needle holder 13 by threads; the indexing motor 15 is positioned with a stopper and fixed to the steering motor holder 9 by screws, and the airbag flexible needle 16 is fixed to the indexing motor 15, passing through the needle holder 13 and the telescopic needle holder 14; the feed motor 6 rotates, the drive gear 8 rotates, and the needle is inserted and withdrawn through the gear rack transmission.

[0023] like Figure 2, Figure 3 As shown, the indexing motor described in this example includes: a driving mechanism 15-1, a rotor housing 15-2, and a clamping mechanism 15-3; the driving mechanism 15-1 is composed of a sealing ring 15-1-1, a magnetic steel 15-1-2, a winding core 15-1-3, a stator housing 15-1-4, a sealing ring 15-1-5, and a sealing plate 15-1-6; the sealing ring 15-1-1 is pre-installed in the sealing groove reserved on the central axis of the rotor housing 15-2, and the magnetic steel 15-1-2 and the rotor housing 15-2 are evenly distributed along the circumference and glued and fixedly connected; the winding core 15-1-3 and the stator housing 15-1-4 are glued After the bearing is assembled at the front end of the stator housing 15-1-4, it is installed into the rotor housing 15-2. After the assembly, the rear bearing is installed at the rear end. Then, the sealing ring 15-1-5 is embedded in the sealing groove of the sealing plate 15-1-6, and then assembled to the stator housing 15-1-4 and fastened with screws. The clamping mechanism 15-3 is composed of a unloading push rod 15-3-1, a pressure rod 15-3-2, a clamping sleeve 15-3-3, a bushing 15-3-4, a clamping spring 15-3-5, and a spring cover 15-3-6. The unloading push rod 15-3-1 is installed into the rotor housing 15-2, and the pressure rod 15-3-2 is passed through The keyway-shaped hole reserved in the rotor housing 15-2 is connected with the unloading push rod 15-3-1 by threading; then the clamping sleeve 15-3-3 is placed in the rotor housing 15-2, so that the conical surface of the clamping sleeve 15-3-3 fits the conical surface of the rotor housing 15-2, and the bushing 15-3-4 is placed in the clamping sleeve 15-3-3, and the clamping spring 15-3-5 is stuck in the groove of the spring cover 15-3-6, and the spring cover 15-3-6 is fixed to the rotor housing 15-2 by screws, and the clamping spring 15-3-5 presses the bushing 15-3-4; when the motor is powered on, the magnetic steel 15-1-2 and the winding core 15-1-3 are electrically Due to the action of magnetic force, relative displacement occurs, driving the motor to rotate; the spring cover 15-3-6 compresses the clamping spring 15-3-5, and the clamping spring 15-3-5 pushes the bushing 15-3-4 together with the clamping sleeve 15-3-3 to produce a tendency to move backward, and a force is generated between the clamping sleeve 15-3-3 and the conical surface, causing the clamping sleeve 15-3-3 to contract and compress the bushing 15-3-4, thereby clamping the airbag flexible needle 16; when removing the flexible needle, the pressure rod 15-3-2 is pushed forward, and the pressure rod 15-3-2 pushes the clamping sleeve 15-3-3 to move forward, so that the clamping sleeve is separated from the conical surface and the airbag flexible needle 16 is released.

[0024] As described in 4, the airbag-type flexible needle comprises: an air guide tube 16-1, a molded airbag 16-2, a needle body sealing plug 16-3, and a needle body 16-4; one end of the air guide tube 16-1 is passed through the hole of the molded airbag 16-2, and the air guide tube 16-1 and the molded airbag 16-2 are glued together to form a whole, and the other end is inserted into the hole of the needle body sealing plug 16-3, and the assembly consisting of the air guide tube 16-1, the molded airbag 16-2, and the needle body sealing plug 16-3 is inserted into the needle body 16-4 together, so that the air guide tube 16-1, the needle body sealing plug 16-3 and the needle body 16- 4 is flush at the end; the airbag-type flexible needle 16 passes through the spring cover 15-3-6, the bushing 15-3-4, the rotor housing 15-2 and the sealing ring 15-1-1; the needle body sealing plug 16-3, the sealing ring 15-1-1 and the sealing ring 2 15-1-5 together constitute a sealing system, and high-pressure gas is introduced from the rear end of the sealing plate 15-1-6 to allow the gas to enter the air guide tube 16-1, and the gas is introduced into the molded airbag 16-2 through the air guide tube 16-1, so that the airbag is deformed from a free form to a bent state, thereby causing the needle body 16-4 to actively deflect.

[0025] The working principle of the specific implementation mode of the present invention is as follows:

[0026] Clamping action: Assemble the sealing ring 15-1-1 in the rotor housing 15-2, assemble the clamping mechanism 15-3, adjust the spring cover 15-3-6, the bushing 15-3-4, and the through hole of the rotor housing 15-2 to be on the same axis, push the pressure rod 15-3-2 forward, drive the unloading push rod 15-3-1 to move forward, push the clamping sleeve 15-3-3 and the bushing 15-3-4 to move forward, and compress the clamping spring 15-3-5; pass the airbag flexible needle 16 through the through hole, remove the thrust on the pressure rod 15-3-2, the clamping spring 15-3-5 pushes the bushing 15-3-4 and the clamping sleeve 15-3-3 to move backward, and the clamping sleeve 15-3-3 is deformed and contracted under the action of the conical surface, reducing the distance between the bushings 15-3-4 and clamping the airbag flexible needle 16.

[0027] Feeding movement: adjust the position of the slider 3 and the steering motor bracket 9, so that the through holes on the needle bracket 13, the telescopic needle bracket 14 and the indexing motor 15 are on the same axis, pass the airbag flexible needle 16 through the needle bracket 13 and the telescopic needle bracket 14, and install it on the indexing motor 15. When installing it on the indexing motor 15, pay attention to the needle tail passing through the sealing ring 15-1-1; the feeding motor 6 rotates to drive the gear 8 to rotate, driving the steering motor bracket 9 to move, and then driving the feeding motor 15 and the airbag flexible needle 16 to move, realizing the advance and retreat movement of the airbag flexible needle 16.

[0028] Deflection movement: the forming airbag 16-2 is inflated, and the forming airbag drives the needle body 16-4 to deflect, and the deflection movement of the flexible needle is completed in coordination with the feeding movement; when adjusting the deflection direction of the flexible needle, the forming airbag 16-2 is deflated, and the indexing motor 15 rotates to drive the oblique tip of the airbag-type flexible needle 16 to face the direction in which the deflection is required, and then the forming airbag 16-2 is re-inflated to drive the needle body 16-4 to deflect, and the next deflection movement is completed in coordination with the feeding movement.

[0029] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An airbag-type flexible needle and puncture mechanism, comprising: A slide rail (1), a fixed seat (2), a slider (3), a fixed rack (4), a sliding rack (5), a feed motor (6), a motor connecting plate (7), a gear (8), a steering motor bracket (9), a movable top block (10), a gap adjustment spring (11), a fixed top block (12), a needle bracket (13), a telescopic needle bracket (14), a transfer motor (15), and an airbag type flexible needle (16); characterized in that: the slide rail (1) is fixedly connected to the right end of the fixed seat (2) by screws; the slider (3) is installed on the slide rail (1) and is fixedly connected to the right end of the fixed seat (2) by a dovetail. The fixed rack (4) is positioned at the left end of the fixed seat (2) by two cylindrical pins and then fixedly connected to the fixed seat (2) by screws. The dovetail groove of the sliding rack (5) is placed on the dovetail groove wedge of the fixed seat (2). The initial assembly position is flush with the fixed rack (4). The feed motor (6) is first fixedly connected to the motor connecting plate (7), and then the gear (8) is fixedly connected to the feed motor (6). Then, the motor connecting plate (7) is fixedly connected to the steering motor bracket (9) by screws. The steering motor bracket (9) is fixedly connected to the slider (3) by screws, and at the same time, the gear (8) is fixedly connected to the feed motor (6). The wheel (8) is meshed with the fixed rack (4) and the sliding rack (5), and then the movable top block (10) is placed in the dovetail groove of the sliding rack (5), and the gap adjustment spring (11) is sleeved on the movable top block (10). Finally, the fixed top block (12) is sleeved with the gap adjustment spring (11), and the fixed top block (12) is fixed to the left front end of the fixed seat (2) by screws. At this time, the spring is compressed, pushing the sliding rack (5) to move, so that the sliding rack (5) and the fixed rack (4) move relative to each other, thereby eliminating the backlash of the gear rack transmission; the needle holder (13) is positioned at the right front end of the fixing seat (2) by two cylindrical pins and is fixedly connected to the fixing seat (2) by screws; the telescopic needle bracket (14) is connected to the needle bracket (13) by threads; the indexing motor (15) is positioned by a stopper and is fixed to the steering motor bracket (9) by screws, and the airbag flexible needle (16) is fixed to the indexing motor (15) and passes through the needle bracket (13) and the telescopic needle bracket (14); the feeding motor (6) rotates, the driving gear (8) rotates, and the needle is advanced and retracted through the gear rack transmission.

2. The airbag-type flexible needle and puncture mechanism according to claim 1, characterized in that: The indexing motor (15) comprises a driving mechanism (15-1), a rotor housing (15-2), and a clamping mechanism (15-3); the driving mechanism (15-1) is composed of a sealing ring (15-1-1), a magnetic steel (15-1-2), a winding core (15-1-3), a stator housing (15-1-4), a sealing ring (15-1-5), and a sealing plate (15-1-6); the sealing ring (15-1-1) is pre-installed in a sealing groove reserved on the central axis of the rotor housing (15-2); the magnetic steel (15-1-2) and the rotor housing (15-2) are evenly distributed along the circumference and are glued and fixedly connected; the winding core (15-1-3) and the stator housing (15-1-4) are glued and fixedly connected. The stator housing (15-1-4) is fixedly connected, and the front end of the stator housing (15-1-4) is assembled with a bearing and then installed into the rotor housing (15-2). After assembly, the rear bearing is installed at the rear end. Then, the second sealing ring (15-1-5) is embedded in the sealing groove of the sealing plate (15-1-6), assembled on the stator housing (15-1-4), and fastened by screws; the clamping mechanism (15-3) is composed of a unloading push rod (15-3-1), a pressure rod (15-3-2), a clamping sleeve (15-3-3), a bushing (15-3-4), a clamping spring (15-3-5), and a spring cover (15-3-6); the unloading push rod (15-3-1) is installed in the rotor housing (15-2), and the pressure rod (15-3-2) is passed through The keyway-shaped hole reserved in the rotor housing (15-2) is threadedly connected to the unloading push rod (15-3-1); the clamping sleeve (15-3-3) is then placed in the rotor housing (15-2), so that the conical surface of the clamping sleeve (15-3-3) fits the conical surface of the rotor housing (15-2), the bushing (15-3-4) is placed in the clamping sleeve (15-3-3), the clamping spring (15-3-5) is inserted into the groove of the spring cover (15-3-6), the spring cover (15-3-6) is fixedly connected to the rotor housing (15-2) by screws, and the clamping spring (15-3-5) is pressed against the bushing (15-3-4); when the motor is powered on, the magnetic steel (15-1-2) and the winding core (15-1-3 ) due to the electromagnetic force, relative displacement occurs, driving the motor to rotate; the spring cover (15-3-6) compresses the clamping spring (15-3-5), the clamping spring (15-3-5) pushes the bushing (15-3-4) together with the clamping sleeve (15-3-3) to produce a tendency to move backward, and a force is generated between the clamping sleeve (15-3-3) and the conical surface, so that the clamping sleeve (15-3-3) contracts and compresses the bushing (15-3-4), thereby clamping the airbag type flexible needle (16); when removing the flexible needle, the pressure rod (15-3-2) is pushed forward, and the pressure rod (15-3-2) pushes the clamping sleeve (15-3-3) to move forward, so that the clamping sleeve is separated from the conical surface, and the airbag type flexible needle (16) is released.

3. The airbag-type flexible needle and puncture mechanism according to claim 1, characterized in that: The airbag-type flexible needle (16) comprises an airway tube (16-1), a molded airbag (16-2), a needle body sealing plug (16-3), and a needle body (16-4); one end of the airway tube (16-1) is passed through a hole on the molded airbag (16-2), and the airway tube (16-1) and the molded airbag (16-2) are glued together to form a whole, and the other end is inserted into the hole of the needle body sealing plug (16-3), and the assembly consisting of the airway tube (16-1), the molded airbag (16-2), and the needle body sealing plug (16-3) is inserted into the needle body (16-4) together, so that the airway tube (16-1), the needle body sealing plug (16-3) and the needle body (1 6-4) are flush at the ends; the airbag-type flexible needle (16) passes through the spring cover (15-3-6), the bushing (15-3-4), the rotor housing (15-2) and the sealing ring 1 (15-1-1); the needle body sealing plug (16-3), the sealing ring 1 (15-1-1) and the sealing ring 2 (15-1-5) together constitute a sealing system, and high-pressure gas is introduced from the rear end of the sealing plate (15-1-6) to allow the gas to enter the air guide tube (16-1), and the gas is introduced into the molded airbag (16-2) through the air guide tube (16-1), so that the airbag is deformed from a free form to a bent state, thereby causing the needle body (16-4) to be actively deflected.

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