Quick butt joint mechanism with magnetic attraction

Abstract

The invention discloses a quick butt joint mechanism with magnetic attraction, which comprises a butt joint main body, a flexible connecting section and a straightening mechanism, and is characterized in that the butt joint main body is provided with a clamping device and a centering part; the centering part is used for being in centering connection with a puncture needle, the end, away from the puncture needle, of the centering part is connected with the flexible connecting section, and the flexible connecting section is a flexible rod or a flexible pipeline; at least one of the centering part and the puncture needle is provided with a magnetic element which is used for quickly attracting the centering part and the puncture needle during butt joint, so that quick butt joint and pre-connection are realized; the clamping device is used for clamping and connecting the pre-connected puncture needle and the centering part; the straightening mechanism can enable the flexible connecting section to be in an upright state when the puncture needle and the centering part are in butt joint, and the straightening mechanism can enable the flexible connecting section to recover to a flexible state after the puncture needle and the centering part are in butt joint.

Description

Technical Field

[0001] The invention relates to the field of medical devices, and in particular to a quick docking mechanism with magnetic attraction. Background Art

[0002] With the continuous advancement of technology, the current treatment methods for tumors are also changing. Among them, 125I seed implantation surgery is a type of close-range radiotherapy. It is to implant the seeds into the tumor according to the treatment plan system under the guidance of direct vision or imaging equipment (such as CT, B-ultrasound, MRI, etc.). The gamma rays continuously released by the radioactive seeds destroy the DNA of tumor cells and kill the tumor cells. Radioactive seed implantation has the advantages of convenient operation, high safety, minimal invasion, and few complications, and is widely used in clinical tumor treatment.

[0003] However, this type of surgery currently takes a long time, and doctors need to be in close contact with the particles during the implantation process, which causes great radiation damage, which greatly limits the application and promotion of this type of surgery. To this end, robot-assisted surgery can be considered, that is, after the puncture is completed, an automatic particle implantation gun is installed at the end of the robot, allowing the doctor to remotely control the docking of the particle implantation gun and the puncture needle, and then remotely control it to complete particle implantation and other operations, without being affected by particle radiation.

[0004] Since there are a large number of puncture needles and their positions are different, in order to reduce the difficulty of docking and improve the efficiency of the operation, the docking mechanism needs to have a strong tolerance for position errors, that is, it can adaptively achieve docking even with a small amount of position errors and keep the particle implantation channel unobstructed. At the same time, in order to ensure the safety of the operation, the robot needs to have a certain degree of flexibility after docking with the puncture needle to avoid scratching the patient when the patient's body shakes due to breathing, heartbeat, body tremors, etc. In addition, in other occasions where the puncture needle and catheter need to be quickly and automatically connected, reliable solutions are also urgently needed. Summary of the invention

[0005] The purpose of the present invention is to provide a method to solve the existing technical defects and unattainable technical requirements.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a quick docking mechanism with magnetic attraction, comprising a docking body, a flexible connecting section and a straightening mechanism, wherein a clamping device and a centering portion are provided on the docking body; the centering portion is used for centering connection with the puncture needle, and the end of the centering portion away from the puncture needle is connected to the flexible connecting section, and the flexible connecting section is a flexible rod or a flexible pipe; at least one of the centering portion or the puncture needle is provided with a magnetic element, which is used to quickly attract the centering portion and the puncture needle during docking to achieve quick docking and pre-connection; the clamping device is used to clamp and connect the pre-connected puncture needle and the centering portion; the straightening mechanism can make the flexible connecting section in an upright state when the puncture needle and the centering portion are docked, and the straightening mechanism can restore the flexible connecting section to a flexible state after the docking of the puncture needle and the centering portion is completed.

[0007] Preferably, the clamping device is one or a combination of a hook device, a claw device, and an elastic claw device, and the quick docking mechanism also includes a flexible pipe and a power mechanism, one end of the flexible pipe is connected to the clamping device, and the other end of the flexible pipe is connected to the power mechanism, and a driving wire or a hydraulic medium or a gas is provided in the flexible pipe, and the power mechanism drives the driving wire or the hydraulic medium or the gas to move relative to the flexible pipe, thereby transmitting power to the clamping device, driving the clamping device to clamp or release the puncture needle;

[0008] When there is a driving wire in the flexible pipe, the power mechanism includes a power source, a winding wheel and a pulley group. The winding wheel is connected to the output end of the power source. The power source drives the winding wheel to rotate and winds or releases each driving wire at the same time, thereby generating a pulling force to drive the docking mechanism. The pulley group is used to change the movement direction of each driving wire.

[0009] Preferably, when the clamping device is a hook device, the hook device clamps the puncture needle after the centering connection, a step is provided at the handle of the puncture needle, and the hook assembly includes a hook and a driving mechanism, the hook is linearly movable or rotatably arranged on the docking body, and the driving mechanism drives the hook and the docking body to move relative to each other, so that the hook directly hooks the step of the puncture needle, and presses the puncture needle on the centering part; on the contrary, the driving mechanism drives the hook and the docking body to move relative to each other in the opposite direction, so as to release the pressing of the puncture needle;

[0010] When the hook adopts a linear movement mode, the hook is a U-shaped hook, and the U-shaped hook can be passed through the rod of the puncture needle or the slot of the handle; the docking body is provided with a guide hole or a guide groove, and the U-shaped hook is connected to a guide rod; or the rear end of the puncture needle is connected to a guide rod, and a guide hole or a guide groove is provided in the middle; the guide rod and the guide hole or the guide groove are guided and slidably matched, and the driving mechanism can control the U-shaped hook to move forward and backward, and the U-shaped hook can achieve the compression or release of the puncture needle by hooking or moving away from the step of the puncture needle;

[0011] When the hook adopts a rotating manner, the hook is an arc-shaped hook, one end of which is rotatably connected to the docking body, and a top plate is provided on the docking body. When the arc-shaped hook rotates inward, the arc-shaped hook conflicts with the top plate, thereby limiting the flipping angle of the arc-shaped hook. The driving mechanism drives the arc-shaped hook to rotate inward or outward, and the arc-shaped hook hooks or moves away from the step of the puncture needle to achieve the compression or release of the puncture needle.

[0012] Preferably, when the clamping device is a claw device, the claw device clamps the puncture needle after the centering connection, the claw device includes a claw, a clamping part is provided at the front end of the claw, and the claw is hinged on the docking body. When the clamping part of the claw flips inward or slides inward, the clamping part of the claw can clamp the puncture needle, and the centering part is connected to the puncture needle; when the clamping part of the claw flips outward or slides outward, the clamping part of the claw can loosen the puncture needle, and the puncture needle is released;

[0013] There are at least two clamping claws, each of which surrounds the centering part and is hinged on a fixed seat of the docking body. When the clamping parts of each clamping claw are turned inward or slide inward at the same time, the puncture needle is clamped and the centering part is connected to the puncture needle; when the clamping parts of each clamping claw are turned outward or slide outward at the same time, the puncture needle is released.

[0014] Preferably, when the clamping device is an elastic clamping claw device, the elastic clamping claw device clamps the puncture needle after the centering connection, and the elastic clamping claw device includes an elastic clamping claw and a clamping claw seat. The elastic clamping claw is arranged on the clamping claw seat. The elastic clamping claw extends outwardly from one end close to the clamping claw seat to the end away from the clamping claw seat in a naturally stretched state. A clamping platform is provided on the docking body, and a retraction hole for the elastic clamping claw to pass through is provided on the clamping platform. The clamping platform and the clamping claw seat move forward and backward relative to each other, so that the elastic clamping claw closes and opens under the elastic action of the elastic action of the clamping claw and the restraining action of the retraction hole of the clamping platform. After the elastic clamping claw is closed, its end hooks the puncture needle inward, thereby achieving the clamping or loosening of the puncture needle.

[0015] There are at least two elastic claws, each of which surrounds the centering part. The rear ends of each elastic claw are fixedly arranged on the claw seat. There are at least two retracting holes on the clamping table, which correspond to each elastic claw one by one. Each elastic claw closes or opens to tighten or loosen the puncture needle.

[0016] Preferably, it also includes a reset component;

[0017] When the resetting assembly adopts an elastic element, the elastic element gives elastic force to the clamping device through its own elasticity, loosens the puncture needle to achieve resetting, and the elastic element is at least one of a spring, a torsion spring, an elastic sheet, an elastic ring, and an elastic belt;

[0018] Alternatively, the reverse drive of the drive wire or hydraulic medium or gas is directly used to drive the clamping device to release the puncture needle to achieve resetting.

[0019] Preferably, a contact sensor is further provided, and the contact sensor is used to identify whether the puncture needle is in contact with the docking body;

[0020] The contact sensor is two conductor parts or a touch switch arranged on the front end of the centering part;

[0021] When the contact sensor is a conductor component, the two conductor components are insulated and spaced apart from each other; when the centering part is centrally connected to the corresponding puncture needle, the two conductor components can contact the puncture needle respectively so that the two conductor components are in a conductive state; thus, whether the centering part is in contact with the corresponding puncture needle can be determined by whether the two conductor components are conductive;

[0022] When the contact sensor is a touch switch, the puncture needle will press the touch switch and generate a trigger signal to determine whether the centering portion is in contact with the corresponding puncture needle.

[0023] Preferably, the straightening mechanism comprises a support sleeve and a linear motion component, wherein the support sleeve is sleeved outside the flexible connection section, and the linear motion component can drive the support sleeve to perform forward and backward telescopic movement. When the support sleeve moves forward, the flexible connection section can be straightened to be in an upright state; when the support sleeve moves backward, the flexible connection section can be restored to a flexible state;

[0024] Alternatively, the straightening mechanism includes at least one capsule, which is arranged on the outside of the flexible connecting segment along the length direction of the flexible connecting segment. The capsule can be filled with or discharged with a medium through an external filling device. When the capsule is filled with a medium and is in a filled state, it can support the flexible connecting segment to keep it in an upright state; when the capsule is discharged with a medium and is in a deflated and flexible state, the flexible connecting segment loses its supporting function and returns to a flexible state.

[0025] Preferably, the support sleeve is connected to the linear motion assembly via a support rod, the support rod is a rigid structure, the axial direction of the support rod is arranged along the front-rear direction, the support sleeve is mounted on the support rod, and the linear motion assembly drives the support rod to slide forward and backward, thereby driving the support sleeve to move forward and backward;

[0026] Alternatively, the support sleeve is in the shape of a hollow circular sleeve, and the linear motion component directly acts on the support sleeve and drives the support sleeve to move forward and backward.

[0027] Preferably, the capsule is covered with the flexible connecting section, a through hole is provided in the capsule, and the flexible connecting section passes through the through hole;

[0028] Alternatively, the side edge of the capsule is arranged outside the flexible connecting section and is relatively fixed to the flexible connecting section;

[0029] Alternatively, a guide portion is provided on the side of the capsule, and the flexible connecting section passes through the guide portion, and the guide portion is at least one of a guide tube, a guide ring, and a guide groove.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. The magnetic element allows the centering part and the puncture needle to be quickly attracted during docking, so that quick docking and pre-connection can be achieved before they are fully aligned, effectively improving docking efficiency;

[0032] 2. The clamping device can clamp the quick docking and pre-connected puncture needle to achieve stable connection and installation of the puncture needle;

[0033] 3. Use the straightening mechanism to straighten the flexible connection section, provide the flexible connection section with the rigidity required for the operation, so that the flexible connection section can adjust its posture and dock with the puncture needle. After the docking operation is completed, the straightening mechanism is withdrawn, and the flexible connection between the flexible connection section and the puncture needle is restored, so that the puncture needle can move with the patient's breathing and other slight shaking, thereby avoiding secondary damage to the patient caused by the puncture needle and reducing the patient's pain. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is the overall structural diagram of the hook device;

[0035] Figure 2 It is a schematic diagram of the U-shaped hook structure;

[0036] Figure 3 It is a schematic diagram of the arc hook structure;

[0037] Figure 4 It is a schematic diagram of the structure of the claw device;

[0038] Figure 5 Schematic diagram of the claw structure;

[0039] Figure 6 It is a schematic diagram of the centering guide strip structure;

[0040] Figure 7 It is a schematic diagram of the side structure of the centering guide strip;

[0041] Figure 8 It is a schematic diagram of the structure of the elastic claw device;

[0042] Fig. 9 for Figure 8 A magnified image of area A;

[0043] Fig.10 It is a schematic diagram of the power mechanism structure of the elastic claw device;

[0044] Fig.11 It is a schematic diagram of the elastic claw structure;

[0045] Fig.12 is a schematic diagram of the second rope structure;

[0046] Fig.13 is a schematic diagram of the first spring structure;

[0047] Fig.14 is a schematic structural diagram of a first conductor component;

[0048] Fig.15 This is a schematic diagram of the straightening mechanism structure;

[0049] Fig.16 is a schematic diagram of the support sleeve structure;

[0050] Fig.17 It is a schematic diagram of the structure of the friction type motion component;

[0051] Fig.18 for Fig.17 Schematic diagram of the structure of zone B;

[0052] Fig.19 It is a schematic diagram of the structure of the capsule-wrapped flexible connecting section;

[0053] Fig. 20 is a side cross-sectional view of the capsule;

[0054] Fig.21 This is a schematic diagram of the structure in which the side of the capsule is arranged outside the flexible connecting section. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] A quick docking mechanism with magnetic attraction, comprising a docking body, a flexible connecting section and a straightening mechanism, wherein a clamping device and a centering part are provided on the docking body;

[0057] The centering part is used for centering connection with the puncture needle, and the end of the centering part away from the puncture needle is connected to the flexible connection section, and the flexible connection section is a flexible rod or a flexible pipe;

[0058] At least one of the centering part or the puncture needle is provided with a magnetic element, which is used to quickly attract the centering part and the puncture needle when docking, so as to achieve rapid docking and pre-connection;

[0059] The clamping device is used to clamp and connect the pre-connected puncture needle and the centering part;

[0060] The straightening mechanism can make the flexible connection section be in an upright state when the puncture needle and the centering part are docked, and the straightening mechanism can restore the flexible connection section to a flexible state after the puncture needle and the centering part are docked.

[0061] The clamping device is one or a combination of a hook device, a claw device, and an elastic claw device. The quick docking mechanism also includes a flexible sleeve and a power mechanism. One end of the flexible sleeve is connected to the clamping device, and the other end of the flexible sleeve is connected to the power mechanism. A driving wire (equivalent to the rope 31 in this embodiment) or a hydraulic medium or gas is provided in the flexible sleeve. The power mechanism drives the driving wire or the hydraulic medium or gas to move relative to the flexible sleeve, thereby transmitting power to the clamping device to drive the clamping device to clamp or release the puncture needle.

[0062] When the clamping device is a hook device, the hook device clamps the puncture needle after the centering connection, and a step is provided at the handle of the puncture needle. The hook assembly includes a hook and a driving mechanism. The hook is linearly or rotatably arranged on the docking body (equivalent to the first docking body 57 in this embodiment). The driving mechanism drives the hook and the docking body to move relative to each other, so that the hook directly hooks the step of the puncture needle and presses the puncture needle on the centering part (equivalent to the first centering part 42-2 in this embodiment); on the contrary, the driving mechanism drives the hook and the docking body to move relative to each other in the opposite direction, so as to release the pressing of the puncture needle.

[0063] Specific: such as Figure 1 and Figure 2 When the hook adopts a linear movement, the hook is a U-shaped hook 50, and the U-shaped hook 50 can be passed through the rod of the puncture needle 18 or the slot of the handle; the magnetic element is arranged on the first pair of middle parts 42-2, so that the first pair of middle parts 42-2 and the puncture needle 18 are quickly attracted when docking, so as to realize quick docking and pre-connection, and the magnetic element includes a permanent magnet or an electromagnet, preferably an electromagnet, so as to facilitate power off during quick separation to avoid involving the puncture needle.

[0064] The first docking body 57 is provided with a guide hole or a guide groove, and the U-shaped hook 50 is connected to a guide rod 501; or the rear end of the puncture needle is connected to a guide rod, and the first pair of middle parts 42-2 is provided with a guide hole or a guide groove;

[0065] The guide rod 501 cooperates with the guide hole or guide groove to slide and guide, and the driving mechanism can control the U-shaped hook 50 to move forward and backward. The U-shaped hook 50 can tighten or loosen the puncture needle 18 by hooking or moving away from the step 39 of the puncture needle 18. When tightened, the centering cone 18-6 of the puncture needle 18 docks with the first centering part 42-2.

[0066] like Figure 1 , including a rope 31 , a flexible sleeve 25 is connected to the rear side of the first docking body 57 , a rear end of the flexible sleeve 25 is connected to the wire pulling mechanism 26 , and the rope 31 is arranged inside the flexible sleeve 25 .

[0067] The wire pulling mechanism 26 includes a winding wheel 34, a bottom plate is provided on the lower side of the first top plate 28, the bottom plate and the first top plate 28 are connected by a connecting rod 36, the winding wheel 34 is rotatably arranged on the first top plate 28 and the bottom plate, a motor 27 is provided on the first top plate 28 above the winding wheel 34, the output end of the motor 27 is connected to the winding wheel 34, the rope 31 is wound around the winding wheel 34, the motor 27 drives the winding wheel 34 to rotate, and the winding wheel 34 pulls the U-shaped hook 50 through the rope 31, and the U-shaped hook 50 cooperates with the step 39 on the rear end handle of the puncture needle 18 to realize the clamping of the puncture needle 18.

[0068] The reset member is a first spring 201, which is sleeved on the guide rod 501. The first spring 201 pushes the hook 50 and the puncture needle outward through its own elasticity to reset to the initial position.

[0069] like Figure 3 When the hook adopts a rotating manner, the hook is an arc-shaped hook 50-1, one end of which is rotatably connected to the first docking body 57, and a top plate 57-1 is provided on the first docking body 57. When the arc-shaped hook rotates inward, the arc-shaped hook 50-1 conflicts with the top plate 57-1, thereby limiting the flipping angle of the arc-shaped hook 50-1. The driving mechanism drives the arc-shaped hook 50-1 to rotate inward or outward, and the arc-shaped hook 50-1 achieves the compression or release of the puncture needle by hooking or moving away from the step of the puncture needle 18.

[0070] The first docking body 57 is provided with a second pair of middle parts 42-3, the first docking body 57 is connected with a flexible pipe 13, the flexible pipe can be deformed under the action of external force, the second pair of middle parts 42-3 is connected with the flexible pipe 13, the arc hook 50-1 is rotatably arranged on the first docking body 57, the first docking body 57 is connected with a flexible sleeve 25, the other end of the flexible sleeve 25 is connected with the driving mechanism, a rope 31 is passed through the flexible sleeve 25, one end of the rope 31 is connected with the driving mechanism, and the other end is connected with the arc hook 50-1. After the two pairs of middle parts 42-3 are connected with the puncture needle 18, the driving mechanism tightens the rope 31 to drive the arc-shaped hook claw 50-1 to rotate inward, and the arc-shaped hook claw 50-1 hooks the step of the puncture needle 18 to achieve compression of the puncture needle 18; when the arc-shaped hook claw 50-1 is reset, the reset operation is performed by an active reset component or a passive reset component. The active reset component can be a driving mechanism that can actively drive the arc-shaped hook claw 50-1 to rotate outward and reset, and the passive reset component is an elastic element, which drives the arc-shaped hook claw 50-1 to rotate outward and reset through elastic force.

[0071] The magnetic element is arranged on the second pair of middle parts 42-3, so that the second pair of middle parts 42-3 and the puncture needle 18 are quickly attracted when docking, so as to achieve quick docking and pre-connection. The magnetic element includes a permanent magnet or an electromagnet, preferably an electromagnet, so as to facilitate power off during quick separation to avoid involving the puncture needle.

[0072] like Figures 4 to 7 When the clamping device is a claw device, the claw device clamps the puncture needle after the centering connection, and the claw device includes a claw 38, and a clamping portion 40 is provided at the front end of the claw 38. The claw 38 is hinged on the second docking body 37. When the clamping portion 40 of the claw 38 turns inward or slides inward, the clamping portion 40 of the claw 38 can clamp the puncture needle 18, and the third centering portion 42-4 is connected to the puncture needle 18 in the center; when the clamping portion of the claw 38 turns outward or slides outward, the clamping portion of the claw 38 can loosen the puncture needle 18, and the puncture needle is released;

[0073] There are at least two claws 38, each claw 38 surrounds the third pair of middle parts 42-4, and each claw 38 is hinged on the fixed seat 37-1 of the second docking body 37. When the clamping parts 40 of each claw 38 are flipped inward or slid inward at the same time, the puncture needle 18 is clamped, and the third pair of middle parts 42-2 are connected to the puncture needle 18 in a centering manner; when the clamping parts 40 of each claw 38 are flipped outward or slid outward at the same time, the puncture needle 18 is released.

[0074] like Figure 4, and also includes a flexible sleeve 25 and a power mechanism; one end of the flexible sleeve 25 is connected to the claw device 14-2, and the other end of the flexible sleeve 25 is connected to the power mechanism. A driving wire or hydraulic medium or gas is provided in the flexible sleeve 25. The power mechanism drives the driving wire or hydraulic medium or gas to move relative to the flexible sleeve 25, thereby transmitting power to the claw device 14-2, driving the claw device 14-2 to loosen or clamp.

[0075] In the embodiment of the present invention, a driving wire is provided in the flexible sleeve 25, and the driving wire is specifically a rope 31 or a cable, and the power mechanism mainly includes a motor or a combination of a motor and a reducer;

[0076] The power mechanism drives the clamping claw device 14 - 2 to tighten inwardly or rotate inwardly around the axis through the traction rope 31, so that the clamping claw device 14 - 2 can be connected and clamped between the puncture needle 18 and the third middle part 42 - 4.

[0077] The magnetic element is arranged on the third pair of middle parts 42-4, so that the third pair of middle parts 42-4 and the puncture needle 18 are quickly attracted when docking, so as to achieve quick docking and pre-connection. The magnetic element includes a permanent magnet or an electromagnet, preferably an electromagnet, so as to cut off the power when quickly disengaging to avoid involving the puncture needle.

[0078] like Figure 4 The power mechanism adopts a wire pulling mechanism 26, and a rope 31 is used to pull a corresponding pair of claws 38. The rear side of the second docking body 37 is connected to a flexible sleeve 25, and the rear end of the flexible sleeve 25 is connected to the wire pulling mechanism 26. The rope 31 is arranged inside the flexible sleeve 25. The wire pulling mechanism 26 includes a connecting seat 32 and a winding wheel 34. The connecting seat 32 and the winding wheel 34 are both arranged on a second top plate (not shown in the figure). A second bottom plate 35 is provided on the lower side of the winding wheel 34. The winding wheel 34 is connected to a motor (not shown in the figure). The output end of the motor is connected to the winding wheel 34, and the rope 31 is arranged on the winding wheel 34.

[0079] It also includes a reset component, which uses an elastic element; when the reset component is an elastic element, the elastic element gives an elastic force to the front end of each claw 38 to flip outward or slide outward, or the elastic element gives an elastic force to the rear end of each claw 38 to flip inward, and the elastic element is at least one of a spring, a torsion spring, an elastic sheet, an elastic ring, and an elastic belt.

[0080] Alternatively, the reset assembly is a reverse drive of a drive wire or a hydraulic medium or a gas, which is used to drive the clamping parts of each claw 38 to flip outward or slide outward at the same time to achieve reset.

[0081] The resetting component of the claw device adopts an elastic ring 20 of an elastic element. The rear end of each pair of claws 38 is connected with an elastic ring 20. The elastic ring 20 is used to flip or slide each pair of claws 38 outward to loosen and release the puncture needle 18 and reset it to the initial position.

[0082] like Figure 6 and Figure 7 The centering portion adopts a trumpet-shaped centering guide strip structure, and the guide strip can also be replaced by a guide cone hole or other forms of guide recessed structures.

[0083] Specifically, the centering guide strip 515202 is fixed to the clamping jaw seat 515201, the clamping jaw 515203 is connected to the clamping jaw seat 515201, and the rubber band 515206 is installed on the clamping jaw 515203. One end of the second pull rope 515205 is connected to the clamping jaw 515203, and the other end is connected to the driving device.

[0084] The docking mechanism moves to the tail position of the puncture needle 18, and the horn of the centering guide bar 515202 is aligned with the tail positioning column of the puncture needle 18 to start docking. The tail positioning column of the puncture needle 18 moves along the guide groove of the centering guide bar 515202 to the bottom interface of the centering guide bar 515202 to complete the docking. After the docking is completed, the second pull rope 515205 tightens the clamping claw 515203 to retract and clamp the puncture needle 18 to fix it. After the second pull rope 515205 is loosened, the clamping claw 515203 will be pulled by the rubber band 515206 to release the clamping, and the open claw state will be restored, and the puncture needle 18 can exit the docking state.

[0085] The magnetic element is arranged on the clamping jaw seat 515201, and the clamping jaw seat 515201 and the puncture needle 18 are quickly attracted to each other during docking, so as to realize quick docking and pre-connection. The magnetic element includes a permanent magnet or an electromagnet, preferably an electromagnet, so as to cut off the power during quick separation to avoid involving the puncture needle.

[0086] like Figures 8 to 13 When the clamping device is an elastic clamping claw device 14-1, the elastic clamping claw device 14-1 clamps the puncture needle 18 after the centering connection. The elastic clamping claw device 14 includes an elastic clamping claw 22 and a clamping claw seat 23. The elastic clamping claw 22 is arranged on the clamping claw seat 23. The elastic clamping claw 22 extends outwardly from one end close to the clamping claw seat 23 to the end away from the clamping claw seat 23 in a naturally stretched state. A clamping table 30 is provided on the third docking body 21. The clamping table 30 is provided with a retracting hole for the elastic clamping claw 22 to pass through. The clamping table 30 and the clamping claw seat 23 move forward and backward relative to each other, so that the elastic clamping claw 22 closes and opens under the elastic action of itself and the restraining action of the retracting hole of the clamping table. After the elastic clamping claw 22 is closed, its end hooks the puncture needle 18 inward, thereby achieving the clamping or loosening of the puncture needle 18;

[0087] There are at least two elastic claws 22, each elastic claw 22 surrounds the fourth pair of middle parts 42-1, and the rear ends of each elastic claw 22 are fixedly arranged on the claw seat 23. There are at least two retracting holes on the card table 30, which correspond to each elastic claw 22 one by one. Each elastic claw 22 closes or opens to tighten or loosen the puncture needle 18.

[0088] The magnetic element is arranged in the fourth pair of middle parts 42-1, and the fourth pair of middle parts 42-1 and the puncture needle 18 are quickly attracted when docking to achieve quick docking and pre-connection. The magnetic element includes a permanent magnet or an electromagnet, preferably an electromagnet, which is convenient for powering off during rapid separation to avoid involving the puncture needle.

[0089] like Figure 8 and Fig.10 A flexible sleeve 25 is connected to the rear side of the limit seat 24, and the rear end of the flexible sleeve 25 is connected to the wire pulling mechanism 26. A rope 31 is connected to the rear side of the claw seat 23, and the rope 31 is arranged inside the flexible sleeve 25, and the rope 31 passes through the limit seat 24. The wire pulling mechanism 26 includes a connecting seat 32, a fixed pulley 33, and a winding wheel 34. The connecting seat 32, the fixed pulley 33, and the winding wheel 34 are all arranged on a second bottom plate 35. A first top plate 28 is provided on the upper side of the second bottom plate 35. The bottom plate 35 and the first top plate 28 are connected by a connecting rod 36. A motor 27 is provided on the first top plate 28 located above the winding wheel 34, and the output end of the motor 27 is connected to the winding wheel 34. The rope 31 is arranged on the winding wheel 34 through the fixed pulley 33.

[0090] The motor 27 drives the rope 31 through the winding wheel 34 and the fixed pulley 33, and the rope 31 drives the claw seat 23 to move backward. The multiple elastic claws 22 are slowly tightened toward the middle due to being restricted by the clamping table 30 until they cooperate with the clamping part 29 to tighten the puncture needle 18.

[0091] The reset assembly adopts elastic reset; or through reverse drive of a driving wire or hydraulic medium or gas, the driving claw seat 23 and each elastic claw 22 move relative to each other and return to the original position, so that each elastic claw 22 opens outward under its own elastic action, thereby releasing the puncture needle 18.

[0092] When the reset component is driven in reverse by a driving wire or a hydraulic medium or a gas, it includes a second connecting member. The power mechanism differentially drives the flexible sleeve 25 and the second connecting member, that is, when the flexible sleeve 25 controls the claw seat 23 or the elastic claw 22 to be tightened for a certain distance, the second connecting member is relatively released for a certain distance at a certain ratio. The second connecting member is connected to the elastic claw 22 or the claw seat 23 through a reversing mechanism, and when resetting is required, the elastic claw 22 or the claw seat 23 is pulled to move relative to complete the resetting.

[0093] like Fig.12 In this embodiment, the second connecting member adopts a second driving wire, and an external driving element is provided to drive the second driving wire to move forward and backward.

[0094] The claw seat 23 is connected to a reset assembly, which is used to restore the claw seat 23 forward to its original position, so that one or more elastic claws 22 are opened or flipped outward, thereby releasing the puncture needle 18 to achieve reset; these elastic claws 22 are limited on the claw seat 23.

[0095] The reset member is a passive elastic reset mechanism. When the power mechanism tightens the rope 31, the passive elastic reset mechanism is compressed, stretched or bent. When the power mechanism relaxes the rope 31, the claw seat 23 is pushed forward and reset under the elastic force of the passive elastic reset mechanism.

[0096] like Fig.13 In the embodiment, a second spring 50 is installed between the connecting seat 32 and the claw seat 23, and the power mechanism drives the rope 31 to move, and the rope 31 drives the claw seat 23 to move backward, so that the second spring 50 is compressed, and the multiple elastic claws 22 are slowly tightened toward the middle due to being restricted by the clamping table 30, until they cooperate with the clamping part 29 to tighten the puncture needle 18. When the power mechanism relaxes the rope 31, the claw seat 23 pops forward and resets under the action of the second spring 50, and the elastic claws 22 return to their original state, releasing the puncture needle 18.

[0097] like Fig.12As shown, the reset assembly includes a second drive wire and a slide bar 24-1. In the embodiment of the present invention, the second drive wire is preferably a rope or a cable, specifically a second rope 24-2; the slide bar 24-1 is arranged on the card table 30, and the second rope 24-2 extends forward and passes around the slide bar 24-1 and then connects to the claw seat 23, so that the claw seat 23 is close to the card table 30 (that is, the distance between the claw seat 23 and the card table 30 becomes smaller) by pulling the second rope 24-2 backward and relaxing the rope 31; the claw seat 23 moves away from the card table 30 (that is, the distance between the claw seat 23 and the card table 30 becomes larger) by loosening the second rope 24-2 and pulling the rope 31 backward; the second rope 24-2 changes the pulling direction of the second rope 24-2 through a sliding rod 24-1, thereby achieving a forward pulling effect, and the rope 31 directly pulls the claw seat 23 backward. When the rope 31 / second rope 24-2 in one direction is pulled, the second rope 24-2 / rope 31 in the other direction should be relaxed by the same displacement. The claw seat 23 is provided with a pair or more pairs of elastic claws 22, and the front end of the third docking body 21 is provided with a card platform 30, and the elastic claws 22 pass through the card platform 30 and are limited by the card platform 30. The rear side of the third docking body 21 is provided with a limiting seat 24, and each elastic claw 22 passes through the corresponding card platform 30 on the claw seat 23. The power mechanism 27 pulls and pulls the rope 31, and the claw seat 23 slides backward along the sliding seat along with the rope 31, and each elastic claw 22 is tightened / flipped inward along the card platform 30, so that a pair or more pairs of spring pull claws 22 can realize the clamping and tightening of the puncture needle 18.

[0098] A contact sensor is also provided, which is used to identify whether the puncture needle is in contact with the docking body;

[0099] The contact sensor is two conductor parts or a touch switch arranged on the front end of the centering part;

[0100] When the contact sensor is a conductor component, the two conductor components are insulated and spaced apart from each other; when the centering part is centrally connected to the corresponding puncture needle, the two conductor components can contact the puncture needle respectively so that the two conductor components are in a conductive state; thus, whether the centering part is in contact with the corresponding puncture needle can be determined by whether the two conductor components are conductive;

[0101] When the contact sensor is a touch switch, the puncture needle will press the touch switch and generate a trigger signal to determine whether the centering portion is in contact with the corresponding puncture needle.

[0102] like Fig.14A cavity 62 - 1 is provided in the centering portion 62 , and the cavity 62 - 1 is interconnected with the flexible pipe 13 . After the centering portion 62 and the puncture needle 18 are connected in centering connection, the flexible pipe 13 forms a radiation source input pipe through the centering portion 62 and the puncture needle 18 .

[0103] like Fig.11 and Fig.14 When the contact sensor is a conductor component 90: two conductor components 90 are arranged on the front end of the centering portion 62, and the two conductor components 90 are respectively connected to wires and cables, and the two conductor components 90 are insulated and spaced apart from each other; when the centering portion 62 is center-connected with the corresponding puncture needle 18, the two conductor components 90 can respectively contact the puncture needle 18 so that the two conductor components 90 are in a conductive state; thereby, whether the centering portion 62 and the corresponding puncture needle 18 are in contact can be judged by whether the two conductor components 90 are conductive.

[0104] The conductor component 90 includes a first conductor component 91 and a second conductor component 92, wherein the first conductor component 91 is an enameled wire 91-1, and a first conductive portion 91-2 is provided at the end of the enameled wire 91-1, and the first conductive portion 91-2 is insulated and spaced apart from the centering portion 62; in addition, the outer surface of the centering portion 62 can be used as the second conductor component 92; when the centering portion 62 is connected to the corresponding puncture needle 18, the first conductive portion 91-2 at the end of the enameled wire 91-1 contacts the puncture needle 18, so that the centering portion 62 and the first conductive portion 91-2 at the end of the enameled wire 91-1 are in a conductive state, and a chamfer 19-3 is provided on the centering portion 62 for easy centering with the puncture needle 18.

[0105] like Figures 15 to 18 The straightening mechanism includes a support sleeve 41 and a linear motion component. The support sleeve 41 is sleeved outside the flexible connection section 1. The linear motion component can drive the support sleeve 41 to perform forward and backward telescopic movements. When the support sleeve 41 moves forward, the flexible connection section 1 can be in an upright state; when the support sleeve 41 moves backward, the flexible connection section 1 can be restored to a flexible state;

[0106] The support sleeve is connected to the linear motion assembly through a support rod. The support rod is a rigid structure. The axial direction of the support rod is arranged along the front-back direction. The support sleeve is installed on the support rod. The linear motion assembly drives the support rod to slide forward and backward, thereby driving the support sleeve to move forward and backward.

[0107] like Fig.15 and Fig.16As shown, the flexible connection section 1 is arranged between the docking mechanism 8 and the implantation mechanism 2, and the support sleeve 41 is connected to the linear motion component through the support rod 42. The support rod 42 is a rigid structure, and the axial direction of the support rod 42 is arranged along the front-to-back direction. The support sleeve 41 is installed on the support rod 42, and the linear motion component drives the support rod 42 to slide back and forth, thereby driving the support sleeve 41 to move back and forth; one end of the support rod 42 is connected to the linear motion component, and the other end of the support rod 42 is connected to the support sleeve 41. The support rod 42 is parallel to the flexible connection section 1 in an upright state, and the end face of the support sleeve 41 is perpendicular to the length direction of the support rod 42. The length of the flexible connection section 1 can ensure flexibility, and the length of the support rod 42 is adapted to the length of the flexible connection section 1, so that the flexible connection section 1 is straightened when the support rod 42 is fully extended. When the linear motion assembly is a screw-nut motion assembly and the linear motion assembly drives the support sleeve 41 through the support rod 42, the screw-nut motion assembly includes a screw 43 and a nut seat 44, the screw 43 and the nut seat 44 are threadedly matched, the nut seat 44 is connected to the support rod 42, the axial direction of the screw 43 is parallel to the axial direction of the support rod 42, the nut seat 44 can make a guided sliding motion along the axial direction of the support rod 42, the power source drives the screw 43 to rotate, and the rotation of the screw 43 can drive the nut seat 44 to move forward and backward to realize the forward and backward movement of the support rod 42. Of course, the above-mentioned screw-nut motion assembly can also directly act on the support sleeve and drive the support sleeve to move forward and backward. A guide portion 211 is also provided, and the guide portion 211 is one or more combinations of through holes, through grooves, slide grooves, guide rods, and guide blocks, which can improve the support rigidity.

[0108] like Fig.17 and Fig.18 , the support sleeve 41 is a hollow round sleeve, the linear motion component directly acts on the support sleeve 41 and drives the support sleeve 41 to move forward and backward; the support sleeve 41 is parallel to the flexible connection section 1 in an upright state, and the length of the support sleeve 41 is adapted to the length of the flexible connection section 1, so that the flexible connection section 1 is straightened when the support sleeve 41 is fully extended. When the linear motion component is a friction motion component and the linear motion component directly acts on the support sleeve 41, the friction motion component includes at least one friction wheel 47 or friction belt, the friction wheel 47 or friction belt is pressed against the support sleeve 41, and the support sleeve 41 is driven to move forward and backward by friction, specifically at least one friction wheel group, each friction wheel group includes two friction wheels 47, the two friction wheels 47 clamp the support sleeve 41, one of the friction wheels is a driving wheel, and the other friction wheel is a driven wheel, or both friction wheels are driving wheels, and the driving wheel is driven to rotate by an external driving source (such as a motor), so that the support sleeve 41 is driven to move forward and backward through the cooperation of the two friction wheels 47. Of course, the above-mentioned friction motion component can also act on the support rod 42 to drive the support sleeve 41 to move forward and backward through the support rod 42.

[0109] like Fig.19 and Fig. 20The straightening mechanism includes at least one capsule 5, which is arranged on the outside of the flexible connecting segment 1 along the length direction of the flexible connecting segment 1. The capsule 5 can be filled with or discharged with a medium through an external filling device. When the capsule 5 is filled with a medium and is in a filled state, it can support the flexible connecting segment 1 to be in an upright state; when the capsule 5 is discharged with a medium and is in a deflated and flexible state, the flexible connecting segment 1 loses its supporting function and returns to a flexible state.

[0110] The capsule 5 is arranged between the docking mechanism 8 and the implantation mechanism 2. The capsule 5 is covered with the flexible connecting section 1. A through hole is provided in the capsule 5. The flexible connecting section 1 passes through the through hole. When the capsule 5 is covered with the flexible connecting section 1, a cavity 51 is provided in the capsule 5. The length of the cavity 51 is adapted to the length of the flexible pipe.

[0111] It also includes a capsule shell 91, in which the capsule 5 is sealed, and the capsule shell 91 is fixedly connected to the implant mechanism 2, and the fixed connection method is thread, buckle, etc., wherein an inflatable capsule 5 and the capsule 5 is sheathed on the flexible connecting section 1 as an example, the capsule 5 is connected to the trachea 93 through the pneumatic joint 92, and the trachea 93 is connected to the external air pump, and the principle of the capsule straightening mechanism is as follows: in the uninflated state, the capsule 5 is in a dry and flexible state, ensuring the flexibility of the flexible connecting section 1 in the capsule 5; when docking is required, the hollow cavity 51 in the capsule 5 is inflated through the trachea 93, so that the capsule 5 expands and hardens, thereby achieving the straightening effect on the flexible connecting section 1. Of course, liquid can also be filled into the capsule through an external liquid pump.

[0112] like Fig.21 , the side of the capsule 5 is arranged outside the flexible connection section 1 and is relatively fixed to the flexible pipe 5. When the side of the capsule 5 is arranged outside the flexible connection section 1, a plurality of capsules 5 are provided and are arranged around the flexible connection section 1 in a symmetrical structure, and each capsule 5 is fixedly connected to the flexible connection section 1 by bonding or bundling;

[0113] Alternatively, a guide portion (not shown in the figure) is provided on the side of the capsule 4, and the flexible connecting section 1 passes through the guide portion, and the guide portion is at least one of a guide tube, a guide ring, and a guide groove.

[0114] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0115] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A quick docking mechanism with magnetic attraction, characterized in that: It includes a docking body, a flexible connecting section and a straightening mechanism, and the docking body is provided with a clamping device and a centering part; The centering part is used for centering connection with the puncture needle, and the end of the centering part away from the puncture needle is connected to the flexible connection section, and the flexible connection section is a flexible rod or a flexible pipe; At least one of the centering part or the puncture needle is provided with a magnetic element, which is used to quickly attract the centering part and the puncture needle when docking, so as to achieve rapid docking and pre-connection; The clamping device is used to clamp and connect the pre-connected puncture needle and the centering part; The straightening mechanism can make the flexible connection section be in an upright state when the puncture needle and the centering part are docked, and the straightening mechanism can restore the flexible connection section to a flexible state after the puncture needle and the centering part are docked.

2. A quick docking mechanism with magnetic attraction according to claim 1, characterized in that: The clamping device is one or a combination of a hook device, a clamping claw device, and an elastic clamping claw device. The quick docking mechanism also includes a flexible sleeve and a power mechanism. One end of the flexible sleeve is connected to the clamping device, and the other end of the flexible sleeve is connected to the power mechanism. A driving wire or a hydraulic medium or a gas is arranged in the flexible sleeve. The power mechanism drives the driving wire or the hydraulic medium or the gas to move relative to the flexible sleeve, thereby transmitting power to the clamping device to drive the clamping device to clamp or release the puncture needle. When there is a driving wire in the flexible sleeve, the power mechanism includes a power source, a winding wheel and a pulley group. The winding wheel is connected to the output end of the power source. The power source drives the winding wheel to rotate and winds or releases each driving wire at the same time, thereby generating a pulling force to drive the docking mechanism. The pulley group is used to change the movement direction of each driving wire.

3. A quick docking mechanism with magnetic attraction according to claim 2, characterized in that: When the clamping device is a hook device, the hook device clamps the puncture needle after the centering connection, and a step is provided at the handle of the puncture needle. The hook assembly includes a hook and a driving mechanism. The hook is linearly movable or rotatably arranged on the docking body. The driving mechanism drives the hook and the docking body to move relative to each other, so that the hook directly hooks the step of the puncture needle and presses the puncture needle against the centering part; on the contrary, the driving mechanism drives the hook and the docking body to move relative to each other in the opposite direction, so as to release the pressing of the puncture needle. When the hook claw moves in a straight line, the hook claw is a U-shaped hook claw, and the U-shaped hook claw can be passed through the rod of the puncture needle or the slot of the handle; The docking body is provided with a guide hole or a guide groove, and the U-shaped hook is connected to a guide rod; or the rear end of the puncture needle is connected to a guide rod, and a guide hole or a guide groove is provided in the middle; The guide rod is matched with the guide hole or guide groove for guiding sliding movement, and the driving mechanism can control the U-shaped hook to move forward and backward. The U-shaped hook can achieve the pressing or loosening of the puncture needle by hooking or moving away from the step of the puncture needle; When the hook adopts a rotating manner, the hook is an arc-shaped hook, one end of which is rotatably connected to the docking body, and a top plate is provided on the docking body. When the arc-shaped hook rotates inward, the arc-shaped hook conflicts with the top plate, thereby limiting the flipping angle of the arc-shaped hook. The driving mechanism drives the arc-shaped hook to rotate inward or outward, and the arc-shaped hook hooks or moves away from the step of the puncture needle to achieve the compression or release of the puncture needle.

4. A quick docking mechanism with magnetic attraction according to claim 2, characterized in that: When the clamping device is a claw device, the claw device clamps the puncture needle after the centering connection, and the claw device includes a claw, and a clamping part is provided at the front end of the claw. The claw is hinged on the docking body. When the clamping part of the claw flips inward or slides inward, the clamping part of the claw can clamp the puncture needle, and the centering part is connected to the puncture needle; when the clamping part of the claw flips outward or slides outward, the clamping part of the claw can loosen the puncture needle, and the puncture needle is released; There are at least two clamping claws, each of which surrounds the centering part and is hinged on a fixed seat of the docking body. When the clamping parts of each clamping claw are turned inward or slide inward at the same time, the puncture needle is clamped and the centering part is connected to the puncture needle; when the clamping parts of each clamping claw are turned outward or slide outward at the same time, the puncture needle is released.

5. The quick docking mechanism with magnetic attraction according to claim 2, characterized in that: When the clamping device is an elastic clamping claw device, the elastic clamping claw device clamps the puncture needle after the centering connection. The elastic clamping claw device includes an elastic clamping claw and a clamping claw seat. The elastic clamping claw is arranged on the clamping claw seat. The elastic clamping claw extends outwardly from one end close to the clamping claw seat to one end away from the clamping claw seat in a naturally stretched state. A clamping platform is provided on the docking body. A retraction hole for the elastic clamping claw to pass through is provided on the clamping platform. The clamping platform and the clamping claw seat move forward and backward relative to each other, so that the elastic clamping claw closes and opens under the elastic action of the elastic action of the clamping claw and the restraining action of the retraction hole of the clamping platform. After the elastic clamping claw is closed, its end hooks the puncture needle inward, thereby achieving the clamping or loosening of the puncture needle. There are at least two elastic claws, each of which surrounds the centering part. The rear ends of each elastic claw are fixedly arranged on the claw seat. There are at least two retracting holes on the clamping table, which correspond to each elastic claw one by one. Each elastic claw closes or opens to tighten or loosen the puncture needle.

6. A quick docking mechanism with magnetic attraction according to claim 1, characterized in that: Also included is a reset assembly; When the resetting assembly adopts an elastic element, the elastic element gives elastic force to the clamping device through its own elasticity, loosens the puncture needle to achieve resetting, and the elastic element is at least one of a spring, a torsion spring, an elastic sheet, an elastic ring, and an elastic belt; Alternatively, the reverse drive of the drive wire or hydraulic medium or gas is directly used to drive the clamping device to release the puncture needle to achieve resetting.

7. The quick docking mechanism with magnetic attraction according to claim 1, characterized in that: A contact sensor is also provided, which is used to identify whether the puncture needle is in contact with the docking body; The contact sensor is two conductor parts or a touch switch arranged on the front end of the centering part; When the contact sensor is a conductor component, the two conductor components are insulated and spaced apart from each other; when the centering part is centrally connected to the corresponding puncture needle, the two conductor components can contact the puncture needle respectively so that the two conductor components are in a conductive state; thus, whether the centering part is in contact with the corresponding puncture needle can be determined by whether the two conductor components are conductive; When the contact sensor is a touch switch, the puncture needle will press the touch switch and generate a trigger signal to determine whether the centering portion is in contact with the corresponding puncture needle.

8. The quick docking mechanism with magnetic attraction according to claim 1, characterized in that: The straightening mechanism includes a support sleeve and a linear motion component. The support sleeve is sleeved outside the flexible connection section. The linear motion component can drive the support sleeve to perform forward and backward telescopic movement. When the support sleeve moves forward, the flexible connection section can be straightened to be in an upright state; when the support sleeve moves backward, the flexible connection section can be restored to a flexible state. Alternatively, the straightening mechanism includes at least one capsule, which is arranged outside the flexible connecting section along the length direction of the flexible connecting section, and the capsule can be filled with or discharged with a medium through an external filling device. When the capsule is filled with a medium and is in a filled state, it can support the flexible connecting section to keep it in an upright state; When the bladder is discharged of the medium and is in a deflated and flexible state, the flexible connecting section loses its supporting function and returns to a flexible state.

9. A quick docking mechanism with magnetic attraction according to claim 8, characterized in that: The support sleeve is connected to the linear motion assembly through a support rod. The support rod is a rigid structure. The axial direction of the support rod is arranged along the front-back direction. The support sleeve is installed on the support rod. The linear motion assembly drives the support rod to slide forward and backward, thereby driving the support sleeve to move forward and backward. Alternatively, the support sleeve is in the shape of a hollow circular sleeve, and the linear motion component directly acts on the support sleeve and drives the support sleeve to move forward and backward.

10. The quick docking mechanism with magnetic attraction according to claim 8, characterized in that: The capsule body is covered with the flexible connecting section, a through hole is provided in the capsule body, and the flexible connecting section passes through the through hole; Alternatively, the side edge of the capsule is arranged outside the flexible connecting section and is relatively fixed to the flexible connecting section; Alternatively, a guide portion is provided on the side of the capsule, and the flexible connecting section passes through the guide portion, and the guide portion is at least one of a guide tube, a guide ring, and a guide groove.

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