Small reciprocating needle insertion puncture device

Abstract

The invention relates to a small reciprocating needle inserting puncture device. The puncture device comprises a needle clamping module and a needle inserting module. The needle inserting module comprises an optical axis and a cylindrical cam which are arranged in parallel, and is provided with a guide hole; the clamping needle module comprises an upper clamping needle module and a lower clamping needle module which are distributed in the axial direction of the cylindrical cam; the upper clamping needle module and the lower clamping needle module are installed on the optical axis in a sliding fit mode and used for clamping a puncture needle and adjusting the clamping force of the puncture needle. The upper clamping needle module and the lower clamping needle module have the same structure and are provided with needle penetrating holes; the upper clamping needle module and the lower clamping needle module are both in transmission connection with the cylindrical cam and used for converting rotary motion of the needle feeding module into reciprocating linear motion of the clamping needle modules in the axial direction of the optical axis, and the upper clamping needle module and the lower clamping needle module alternately drive the puncture needle to move through rotation of the cylindrical cam. The puncture device has the advantages of being small in size and adjustable in clamping force.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to a small reciprocating needle-piercing device. Background Art

[0002] In recent years, the robot-assisted needle-piercing technology has developed rapidly. Robot needle-piercing can effectively improve the stability and accuracy of needle-piercing surgeries. Compared with manual needle-piercing, due to the natural minute tremors of the human hand or the fatigue caused by long-term surgeries, doctors may encounter challenges when performing delicate operations manually. The use of robots greatly reduces the unstable factors in manual operations. The needle-piercing robot can stably hold the needle-piercing needle and maintain the needle-piercing position and angle.

[0003] The robot holds the needle-piercing needle through the end effector and performs the needle-piercing operation. The end effector needs to have the functions of holding the needle-piercing needle and performing the needle-piercing operation. In addition, the end effector should also be able to quickly release the needle-piercing needle: when the patient moves accidentally, quickly releasing the needle-piercing needle can avoid harm to the patient; after the needle-piercing is completed, the needle-piercing needle needs to be released, and the needle-piercing needle and the patient are scanned by CT together to verify whether the needle-piercing is in place.

[0004] In the prior art, the end effector drives the needle-piercing needle to move linearly through a linear motion mechanism. The generally used linear motion mechanism is a conventional linear motor or a lead screw transmission mechanism. Although this type of motion mechanism can drive the needle-piercing needle to move linearly, the motion stroke of the motion mechanism needs to be consistent with the motion stroke of the needle-piercing needle. That is to say, under the condition of ensuring the motion stroke of the needle-piercing needle, the overall length of the motion mechanism cannot be further reduced, resulting in a relatively large volume of the needle-piercing device. For example, in the patent application with the publication number CN117398191A and the invention name of an electric end effector and a needle-piercing surgery robot, a linear lead screw is used to drive the needle-piercing needle to move linearly; in the patent application with the publication number CN115645012A and the invention name of an automatic needle-piercing device for robot needle-piercing surgery, a stroke amplification mechanism is used to drive the needle-piercing needle to perform linear motion, which reduces the structure to a certain extent. In the patent application with the publication number CN113952008A and the invention name of a cross-drive type needle-piercing needle feeding mechanism and a needle-piercing device, a cross-drive type is used to drive the needle-piercing needle. Although the structure is relatively small, there is a problem that its clamping force cannot be guaranteed.

[0005] In the robot-assisted needle-piercing surgery, the end effector often uses structures such as linear lead screws to drive the needle-piercing needle to move linearly, but the overall mechanism is long, the volume is large, and it is inconvenient to use. And the mechanism with a relatively small volume cannot guarantee the clamping force on the needle-piercing needle. Summary of the Invention

[0006] In view of this, the present invention provides a small reciprocating needle-piercing device, which has the characteristics of small volume and adjustable clamping force, and solves the problems that the end effector in the prior art is inconvenient to use due to its large volume or cannot ensure the clamping force due to its small volume.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A small reciprocating needle-piercing device, which includes a needle clamping module and a needle-piercing module;

[0009] The needle-piercing module includes a parallelly arranged optical axis and a cylindrical cam, and is provided with a guiding hole for guiding the piercing needle;

[0010] The needle clamping module includes an upper needle clamping module and a lower needle clamping module distributed along the axial direction of the cylindrical cam; the upper needle clamping module and the lower needle clamping module are slidably mounted on the optical axis for clamping the piercing needle and adjusting the clamping force of the piercing needle; the upper needle clamping module and the lower needle clamping module have the same structure and are provided with needle-passing holes coaxial with the guiding hole; both the upper needle clamping module and the lower needle clamping module are in transmission connection with the cylindrical cam for converting the rotational motion of the needle-piercing module into the reciprocating linear motion of the needle clamping module along the axial direction of the optical axis, and realizing the alternate driving of the piercing needle by the upper needle clamping module and the lower needle clamping module through the rotation of the cylindrical cam.

[0011] Furthermore, symmetrical upper spiral grooves and lower spiral grooves are provided on the outer peripheral surface of the cylindrical cam;

[0012] The upper spiral groove includes an upper descending groove and an upper ascending groove; the depth of the upper ascending groove is greater than the depth of the upper descending groove;

[0013] The lower spiral groove includes a lower descending groove and a lower ascending groove; the depth of the lower ascending groove is greater than the depth of the lower descending groove;

[0014] Along the axial direction of the cylindrical cam, the upper descending groove and the lower ascending groove are oppositely arranged, and the upper ascending groove and the lower descending groove are oppositely arranged;

[0015] The upper needle clamping module is slidably engaged with the upper spiral groove; the lower needle clamping module is slidably engaged with the lower spiral groove.

[0016] Furthermore, the needle-piercing module further includes an upper cover plate, a lower cover plate, an upper bearing, a lower bearing and a motor;

[0017] The upper cover plate and the lower cover plate are arranged oppositely along the axial direction of the cylindrical cam and are fixedly connected by a plurality of the optical axes; through holes penetrating the thickness are provided on both the upper cover plate and the lower cover plate;

[0018] The top end of the cylindrical cam is rotatably installed on the upper cover plate through the upper bearing, and the bottom end is rotatably installed on the lower cover plate through the lower bearing;

[0019] The motor is fixedly installed on the lower cover plate, and the output shaft of the motor is coaxially and fixedly connected to the cylindrical cam for driving the cylindrical cam to rotate.

[0020] Further, the upper cover plate clamps the outer ring of the upper bearing by a tight fit, the lower cover plate clamps the inner ring of the lower bearing by a tight fit, the cylindrical cam clamps the inner ring of the upper bearing by a tight fit, and the cylindrical cam clamps the outer ring of the lower bearing by a tight fit.

[0021] Further, both the upper clamping needle module and the lower clamping needle module include a clamping seat, a clamping knob, an adjustable clamping member, and an elastic clamping member;

[0022] The clamping seat is composed of an upper connecting member and a lower connecting member which are arranged oppositely along the axial direction of the cylindrical cam and are fixedly connected; the upper connecting member and the lower connecting member are symmetrical structures; the needle-passing holes are provided on the upper connecting member and the lower connecting member;

[0023] The clamping knob, the adjustable clamping member, and the elastic clamping member are coaxially arranged in sequence; the middle part of the clamping knob is in screw fit with the clamping seat, and one end is fixedly installed with the adjustable clamping member; one end of the elastic clamping member is inserted into the upper spiral groove or the lower spiral groove, the middle part is in screw fit with the clamping seat, and the other end is opposite to the adjustable clamping member; the adjustable clamping member and the elastic clamping member cooperate to clamp the puncture needle; the elastic clamping member is used to provide an elastic clamping force to the puncture needle; the clamping force between the adjustable clamping member and the elastic clamping member is adjusted by rotating the clamping knob, and the puncture needle is loosened by rotating the clamping knob after the needle insertion is completed, so as to realize the separation of the puncture needle.

[0024] Further, the elastic clamping member includes an elastic clamping contact member, an elastic clamping screw cap, an outer spring, an elastic contact member, and an elastic clamping housing which are coaxially arranged;

[0025] One end of the elastic clamping contact member is in threaded connection with the elastic contact member, and the other end is used to clamp the puncture needle;

[0026] The elastic clamping cap is threadedly connected to the elastic clamping housing and is clamped between the elastic clamping contact member and the elastic contact member for fixing the elastic clamping contact member;

[0027] The outer spring is sleeved on the outer peripheral side of the elastic contact member and abuts between the elastic contact member and the elastic clamping cap;

[0028] One end of the elastic contact member extends to the outside of the elastic clamping housing and is inserted into the upper spiral groove and the lower spiral groove for providing an elastic force to the elastic clamping contact member;

[0029] The elastic clamping housing is in spiral fit with the clamping seat for accommodating the outer spring, the elastic contact member and the elastic contact member.

[0030] Further, the elastic contact member includes an elastic contact housing, an inner spring, a connecting column, an elastic contact cap and a contact ball;

[0031] One end of the elastic contact housing is threadedly connected to the elastic clamping contact member, and the other end is threadedly connected to the elastic contact cap;

[0032] One end of the connecting column is limited in the elastic contact housing, and the other end passes through the elastic contact cap and is threadedly connected with the contact ball;

[0033] The inner spring is installed in the elastic contact housing, and both ends abut against the elastic contact housing and the connecting column;

[0034] The contact ball is located at the outer end of the elastic contact cap and is inserted into the upper spiral groove and the lower spiral groove;

[0035] The inner spring is used to provide an internal elastic force;

[0036] The outer spring is sleeved on the outer peripheral side of the elastic contact housing and abuts between the elastic contact member and the elastic contact cap.

[0037] Further, the clamping knob is provided with a conical shaft; the adjustable clamping member is provided with a conical hole; the clamping knob and the adjustable clamping member are fixedly connected by clamping the conical shaft in the conical hole.

[0038] Further, one end of the elastic contact housing is provided with an internal threaded hole for threaded connection with the elastic clamping contact member, the other end is provided with an internal threaded hole for threaded connection with the elastic contact cap, and an inner shaft for installing the inner spring is arranged inside the end facing the elastic contact cap.

[0039] Furthermore, semi-threaded holes are provided at both ends of the bottom surface of the upper connecting member;

[0040] The upper connecting member and the lower connecting member are fixedly connected by screws; two threaded holes are formed between the upper connecting member and the lower connecting member. Among them, one threaded hole is in spiral fit with the clamping knob, and the other threaded hole is in spiral fit with the elastic clamping member.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] 1. The puncture device of the present invention uses a cylindrical cam and upper and lower needle clamping modules to convert rotational motion into reciprocating linear motion, and realizes the upper and lower needle clamping modules to alternately drive the puncture needle to move through the rotation of the cylindrical cam. Adopting the principle of reciprocating needle insertion and combining with the cylindrical cam, the overall volume is greatly reduced, solving the problem that the currently commonly used surgical navigation puncture robot uses a linear lead screw or a stroke amplification structure to drive the puncture needle to perform linear motion, resulting in a longer mechanism and a larger volume.

[0043] 2. The puncture device of the present invention can adjust the clamping force of the puncture needle through the upper and lower needle clamping modules, ensuring the reliability of needle insertion, and solving the problem that although the existing cross-drive type mechanism for driving the puncture needle to perform linear motion has a very small volume, it cannot guarantee the clamping force of the puncture needle.

[0044] 3. The puncture device of the present invention uses a cylindrical cam and only one motor, which not only realizes the coupling of the needle insertion action and the needle clamping action at the same time, but also can realize the mode conversion of needle insertion and needle withdrawal. The overall cost is low, the efficiency is high, and it is close to practical applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a schematic structural diagram of the small reciprocating needle insertion puncture device of the present invention;

[0046] Figure 2 is a schematic structural diagram of the needle clamping module;

[0047] Figure 3 is a schematic structural diagram of the elastic clamping member;

[0048] Figure 4 is a schematic structural diagram of the elastic contact member;

[0049] Figure 5 is a schematic structural diagram of the needle insertion module;

[0050] Figure 6 is a schematic structural diagram of the cylindrical cam;

[0051] Figure 7 is a schematic structural diagram of the lower cover plate of the needle insertion module;

[0052] Figure 8 is a structural schematic diagram of a motor;

[0053] Figure 9 is a structural schematic diagram of an elastic contact housing;

[0054] Figure 10 is the needle insertion process;

[0055] Figure 11 is the needle clamping process.

[0056] Among them, 1 - clamping needle module, 2 - puncture needle, 3 - needle insertion module, 4 - optical axis, 5 - upper connecting piece, 6 - lower connecting piece, 7 - clamping knob, 8 - adjustable clamping piece, 9 - elastic clamping piece, 11 - upper clamping needle module, 12 - lower clamping needle module, 31 - upper cover plate, 32 - lower cover plate, 33 - upper bearing, 34 - lower bearing, 35 - cylindrical cam, 36 - motor, 91 - elastic clamping contact piece, 92 - elastic clamping cap, 93 - outer spring, 94 - elastic contact piece, 95 - elastic clamping housing, 321 - fixed threaded hole, 322 - insertion hole, 351 - upper spiral groove, 352 - lower spiral groove, 3511 - upper descending groove, 3512 - upper ascending groove, 3521 - lower descending groove, 3522 - lower ascending groove, 353 - fixed threaded hole, 361 - output shaft, 941 - elastic contact housing, 942 - inner spring, 943 - connecting column, 944 - elastic contact cap, 945 - contact ball, 9411 - internal shaft. Specific embodiments

[0057] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0058] The embodiments of the present invention provide a small reciprocating needle insertion and puncture device, as Figure 1 shown, the puncture device includes a clamping needle module 1 and a needle insertion module 3; among them:

[0059] The needle insertion module 3 includes an optical axis 4 and a cylindrical cam 35 arranged in parallel; as Figure 1 shown, an optical axis 4 is respectively arranged at the four corners of the cylindrical cam 35. The optical axis 4 not only forms a support for the cylindrical cam 35, but also guides the clamping needle module 1; as Figure 5As shown, the needle insertion module 3 also includes an upper cover plate 31, a lower cover plate 32, an upper bearing 33, a lower bearing 34 and a motor 36; the upper cover plate 31 and the lower cover plate 32 are arranged opposite to each other along the axial direction of the cylindrical cam 35, and are fixedly connected by a plurality of optical axes 4; the upper cover plate 31 and the lower cover plate 32 are both provided with guide holes penetrating their respective thicknesses, the axial direction of the guide holes is parallel to the axial direction of the cylindrical cam 35, and the guide holes of the upper cover plate 31 are coaxially arranged with the guide holes of the lower cover plate 32, and the two guide holes are used to penetrate the puncture needle 2 and guide the puncture needle 2; as shown Figure 7 As shown, the upper cover plate 31 and the lower cover plate 32 are provided with a plug hole 322 of the optical axis 4, and the two ends of the optical axis 4 are inserted into the plug hole 322 and fixed in the plug hole 322 by means of a top screw; the top end of the cylindrical cam 35 is rotatably mounted on the upper cover plate 31 through an upper bearing 33, and the bottom end is rotatably mounted on the lower cover plate 32 through a lower bearing 34; the motor 36 is fixedly mounted on the lower cover plate 32, and the lower cover plate 32 is provided with a fixed threaded hole 321, and the motor 36 is fixed to the lower cover plate 32 by means of a top screw installed at the fixed threaded hole 321; the structural schematic diagram of the motor 36 is shown in FIG. Figure 8 The output shaft 361 of the motor 36 is coaxially fixedly connected with the cylindrical cam 35, and is used to drive the cylindrical cam 35 to rotate. A fixed threaded hole 353 is provided at the end of the cylindrical cam 35, and a top screw is used to achieve a fixed connection with the output shaft 361 of the motor 36. The upper cover plate 31 clamps the outer ring of the upper bearing 33 by a tight fit, the lower cover plate 32 clamps the inner ring of the lower bearing 34 by a tight fit, the cylindrical cam 35 clamps the inner ring of the upper bearing 33 by a tight fit, and the cylindrical cam 35 clamps the outer ring of the lower bearing 34 by a tight fit.

[0060] like Figure 2 As shown, the clamping needle module 1 includes an upper clamping needle module 11 and a lower clamping needle module 12 distributed along the axial direction of the cylindrical cam 35; the upper clamping needle module 11 and the lower clamping needle module 12 drive the puncture needle 2 to move by clamping; the upper clamping needle module 11 and the lower clamping needle module 12 are installed on the optical axis 4 in a sliding manner, and are used to clamp the puncture needle 2 and adjust the clamping force of the puncture needle 2; the upper clamping needle module 11 and the lower clamping needle module 12 have the same structure, and are provided with a needle threading hole parallel to the axial direction of the cylindrical cam 35; the upper clamping needle module 11 and the lower clamping needle module 12 are both connected to the cylindrical cam 35 in transmission, and are used to convert the rotational motion of the needle insertion module 3 into a reciprocating linear motion of the clamping needle module 1 along the axial direction of the optical axis 4, and realize the upper clamping needle module 11 and the lower clamping needle module 12 alternately drive the puncture needle 2 to move through the rotation of the cylindrical cam 35.

[0061] like Figure 5 and Figure 6As shown in the figure, symmetrical upper spiral groove 351 and lower spiral groove 352 are provided on the outer peripheral surface of cylindrical cam 35; upper spiral groove 351 includes upper descending groove 3511 and upper ascending groove 3512; the depth of upper ascending groove 3512 is greater than that of upper descending groove 3511; lower spiral groove 352 includes lower descending groove 3521 and lower ascending groove 3522; the depth of lower ascending groove 3522 is greater than that of lower descending groove 3521; along the axial direction of cylindrical cam 35, upper descending groove 3511 and lower ascending groove 3522 are arranged oppositely, and upper ascending groove 3512 and lower descending groove 3521 are arranged oppositely; as Figure 1 shown, upper clamping needle module 11 is in sliding fit with upper spiral groove 351; lower clamping needle module 12 is in sliding fit with lower spiral groove 352.

[0062] As Figure 2 shown, upper clamping needle module 11 and lower clamping needle module 12 have the same structure. Both upper clamping needle module 11 and lower clamping needle module 12 include a clamping seat, a clamping knob 7, an adjustable clamping member 8 and an elastic clamping member 9; the clamping seat is composed of an upper connecting member 5 and a lower connecting member 6 which are arranged oppositely along the axial direction of cylindrical cam 35 and fixedly connected; upper connecting member 5 and lower connecting member 6 are symmetrical structures; a needle-passing hole is arranged in upper connecting member 5 and lower connecting member 6 and is coaxially arranged with the guiding hole. The axis line of the needle-passing hole passes between adjustable clamping member 8 and elastic clamping member 9, and the needle-passing hole is used for passing through puncture needle 2; both upper connecting member 5 and lower connecting member 6 are provided with sliding holes which are in hole fit with the optical axis 4; clamping knob 7, adjustable clamping member 8 and elastic clamping member 9 are arranged coaxially in sequence; the middle part of clamping knob 7 is in screw fit with the clamping seat, and an adjustable clamping member 8 is fixedly installed at one end; as Figure 11 shown, clamping knob 7 is provided with a tapered shaft; adjustable clamping member 8 is provided with a tapered hole; the fixed connection between clamping knob 7 and adjustable clamping member 8 is realized by clamping the tapered shaft in the tapered hole.

[0063] One end of elastic clamping member 9 is inserted into upper spiral groove 351 or lower spiral groove 352, the middle part is in screw fit with the clamping seat, and the other end is opposite to adjustable clamping member 8; adjustable clamping member 8 and elastic clamping member 9 cooperate to clamp puncture needle 2; elastic clamping member 9 is used to provide an elastic clamping force to puncture needle 2; by rotating clamping knob 7, the clamping force between adjustable clamping member 8 and elastic clamping member 9 is adjusted, and after the needle insertion is completed, puncture needle 2 is loosened by rotating clamping knob 7 to realize the separation of puncture needle 2. By adjusting the distance between adjustable clamping member 8 and elastic clamping member 9, the clamping and releasing of puncture needle 2 can be realized. When the distance between adjustable clamping member 8 and elastic clamping member 9 is less than or equal to the size of puncture needle 2, the clamping function can be realized, and when the distance between adjustable clamping member 8 and elastic clamping member 9 is greater than the size of puncture needle 2, the releasing function can be realized.

[0064] As Figure 2 shown, semi-threaded holes are provided at both ends of the bottom surface of the upper connecting member 5. Similarly, semi-threaded holes are provided at both ends of the top surface of the lower connecting member 6. The upper connecting member 5 and the lower connecting member 6 are fixedly connected by screws. When the upper connecting member 5 and the lower connecting member 6 are fixedly connected together, the semi-threaded holes at both ends of the upper connecting member 5 and the semi-threaded holes at both ends of the lower connecting member 6 are aligned to form two threaded holes, thereby forming two threaded holes between the upper connecting member 5 and the lower connecting member 6. Among them, one threaded hole is in screw-threaded engagement with the clamping knob 7, and the other threaded hole is in screw-threaded engagement with the elastic clamping member 9.

[0065] As Figure 3 and Figure 4 shown, the elastic clamping member 9 includes an elastic clamping contact member 91, an elastic clamping cover 92, an outer spring 93, an elastic contact member 94, and an elastic clamping housing 95 arranged coaxially. One end of the elastic clamping contact member 91 is in screw-threaded connection with the elastic contact member 94, and the other end is used for clamping the puncture needle 2. The elastic clamping cover 92 is in screw-threaded connection with the elastic clamping housing 95 and is clamped between the elastic clamping contact member 91 and the elastic contact member 94 for fixing the elastic clamping contact member 91. The outer spring 93 is sleeved on the outer peripheral side of the elastic contact member 94 and abuts between the elastic contact member 94 and the elastic clamping cover 92. One end of the elastic contact member 94 extends to the outside of the elastic clamping housing 95 and is inserted into the upper spiral groove 351 and the lower spiral groove 352 for providing an elastic force to the elastic clamping contact member 91. The elastic clamping housing 95 is in screw-threaded engagement with the clamping seat for accommodating the outer spring 93, the elastic contact member 94, and the elastic contact member 94.

[0066] As Figure 3 and Figure 4 shown, the elastic contact member 94 includes an elastic contact housing 941, an inner spring 942, a connecting column 943, an elastic contact cover 944, and a contact ball 945. One end of the elastic contact housing 941 is in screw-threaded connection with the elastic clamping contact member 91, and the other end is in screw-threaded connection with the elastic contact cover 944. One end of the connecting column 943 is limited in the elastic contact housing 941, and the other end passes through the elastic contact cover 944 and is in screw-threaded connection with the contact ball 945. The inner spring 942 is installed in the elastic contact housing 941, and both ends abut against the elastic contact housing 941 and the connecting column 943. The contact ball 945 is located at the outer end of the elastic contact cover 944 and is inserted into the upper spiral groove 351 and the lower spiral groove 352. The inner spring 942 is used for providing an internal elastic force. The outer spring 93 is sleeved on the outer peripheral side of the elastic contact housing 941 and abuts between the elastic contact member 94 and the elastic contact cover 944.

[0067] As Figure 9 and Figure 11As shown, one end of the elastic contact housing 941 is provided with an internal threaded hole that is threadedly connected to the elastic clamping contact member 91, and the other end is provided with an internal threaded hole that is threadedly connected to the elastic contact screw cap 944. An internal shaft 9411 for installing the internal spring 942 is provided inside the end facing the elastic contact screw cap 944.

[0068] The above-mentioned puncture device uses the cylindrical cam 35 and the upper and lower clamping needle modules 12 to convert the rotational motion into a reciprocating linear motion, and realizes the upper and lower clamping needle modules 12 to alternately drive the puncture needle 2 to move through the rotation of the cylindrical cam 35. Adopting the reciprocating needle insertion principle and combining with the cylindrical cam 35, the overall volume is greatly reduced. The clamping force of the puncture needle 2 can be adjusted through the upper and lower clamping needle modules 12 to ensure the reliability of the needle insertion. Only one motor 36 is used for the cylindrical cam 35, which not only realizes the coupling of the needle insertion action and the needle clamping action at the same time, but also can realize the mode conversion of needle insertion and needle withdrawal. The overall cost is low, the efficiency is high, and it is close to actual application.

[0069] The needle insertion process of the above-mentioned puncture device is as follows: As Figure 10 shown, the contact ball 945 in the upper clamping needle module 11 cooperates with the upper spiral groove 351, and the contact ball 945 in the lower clamping needle module 12 cooperates with the lower spiral groove 352. The cylindrical cam 35 rotates under the drive of the motor 36, so that the upper spiral groove 351 and the lower spiral groove 352 also rotate accordingly. The needle insertion process is divided into two processes. In the first process, the upper descending groove 3511 and the lower ascending groove 3522 are rotated. At this time, the contact ball 945 of the upper clamping needle module 11 contacts the trajectory of the upper descending groove 3511, so that the upper clamping needle module 11 clamps the puncture needle 2 and moves downward, and the contact ball 945 of the lower clamping needle module 12 contacts the lower ascending groove 3522, so that the lower clamping needle module 12 releases the puncture needle 2 and moves upward; In the second process, the upper ascending groove 3512 and the lower descending groove 3521 are rotated. At this time, the contact ball 945 of the upper clamping needle module 11 contacts the upper groove ascending groove, so that the upper clamping needle module 11 releases the puncture needle 2 and moves upward, and the contact ball 945 of the lower clamping needle module 12 contacts the lower descending groove 3521, so that the lower clamping needle module 12 clamps the puncture needle 2 and moves downward. Through the continuous alternation of the above two processes, the up and down alternating motion of the upper clamping needle module 11 and the lower clamping needle module 12 is realized, and finally the needle insertion motion during puncture is realized.

[0070] The needle clamping process of the above-mentioned puncture device is as follows: As Figure 11As shown, the clamping knob 7 and the adjustable clamping member 8 are integrated through shaft-hole fit to support one side of the puncture needle 2 and play a role in supporting the needle; during the needle insertion process, when the contact ball 945 of the upper needle clamping module 11 contacts the upper descending groove 3511 or the contact ball 945 of the lower needle clamping module 12 contacts the lower descending groove 3521, the connecting column 943 is driven to squeeze the inner spring 942. Under the elastic action of the inner spring 942, the elastic contact member 94 is driven to squeeze the outer spring 93, so that the elastic clamping contact member 91 contacts the puncture needle 2. The adjustable clamping member 8 and the elastic clamping contact member 91 act together to effectively clamp the puncture needle 2; when the contact ball 945 of the upper needle clamping module 11 contacts the upper ascending groove 3512 or the contact ball 945 of the lower needle clamping module 12 contacts the lower ascending groove 3522, the connecting column 943 is driven to release the inner spring 942. Under the elastic action of the inner spring 942, the elastic contact member 94 is driven to release the outer spring 93, so that the elastic clamping contact member 91 is separated from the puncture needle 2. At this time, the adjustable clamping member 8 and the elastic clamping member 9 have no clamping effect on the puncture needle 2.

[0071] At the same time, the clamping knob 7 can be adjusted to adjust the clamping force of the adjustable clamping member 8 on the puncture needle 2; after the overall needle insertion is completed, the clamping knob 7 can be adjusted to release the puncture needle 2 as a whole, realizing the separation of the puncture needle 2 from the entire device.

[0072] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these changes and modifications.

Claims

1. A small reciprocating needle puncture device, characterized in that: It includes a needle holding module and a needle insertion module; The needle insertion module includes an optical axis and a cylindrical cam arranged in parallel, and is provided with a guide hole for guiding the puncture needle; The clamping needle module comprises an upper clamping needle module and a lower clamping needle module which are distributed along the axial direction of the cylindrical cam; the upper clamping needle module and the lower clamping needle module are slidably mounted on the optical axis for clamping the puncture needle and adjusting the clamping force of the puncture needle; the upper clamping needle module and the lower clamping needle module have the same structure and are provided with a needle threading hole coaxial with the guide hole; the upper clamping needle module and the lower clamping needle module are both transmission-connected with the cylindrical cam for converting the rotational motion of the needle insertion module into reciprocating linear motion of the clamping needle module along the axial direction of the optical axis, and realizing the upper clamping needle module and the lower clamping needle module alternately driving the puncture needle to move through the rotation of the cylindrical cam.

2. The small reciprocating needle puncture device according to claim 1, characterized in that: The outer peripheral surface of the cylindrical cam is provided with a symmetrical upper spiral groove and a lower spiral groove; The upper spiral groove includes an upper descending groove and an upper ascending groove; the depth of the upper ascending groove is greater than the depth of the upper descending groove; The lower spiral groove includes a lower descending groove and a lower ascending groove; the depth of the lower ascending groove is greater than the depth of the lower descending groove; Along the axial direction of the cylindrical cam, the upper descending groove is arranged opposite to the lower ascending groove, and the upper ascending groove is arranged opposite to the lower descending groove; The upper clamping needle module is slidably matched with the upper spiral groove; the lower clamping needle module is slidably matched with the lower spiral groove.

3. The small reciprocating needle puncture device according to claim 2, characterized in that: The needle insertion module also includes an upper cover plate, a lower cover plate, an upper bearing, a lower bearing and a motor; The upper cover plate and the lower cover plate are arranged opposite to each other along the axial direction of the cylindrical cam and are fixedly connected through a plurality of optical axes; the upper cover plate and the lower cover plate are both provided with the guide holes penetrating the thickness; The top end of the cylindrical cam is rotatably mounted on the upper cover plate through the upper bearing, and the bottom end is rotatably mounted on the lower cover plate through the lower bearing; The motor is fixedly mounted on the lower cover plate, and the output shaft of the motor is coaxially fixedly connected with the cylindrical cam to drive the cylindrical cam to rotate.

4. The small reciprocating needle puncture device according to claim 3, characterized in that: The upper cover plate clamps the outer ring of the upper bearing through a tight fit, the lower cover plate clamps the inner ring of the lower bearing through a tight fit, the cylindrical cam clamps the inner ring of the upper bearing through a tight fit, and the cylindrical cam clamps the outer ring of the lower bearing through a tight fit.

5. The small reciprocating needle puncture device according to claim 3, characterized in that: The upper clamping needle module and the lower clamping needle module each include a clamping seat, a clamping knob, an adjustable clamping member and an elastic clamping member; The clamping seat is composed of an upper connecting piece and a lower connecting piece which are arranged opposite to each other and fixedly connected along the axial direction of the cylindrical cam; the upper connecting piece and the lower connecting piece are symmetrical structures; the needle-threading hole is arranged on the upper connecting piece and the lower connecting piece; The clamping knob, the adjustable clamping piece and the elastic clamping piece are coaxially arranged in sequence; the middle part of the clamping knob is screwed with the clamping seat, and the adjustable clamping piece is fixedly installed at one end; one end of the elastic clamping piece is inserted into the upper spiral groove or the lower spiral groove, the middle part is screwed with the clamping seat, and the other end is opposite to the adjustable clamping piece; the adjustable clamping piece cooperates with the elastic clamping piece to clamp the puncture needle; the elastic clamping piece is used to provide an elastic clamping force to the puncture needle; the clamping force between the adjustable clamping piece and the elastic clamping piece is adjusted by rotating the clamping knob, and the puncture needle is released by rotating the clamping knob after the needle insertion is completed, so as to achieve the separation of the puncture needle.

6. The small reciprocating needle puncture device according to claim 5, characterized in that: The elastic clamping member comprises a coaxially arranged elastic clamping contact member, an elastic clamping rotary cover, an outer spring, an elastic contact member and an elastic clamping housing; One end of the elastic clamping contact piece is threadedly connected to the elastic contact piece, and the other end is used to clamp the puncture needle; The elastic clamping rotary cover is threadedly connected to the elastic clamping housing and is clamped between the elastic clamping contact piece and the elastic contact piece to fix the elastic clamping contact piece; The outer spring is sleeved on the outer peripheral side of the elastic contact piece and abuts between the elastic contact piece and the elastic clamping rotary cover; One end of the elastic contact piece extends to the outside of the elastic clamping housing and is inserted into the upper spiral groove and the lower spiral groove to provide elastic force to the elastic clamping contact piece; The elastic clamping shell is screw-matched with the clamping seat to accommodate the outer spring, the elastic contact piece and the elastic contact piece.

7. The small reciprocating needle puncture device according to claim 6, characterized in that: The elastic contact member comprises an elastic contact housing, an inner spring, a connecting column, an elastic contact screw cap and a contact ball; One end of the elastic contact housing is threadedly connected to the elastic clamping contact piece, and the other end is threadedly connected to the elastic contact screw cap; One end of the connecting column is limited in the elastic contact housing, and the other end passes through the elastic contact screw cover and is threadedly connected to the contact ball; The inner spring is installed in the elastic contact shell, and both ends of the inner spring abut against the elastic contact shell and the connecting column; The contact ball is located at the outer end of the elastic contact screw cap and is inserted into the upper spiral groove and the lower spiral groove; The inner spring is used to provide internal elastic force; The outer spring is sleeved on the outer peripheral side of the elastic contact housing and abuts between the elastic contact piece and the elastic contact rotary cover.

8. The small reciprocating needle puncture device according to claim 5, characterized in that: The clamping knob is provided with a tapered shaft; the adjustable clamping piece is provided with a tapered hole; the tapered shaft is clamped in the tapered hole to achieve fixed connection between the clamping knob and the adjustable clamping piece.

9. The small reciprocating needle puncture device according to claim 7, characterized in that: One end of the elastic contact housing is provided with an internal threaded hole threadedly connected to the elastic clamping contact piece, the other end is provided with an internal threaded hole threadedly connected to the elastic contact screw cover, and an inner shaft for installing the inner spring is provided inside the end facing the elastic contact screw cover.

10. The small reciprocating needle puncture device according to claim 7, characterized in that: Both ends of the bottom surface of the upper connecting piece are provided with semi-threaded holes; The upper connecting member and the lower connecting member are fixedly connected by screws; two threaded holes are formed between the upper connecting member and the lower connecting member, wherein one threaded hole is screw-matched with the clamping knob, and the other threaded hole is screw-matched with the elastic clamping member.

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