Small reciprocating needle insertion and puncture device

Abstract

The present application relates to a kind of small reciprocating needle insertion puncture device, the puncture device includes needle holding module and needle insertion module;Needle insertion module includes parallelly arranged optical axis and cylindrical cam, and is provided with guide hole;Needle holding module includes the upper needle holding module and the lower needle holding module distributed along the axial direction of cylindrical cam;Upper needle holding module and lower needle holding module are slidably fitted to optical axis, for holding puncture needle and adjusting the clamping force of puncture needle;Upper needle holding module and lower needle holding module have same structure, and are provided with needle hole;Upper needle holding module and lower needle holding module are all with cylindrical cam transmission connection, for the rotation movement of needle insertion module is converted into the reciprocating linear motion of needle holding module along the axial direction of optical axis, and the rotation of cylindrical cam is realized upper needle holding module and lower needle holding module alternately drive puncture needle movement.Upper described puncture device has the characteristics of small volume and adjustable clamping force.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of medical equipment, and particularly relates to a small reciprocating needle insertion and puncture device. BACKGROUND

[0002] In recent years, robot-assisted puncture technology has developed rapidly. Robot puncture can effectively improve the stability and accuracy of puncture surgery. Compared with manual puncture, doctors may encounter challenges when performing fine operations manually due to the natural micro-vibration of human hands or fatigue caused by long-time surgery. The use of robots greatly reduces the instability factors in human operation, and the use of a puncture robot can stably hold a puncture needle and maintain the puncture position and angle.

[0003] The robot holds the puncture needle through an end effector and performs puncture and needle insertion operations. The end effector needs to have the functions of holding the puncture needle and puncturing the needle. In addition, the end effector also needs to be able to quickly release the puncture needle: when the patient moves by mistake, quick release of the puncture needle can avoid harm to the patient; after puncture is completed, the puncture needle needs to be released, and the puncture needle is scanned together with the patient to verify whether the puncture is in place.

[0004] In the prior art, the end effector drives the puncture needle to move linearly through a linear motion mechanism to achieve needle insertion operation. The linear motion mechanism generally used is a conventional linear motor or a lead screw transmission mechanism. Although this type of motion mechanism can drive the puncture needle to move linearly, the motion stroke of the motion mechanism needs to be consistent with the motion stroke of the puncture needle, that is, under the condition of ensuring the motion stroke of the puncture needle, the overall length of the motion mechanism cannot be further reduced, resulting in a large size of the puncture device. For example, the patent application with the publication number CN117398191A and the invention name of an electric end effector and a puncture surgery robot adopts a linear lead screw to drive the puncture needle to move linearly. The patent application with the publication number CN115645012A and the invention name of an automatic puncture device for robot puncture surgery adopts a stroke amplification mechanism to drive the puncture needle to move linearly, which to some extent reduces the structure. The patent application with the publication number CN113952008A and the invention name of a cross-drive type puncture needle insertion mechanism and a needle puncture device adopts a cross-drive type to drive the puncture needle, which although has a smaller structure, has the problem that the clamping force cannot be guaranteed.

[0005] In the use of robot-assisted puncture surgery, the end effector often adopts a linear lead screw structure to drive the puncture needle to move linearly, but the overall mechanism is long and bulky, which is inconvenient to use. The smaller mechanism cannot guarantee the clamping force on the puncture needle. SUMMARY

[0006] Therefore, the small reciprocating needle insertion and puncture device has the characteristics of small size and adjustable clamping force, and solves the problems of large size and inconvenient use or small size and unable to guarantee clamping force of the end effector in the prior art.

[0007] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0008] The small reciprocating needle insertion and puncture device comprises a clamping needle module and a needle insertion module.

[0009] The needle insertion module comprises an optical axis and a cylindrical cam arranged in parallel, and is provided with a guide hole for guiding the puncture needle.

[0010] The clamping needle module comprises an upper clamping needle module and a lower clamping needle module distributed along the axial direction of the cylindrical cam; the upper clamping needle module and the lower clamping needle module are slidingly fitted on the optical axis, and are used 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 puncture needle hole coaxial with the guide hole; the upper clamping needle module and the lower clamping needle module are in transmission connection with the cylindrical cam, and are used for converting the rotary motion of the needle insertion module into the reciprocating linear motion of the clamping needle module along the axial direction of the optical axis, and realizing the motion of the puncture needle driven by the upper clamping needle module and the lower clamping needle module alternately through the rotation of the cylindrical cam.

[0011] Further, the outer circumferential surface of the cylindrical cam is provided with symmetrical upper and lower helical grooves.

[0012] The upper helical groove comprises an upper descending groove and an upper ascending groove; the depth of the upper ascending groove is greater than that of the upper descending groove.

[0013] The lower helical groove comprises a lower descending groove and a lower ascending groove; the depth of the lower ascending groove is greater than that of the lower descending groove.

[0014] 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.

[0015] The upper clamping needle module is in sliding fitting with the upper helical groove, and the lower clamping needle module is in sliding fitting with the lower helical groove.

[0016] Further, the needle insertion module further comprises 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 opposite along the axial direction of the cylindrical cam and are fixedly connected through the optical axes; the upper cover plate and the lower cover plate are both provided with the guide holes penetrating through the thickness;

[0018] 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;

[0019] 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 for driving the cylindrical cam to rotate.

[0020] Further, the upper cover plate is clamped on the outer ring of the upper bearing through tight fit, the lower cover plate is clamped on the inner ring of the lower bearing through tight fit, the cylindrical cam is clamped on the inner ring of the upper bearing through tight fit, and the cylindrical cam is clamped on the outer ring of the lower bearing through tight fit.

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

[0022] The clamping seat is composed of an upper connecting piece and a lower connecting piece which are arranged opposite along the axial direction of the cylindrical cam and are fixedly connected; the upper connecting piece and the lower connecting piece are symmetrical structures; the needle-penetrating hole is arranged on the upper connecting piece and the lower connecting piece;

[0023] 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 screw-fitted with the clamping seat, and one end is fixedly mounted with the adjustable clamping piece; one end of the elastic clamping piece is inserted into the upper screw groove or the lower screw groove, the middle part is screw-fitted with the clamping seat, and the other end is opposite to the adjustable clamping piece; the adjustable clamping piece and the elastic clamping piece are matched for clamping the puncture needle; the elastic clamping piece is used for providing 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 that the puncture needle is separated.

[0024] Further, the elastic clamping piece comprises an elastic clamping contact piece, an elastic clamping screw cap, an outer spring, an elastic contact piece and an elastic clamping shell which are coaxially arranged;

[0025] One end of the elastic clamping contact piece is screw-connected with the elastic contact piece, and the other end is used for clamping the puncture needle;

[0026] The elastic clamping cap is screwed with the elastic clamping shell and clamped between the elastic clamping contact and the elastic contact, for fixing the elastic clamping contact;

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

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

[0029] The elastic clamping shell is screwed with the clamping seat, for accommodating the outer spring, the elastic contact and the elastic contact.

[0030] Further, the elastic contact comprises an elastic contact shell, an inner spring, a connecting column, an elastic contact cap and a contact ball;

[0031] One end of the elastic contact shell is screwed with the elastic clamping contact and the other end is screwed with the elastic contact cap;

[0032] One end of the connecting column is limited in the elastic contact shell and the other end is screwed with the contact ball after passing through the elastic contact cap;

[0033] The inner spring is installed in the elastic contact shell and the two ends abut with the elastic contact shell 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 internal elastic force;

[0036] The outer spring is sleeved on the outer circumferential side of the elastic contact shell and abuts between the elastic contact and the elastic contact cap.

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

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

[0039] Further, the upper connecting piece is provided with a half screw hole at each end of the bottom surface.

[0040] The upper connecting piece and the lower connecting piece are fixedly connected by a screw, and two screw holes are formed between the upper connecting piece and the lower connecting piece, wherein one screw hole is in screw connection with the clamping knob, and the other screw hole is in screw connection with the elastic clamping piece.

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

[0042] 1. The puncture device of the present application converts rotary motion into reciprocating linear motion by means of a cylindrical cam and upper and lower clamping needle modules, and realizes the alternate movement of the upper and lower clamping needle modules by rotating the cylindrical cam, thereby driving the puncture needle to move. The reciprocating needle insertion principle is adopted, combined with the cylindrical cam, so that the overall volume is greatly reduced, solving the problem of long mechanism and large volume in the linear motion of the puncture needle driven by the linear screw or stroke amplification structure of the commonly used surgical navigation puncture robot.

[0043] 2. The puncture device of the present application can adjust the clamping force of the puncture needle through the upper and lower clamping needle modules, ensuring the reliability of needle insertion, solving the problem that although the cross-drive mechanism driven puncture needle can realize linear motion with very small volume, it cannot guarantee the clamping force of the puncture needle.

[0044] 3. The puncture device of the present application adopts a cylindrical cam and only uses one motor, which not only realizes the coupling of needle insertion and needle clamping actions, but also realizes the mode conversion of needle insertion and needle retraction, with low overall cost, high efficiency and close to actual application. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 is a structure diagram of the small reciprocating needle puncture device of the present application;

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

[0047] Figure 3 is a structure diagram of the elastic clamping piece;

[0048] Figure 4 is a structure diagram of the elastic contact piece;

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

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

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

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

[0053] Figure 9 is a structural schematic diagram of the elastic contact shell;

[0054] Figure 10 is a needle insertion process;

[0055] Figure 11 is a needle clamping process.

[0056] Wherein, 1-clamping needle module, 2-piercing 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 rotary cover, 93-outer spring, 94-elastic contact piece, 95-elastic clamping shell, 321-fixing threaded hole, 322-plug 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-fixing threaded hole, 361-output shaft, 941-elastic contact shell, 942-inner spring, 943-connecting column, 944-elastic contact rotary cover, 945-contact ball, 9411-internal shaft. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0058] The embodiments of the present application provide a small reciprocating needle insertion and puncture device, as shown in the figure, which comprises a clamping needle module 1 and a needle insertion module 3; wherein: Figure 1

[0059] The needle insertion module 3 comprises parallel optical axes 4 and a cylindrical cam 35; as shown in the figure, one optical axis 4 is arranged at each corner of the cylindrical cam 35, and the optical axis 4 not only forms a support for the cylindrical cam 35, but also guides the clamping needle module 1; as shown in the figure, Figure 1 Figure 5 ​​As shown, the needle insertion module 3 further comprises 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 oppositely arranged along the axial direction of the cylindrical cam 35 and are fixedly connected through the plurality of optical shafts 4; the upper cover plate 31 and the lower cover plate 32 are both provided with guide holes penetrating through the thickness of each, the axial direction of the guide holes is parallel to the axial direction of the cylindrical cam 35, and the guide hole of the upper cover plate 31 is coaxially arranged with the guide hole of the lower cover plate 32, the two guide holes are used for penetrating the puncture needle 2 and guiding the puncture needle 2; as shown Figure 7 As shown, the upper cover plate 31 and the lower cover plate 32 are provided with plug-in holes 322 of the optical shaft 4, both ends of the optical shaft 4 are inserted into the plug-in holes 322 and are fixed in the plug-in holes 322 through the set screws; the top end of the cylindrical cam 35 is rotatably mounted on the upper cover plate 31 through the upper bearing 33, and the bottom end is rotatably mounted on the lower cover plate 32 through the lower bearing 34; the motor 36 is fixedly mounted on the lower cover plate 32, the lower cover plate 32 is provided with a fixed threaded hole 321, and the motor 36 is fixed on the lower cover plate 32 through the set screw mounted at the fixed threaded hole 321; the structure diagram of the motor 36 is shown in Figure 8 The output shaft 361 of the motor 36 is coaxially fixedly connected with the cylindrical cam 35, which is used for driving the cylindrical cam 35 to rotate. The end of the cylindrical cam 35 is provided with a fixed threaded hole 353, and the output shaft 361 of the motor 36 is fixedly connected with the fixed threaded hole 353 through the set screw. The upper cover plate 31 is clamped by the outer ring of the upper bearing 33 through the tight fit, the lower cover plate 32 is clamped by the inner ring of the lower bearing 34 through the tight fit, the cylindrical cam 35 is clamped by the inner ring of the upper bearing 33 through the tight fit, and the cylindrical cam 35 is clamped by the outer ring of the lower bearing 34 through the tight fit.

[0060] As shown in Figure 2 The clamping needle module 1 comprises 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 through clamping; the upper clamping needle module 11 and the lower clamping needle module 12 are slidingly fitted on the optical shaft 4, which is used for clamping the puncture needle 2 and adjusting 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 penetrating 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 drivingly connected with the cylindrical cam 35, which is used for converting the rotary motion of the needle insertion module 3 into the reciprocating linear motion of the clamping needle module 1 along the axial direction of the optical shaft 4, and 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] As shown in Figure 5 and Figure 6As shown, the outer circumferential surface of the cylindrical cam 35 is provided with symmetrical upper helical grooves 351 and lower helical grooves 352; the upper helical groove 351 includes an upper descending groove 3511 and an upper rising groove 3512; the depth of the upper rising groove 3512 is greater than the depth of the upper descending groove 3511; the lower helical groove 352 includes a lower descending groove 3521 and a lower rising groove 3522; the depth of the lower rising groove 3522 is greater than the depth of the lower descending groove 3521; along the axial direction of the cylindrical cam 35, the upper descending groove 3511 and the lower rising groove 3522 are arranged opposite to each other, and the upper rising groove 3512 and the lower descending groove 3521 are arranged opposite to each other; as shown Figure 1 As shown, the upper needle-holding module 11 is slidably engaged with the upper spiral groove 351; the lower needle-holding module 12 is slidably engaged with the lower spiral groove 352.

[0062] like Figure 2 As shown, the upper needle clamping module 11 and the lower needle clamping module 12 have the same structure. Both the upper needle clamping module 11 and the lower needle clamping 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 that are arranged opposite to each other and fixedly connected along the axial direction of the cylindrical cam 35. The upper connecting member 5 and the lower connecting member 6 have a symmetrical structure. The needle hole is provided on the upper connecting member 5 and the lower connecting member 6 and is coaxially arranged with the guide hole. The axis of the needle hole passes between the adjustable clamping member 8 and the elastic clamping member 9. The needle hole is used to pass through the puncture needle 2. Both the upper connecting member 5 and the lower connecting member 6 are provided with sliding holes that cooperate with the shaft hole of the optical axis 4. The clamping knob 7, the adjustable clamping member 8, and the elastic clamping member 9 are arranged coaxially in sequence. The middle part of the clamping knob 7 is screwed into the clamping seat, and the adjustable clamping member 8 is fixedly installed at one end. Figure 11 As shown, the clamping knob 7 is provided with a tapered shaft; the adjustable clamping member 8 is provided with a tapered hole; the clamping knob 7 and the adjustable clamping member 8 are fixedly connected by the tapered shaft being engaged in the tapered hole.

[0063] One end of the elastic clamping member 9 is inserted into the upper spiral groove 351 or the lower spiral groove 352, and the middle part is screwed into the clamping seat. The other end is opposite to the adjustable clamping member 8. The adjustable clamping member 8 and the elastic clamping member 9 cooperate to clamp the puncture needle 2. The elastic clamping member 9 provides an elastic clamping force to the puncture needle 2. The clamping force between the adjustable clamping member 8 and the elastic clamping member 9 is adjusted by rotating the clamping knob 7. After the needle insertion is completed, the puncture needle 2 is released by rotating the clamping knob 7, thus separating the puncture needle 2. The clamping and release of the puncture needle 2 can be achieved by adjusting the distance between the adjustable clamping member 8 and the elastic clamping member 9. The clamping function is achieved when the distance between the adjustable clamping member 8 and the elastic clamping member 9 is less than or equal to the size of the puncture needle 2, and the release function is achieved when the distance between the adjustable clamping member 8 and the elastic clamping member 9 is greater than the size of the puncture needle 2.

[0064] As shown in Figure 2 the bottom of the upper connecting piece 5 is provided with a half threaded hole at each end, and the top of the lower connecting piece 6 is also provided with a half threaded hole at each end; the upper connecting piece 5 is fixedly connected with the lower connecting piece 6 by screws; when the upper connecting piece 5 and the lower connecting piece 6 are fixedly connected together, the half threaded holes at the two ends of the upper connecting piece 5 and the half threaded holes at the two ends of the lower connecting piece 6 are closed together to form two threaded holes, thereby forming two threaded holes between the upper connecting piece 5 and the lower connecting piece 6, one of which is in threaded cooperation with the clamping knob 7, and the other is in threaded cooperation with the elastic clamping piece 9.

[0065] As shown in Figure 3 and Figure 4 the elastic clamping piece 9 includes an elastic clamping contact piece 91, an elastic clamping cap 92, an outer spring 93, an elastic contact piece 94, and an elastic clamping shell 95 arranged coaxially; one end of the elastic clamping contact piece 91 is threadedly connected with the elastic contact piece 94, and the other end is used for clamping the puncture needle 2; the elastic clamping cap 92 is threadedly connected with the elastic clamping shell 95 and clamped between the elastic clamping contact piece 91 and the elastic contact piece 94, and is used for fixing the elastic clamping contact piece 91; the outer spring 93 is sleeved on the outer circumferential side of the elastic contact piece 94 and abuts between the elastic contact piece 94 and the elastic clamping cap 92; one end of the elastic contact piece 94 extends to the outside of the elastic clamping shell 95 and is inserted into the upper spiral groove 351 and the lower spiral groove 352, and is used for providing elastic force to the elastic clamping contact piece 91; the elastic clamping shell 95 is in threaded cooperation with the clamping seat, and is used for accommodating the outer spring 93, the elastic contact piece 94, and the elastic contact piece 94.

[0066] As shown in Figure 3 and Figure 4 the elastic contact piece 94 includes an elastic contact shell 941, an inner spring 942, a connecting column 943, an elastic contact cap 944, and a contact ball 945; one end of the elastic contact shell 941 is threadedly connected with the elastic clamping contact piece 91, and the other end is threadedly connected with the elastic contact cap 944; one end of the connecting column 943 is limited in the elastic contact shell 941, and the other end is threadedly connected with the contact ball 945 after passing through the elastic contact cap 944; the inner spring 942 is installed in the elastic contact shell 941 and abuts at both ends with the elastic contact shell 941 and the connecting column 943; the contact ball 945 is located at the outer end of the elastic contact cap 944 and is inserted into the upper spiral groove 351 and the lower spiral groove 352; the inner spring 942 is used for providing internal elastic force; the outer spring 93 is sleeved on the outer circumferential side of the elastic contact shell 941 and abuts between the elastic contact piece 94 and the elastic contact cap 944.

[0067] As shown in Figure 9 and Figure 11As shown, one end of the elastic contact shell 941 is provided with an internal threaded hole for threaded connection with the elastic clamping contact piece 91, and the other end is provided with an internal threaded hole for threaded connection with the elastic contact screw cap 944, and an internal shaft 9411 for mounting the internal spring 942 is arranged inside the end towards the elastic contact screw cap 944.

[0068] The above-mentioned puncture device converts rotary motion into reciprocating linear motion by means of the cylindrical cam 35 and the upper and lower clamping needle modules 12, and realizes the alternate movement of the upper and lower clamping needle modules 12 by the rotation of the cylindrical cam 35, adopts the reciprocating needle insertion principle, and combines the cylindrical cam 35, so that the overall volume is greatly reduced. The clamping force of the puncture needle 2 can be adjusted by the upper and lower clamping needle modules 12 to ensure the reliability of the needle insertion. The cylindrical cam 35 only uses one motor 36, which not only realizes the coupling of the needle insertion action and the needle clamping action, but also realizes the mode conversion of the needle insertion and the needle retraction, and has low overall cost, high efficiency and close to actual application.

[0069] The needle insertion process of the above-mentioned puncture device is as follows: Figure 10 As shown, the contact ball 945 in the upper clamping needle module 11 cooperates with the upper helical groove 351, and the contact ball 945 in the lower clamping needle module 12 cooperates with the lower helical groove 352, and the cylindrical cam 35 rotates under the drive of the motor 36, so that the upper helical groove 351 and the lower helical groove 352 also rotate. 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 is in contact with 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 is in contact with 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 is in contact with the upper 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 is in contact with 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-mentioned two processes, the upward and downward alternate movement of the upper clamping needle module 11 and the lower clamping needle module 12 is realized, and finally the needle insertion movement in puncture is realized.

[0070] The needle clamping process of the above-mentioned puncture device is as follows: Figure 11As shown, the clamping knob 7 and the adjustable clamping part 8 are matched as a whole through the shaft hole to support one side of the puncture needle 2 and play the role of needle supporting; during the needle insertion process, when the contact ball 945 of the upper clamping needle module 11 contacts the upper descending groove 3511 or the contact ball 945 of the lower clamping needle module 12 contacts the lower descending groove 3521, the connecting column 943 is extruded to press the inner spring 942, under the elastic action of the inner spring 942, the elastic contact piece 94 is extruded to press the outer spring 93, so that the elastic clamping contact piece 91 contacts the puncture needle 2, and the adjustable clamping part 8 and the elastic clamping contact piece 91 jointly realize the effective clamping of the puncture needle 2; when the contact ball 945 of the upper clamping needle module 11 contacts the upper rising groove 3512 or the contact ball 945 of the lower clamping needle module 12 contacts the lower rising groove 3522, the connecting column 943 is loosened to release the inner spring 942, under the elastic action of the inner spring 942, the elastic contact piece 94 is loosened to release the outer spring 93, so that the elastic clamping contact piece 91 is separated from the puncture needle 2, at this time, the adjustable clamping part 8 and the elastic clamping part 9 have no clamping effect on the puncture needle 2.

[0071] Meanwhile, the clamping knob 7 can be adjusted to realize the adjustment of the clamping force of the adjustable clamping part 8 on the puncture needle 2; after the whole needle insertion is completed, the clamping knob 7 can be adjusted to release the puncture needle 2 as a whole, so as to realize the separation of the puncture needle 2 from the whole device.

[0072] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the claims of the present application and the equivalent technologies thereof, the present application also intends to include these modifications and variations.

Claims

1. A small reciprocating needle insertion puncture device, characterized in that, Includes a needle clamping module and a needle insertion module; The needle insertion module includes a parallel optical axis and a cylindrical cam, and is provided with a guide hole for guiding the puncture needle. 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 puncture needle and adjusting the clamping force of the puncture needle; the upper needle clamping module and the lower needle clamping module have the same structure and are provided with a needle hole coaxial with the guide hole; both the upper needle clamping module and the lower needle clamping module are drivenly connected to the cylindrical cam for converting the rotational motion of the needle insertion module into the reciprocating linear motion of the needle clamping module along the axial direction of the optical axis, and realizing the alternating movement of the puncture needle by the upper needle clamping module and the lower needle clamping module through the rotation of the cylindrical cam; The outer circumferential surface of the cylindrical cam is provided with symmetrical upper and lower helical grooves. 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 and the lower rising groove are arranged opposite to each other; 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.

2. The small reciprocating needle puncture device according to claim 1, 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 each other along the axial direction of the cylindrical cam and are fixedly connected by a plurality of optical axes; both the upper cover plate and the lower cover plate are provided with guide holes that penetrate the thickness; The top end of the cylindrical cam is rotatably mounted on the upper cover plate via the upper bearing, and the bottom end is rotatably mounted on the lower cover plate via the lower bearing; The motor is fixedly mounted on the lower cover plate, and the output shaft of the motor is coaxially and fixedly connected to the cylindrical cam to drive the cylindrical cam to rotate.

3. The small reciprocating needle puncture device according to claim 2, characterized in that, The upper cover plate engages with the outer ring of the upper bearing through a tight fit, the lower cover plate engages with the inner ring of the lower bearing through a tight fit, the cylindrical cam engages with the inner ring of the upper bearing through a tight fit, and the cylindrical cam engages with the outer ring of the lower bearing through a tight fit.

4. The small reciprocating needle puncture device according to claim 2, characterized in that, Both the upper clamping pin module and the lower clamping pin module include a clamping base, a clamping knob, an adjustable clamping component, and an elastic clamping component. The clamping base consists of an upper connector and a lower connector that are fixedly connected and arranged opposite to each other along the axial direction of the cylindrical cam; the upper connector and the lower connector have a symmetrical structure; the needle hole is provided in the upper connector and the lower connector; The clamping knob, the adjustable clamping member, and the elastic clamping member are arranged coaxially in sequence. The middle part of the clamping knob is screwed into the clamping seat, and the adjustable clamping member is fixedly installed at one end. One end of the elastic clamping member is inserted into the upper spiral groove or the lower spiral groove, the middle part is screwed into 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 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 released by rotating the clamping knob after the needle insertion is completed, thereby realizing the separation of the puncture needle.

5. The small reciprocating needle puncture device according to claim 4, characterized in that, The elastic clamping component includes an elastic clamping contact, an elastic clamping cap, an outer spring, an elastic contact, and an elastic clamping outer shell, all arranged coaxially. One end of the elastic clamping contact is threadedly connected to the elastic contact, and the other end is used to clamp the puncture needle; The elastic clamping cap is threadedly connected to the elastic clamping outer shell and is clamped between the elastic clamping contact and the elastic contact to fix the elastic clamping contact. The outer spring is sleeved on the outer periphery of the elastic contact and abuts against the elastic contact and the elastic clamping cap; One end of the elastic contact 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. The elastic clamping housing is screwed into the clamping seat to accommodate the outer spring, the elastic contact, and the elastic contact.

6. The small reciprocating needle puncture device according to claim 5, characterized in that, The elastic contact element includes an elastic contact shell, an inner spring, a connecting post, an elastic contact cap, and a contact ball; One end of the elastic contact housing is threadedly connected to the elastic clamping contact, and the other end is threadedly connected to the elastic contact cap. One end of the connecting post is confined within the elastic contact housing, and the other end passes through the elastic contact cap and is threadedly connected to the contact ball. The inner spring is installed inside the elastic contact housing, and its two ends abut against the elastic contact housing and the connecting post. 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; The inner spring is used to provide internal elastic force; The outer spring is sleeved on the outer periphery of the elastic contact housing and abuts against the elastic contact member and the elastic contact cap.

7. The small reciprocating needle puncture device according to claim 4, characterized in that, The clamping knob is provided with a tapered shaft; the adjustable clamping member is provided with a tapered hole; the clamping knob and the adjustable clamping member are fixedly connected by the tapered shaft engaging with the tapered hole.

8. The small reciprocating needle puncture device according to claim 6, characterized in that, One end of the elastic contact housing is provided with an internal threaded hole that is threadedly connected to the elastic clamping contact, and the other end is provided with an internal threaded hole that is threadedly connected to the elastic contact cap. An inner shaft for installing the inner spring is provided inside the end facing the elastic contact cap.

9. The small reciprocating needle puncture device according to claim 6, characterized in that, The bottom surface of the upper connector is provided with semi-threaded holes at both ends; The upper connector and the lower connector are fixedly connected by screws; two threaded holes are formed between the upper connector and the lower connector, wherein one threaded hole is screwed into the clamping knob and the other threaded hole is screwed into the elastic clamping member.

Images