Bending-controllable puncture soft needle guiding sheath tube mechanism

Abstract

The invention relates to the technical field of medical equipment, and provides a bending-controllable puncture soft needle guiding sheath tube mechanism which comprises a supporting module, a bending-controllable guiding module and a bending-controllable guiding sheath tube, the sheathing canal rotation module is arranged on the supporting module and can fix a sheathing canal and drive the sheathing canal to rotate; the sheathing canal deflection module is arranged on the sheathing canal rotation module and can drive the sheathing canal to horizontally deflect; the safety module is arranged on the supporting module and can be switched between a locking state and an unlocking state, and in the unlocking state, the sheath tube is allowed to be driven to rotate; and in the locking state, the sheath tube is not allowed to be driven to rotate. The device is simple and compact in structure, axial rotation and radial deflection of the sheathing canal are completed through the two driving parts and the transmission structure, interference of two motions is avoided through the designed transmission structure, the structural design is ingenious, and practicability is high.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a controllable bending puncture soft needle guiding sheath mechanism. Background Art

[0002] The first step in the diagnosis and treatment process of lung cancer is diagnosis. Clinically, CT is mostly used as a preliminary reference, and doctors carry out lung cancer management by combining the patient's imaging information. The most reliable clinical diagnosis method for lung cancer often requires clinical biopsy of the patient to take out pathological tissues for examination and judgment. Currently, common biopsy methods include: bronchoscopic puncture biopsy and percutaneous puncture biopsy. Among them, the puncture soft needle biopsy under bronchoscopy is widely used because it enters from the bronchial tract, does not damage other tissues, and is not prone to complications.

[0003] In current percutaneous puncture surgeries, doctors still need to spend a lot of time aiming with the help of CT, which requires a high level of doctor operation skills. It cannot guarantee that the final puncture position is the target point, and the puncture result may not fully reflect the true disease condition. In the transairway puncture biopsy with the help of a bronchoscope, due to the interaction force between the puncture soft needle and the environment during the puncture process, the needle dropping position deviates from the target position.

[0004] The patent document with the publication number US10582914B2 discloses a bronchial puncture catheter assembly for navigating to a patient's target tissue under EMN guidance, including a handle, a shaft, and a catheter tip. The shaft extends from the handle and includes a proximal end and a distal end. The catheter tip is located at the distal end of the shaft and is designed to penetrate tissue. The catheter tip further includes a base member defined along the longitudinal axis of the bronchial puncture catheter and a trailing tip member adjacent to the base member. The trailing tip member tapers relative to the base member and a leading tip member adjacent to the trailing tip member. The leading tip portion further tapers to the distal end. However, the puncture catheter in this patent document still cannot guarantee the accuracy of the puncture result. Summary of the Invention

[0005] Aiming at the defects in the prior art, the purpose of the present invention is to provide a controllable bending puncture soft needle guiding sheath mechanism.

[0006] According to the controllable bending puncture soft needle guiding sheath mechanism provided by the present invention, it includes:

[0007] A support module;

[0008] A sheath tube rotation module, arranged on the support module, capable of fixing the sheath tube and capable of driving the sheath tube to rotate;

[0009] A sheath tube deflection module, arranged on the sheath tube rotation module, capable of driving the sheath tube to deflect horizontally;

[0010] A safety module is configured on the support module and can be switched between a locked state and an unlocked state. In the unlocked state, driving the sheath tube to rotate is allowed; in the locked state, driving the sheath tube to rotate is not allowed.

[0011] Preferably, the support module includes a fixed base, a front support, a bearing, and an intermediate channel. The front support is fixed on the fixed base, and the bearing is arranged on the front support;

[0012] The intermediate channel is placed between the fixed base and the front support to form a channel for the puncture soft needle.

[0013] Preferably, the sheath tube rotation module includes a motor, a motor fixing member, a small gear, a large gear, a sheath tube, and a connecting member;

[0014] The motor fixing member is configured on the fixed base, the motor is arranged on the motor fixing member, the small gear is assembled at the output end of the motor, the large gear is rotatably configured on the front support, the large gear and the small gear are meshed and connected, and the connecting member is configured on the side of the large gear;

[0015] The motor can drive the small gear to rotate and thus drive the large gear to rotate, and the large gear drives the connecting member to rotate synchronously.

[0016] Preferably, the sheath tube has a sheath tube fixing structure provided at the tail end, a puncture soft needle channel hole penetrating along the length direction and located at the center, and two drive wire channel holes provided on both sides of the puncture soft needle channel hole. The puncture soft needle channel hole is the working channel of the sheath tube;

[0017] The sheath tube is assembled on the connecting member through the sheath tube fixing structure.

[0018] Preferably, the connecting member has a central through hole and two sheath tube connection profiles arranged on both sides of the central through hole and communicating with the central through hole;

[0019] The sheath tube deflection module includes drive wires and wire fixing structure members. The front ends of the two drive wires are respectively connected to the front end of the sheath tube through the two drive wire channel holes, and the rear ends of the two drive wires are configured on the wire fixing structure members. By driving the two drive wires, the front end of the sheath tube can be horizontally deflected;

[0020] The sheath tube penetrates through the central through hole and the sheath tube fixing structure is configured in the sheath tube connection profile, so that the sheath tube is assembled on the connecting member.

[0021] Preferably, the sheath tube deflection module further includes a support plate and a servo motor. A support plate fixing hole is provided on the large gear, and the support plate is fixedly connected to the large gear through the support plate fixing hole;

[0022] The support plate is detachably fixed on the large gear, the servo motor is detachably fixed on the support plate, the wire fixing structure is arranged on the output end of the servo motor, and the rear ends of the two driving wires are both arranged on the wire fixing structure. When the servo motor rotates, it can drive the wire fixing structure to rotate, so that the two driving wires fixed on the wire fixing structure move in opposite directions, causing the sheath tube to deflect left and right in the horizontal direction;

[0023] When the large gear rotates, it can drive the support plate and the servo motor and the wire fixing structure fixed on the support plate to rotate synchronously.

[0024] Preferably, a connecting piece joint surface is provided on the large gear, and the connecting piece has a large gear connection joint surface matching the connecting piece joint surface. The large gear connection joint surface can be assembled to the connecting piece joint surface to connect the large gear and the connecting piece.

[0025] Preferably, a bearing contact surface is provided on the large gear, and one side of the bearing arranged on the front support is assembled to the bearing contact surface to fixedly support the large gear on the front support.

[0026] Preferably, the safety module includes a locking piece base and a locking structure;

[0027] The locking piece base is fixed on the fixed base. A sliding groove is provided on the locking piece base, and the locking structure is arranged on the locking piece base and can move back and forth along the sliding groove;

[0028] When the locking structure moves to a position directly opposite the large gear, the safety module is in the locked state, and at this time, the large gear is not allowed to rotate. When the locking structure moves to a position deviating from the large gear, the safety module is in the unlocked state, and at this time, the large gear is allowed to rotate.

[0029] Preferably, a gear tooth engagement profile is provided on the locking structure, and the gear tooth engagement profile is used to engage with the teeth of the large gear to achieve locking.

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

[0031] 1. The present invention designs an independent controllable sheath for the puncture soft needle. During the implementation of the puncture, the sheath of the present invention will first enter the working channel of the bronchoscope, and then the puncture soft needle will enter the controllable sheath of the present invention, solving the problem that the diameter of the puncture needle does not match the diameter of the working channel of the bronchoscope, thus making it easy for the puncture soft needle to bend in the channel.

[0032] 2. The controllable sheath designed by the present invention can extend a certain distance outside the bronchoscope after entering it, improving the flexibility of the puncture soft needle and expanding the reachable space; solving the problem that the puncture range can only be near the position that the bronchoscope head can reach, and the puncture depth is restricted by the position of the bronchoscope.

[0033] 3. The present invention is a controllable bending puncture soft needle guiding sheath mechanism. By adding a rotation structure and a deflection structure to the sheath, the control of the sheath pose is realized. At the same time, the locking device set ensures that the sheath pose remains unchanged during the puncture process, improving the accuracy of the soft needle puncture.

[0034] 4. The present invention sets the implementation mechanism of the sheath deflection function on the rotating large gear, ensuring that the two movements of the sheath rotation and bending do not interfere with each other, and at the same time avoiding the occurrence of the driving wire being wound due to rotation, with stronger practicability.

[0035] 5. The deflection structure adopted in the present invention realizes the bending of the sheath by a servo motor driving two driving wires. The structure is simple and clear. At the same time, the intermediate channel designed in the present invention isolates the channel through which the puncture soft needle passes from the external structure, avoiding possible contamination. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:

[0037] Figure 1 It is a schematic structural diagram of the present invention in one direction;

[0038] Figure 2 It is a schematic structural diagram of the present invention in another direction;

[0039] Figure 3 It is a schematic structural diagram of the present invention in one direction, wherein the front end of the sheath is in a state of bending to the right;

[0040] Figure 4 is Figure 3 a schematic structural diagram after the large gear in rotates a certain angle;

[0041] Figure 5 It is a schematic structural diagram of one direction when the sheath, bearing and connecting piece are assembled together;

[0042] Figure 6 Schematic diagram of the structure in another direction when the sheath tube, bearing, and connecting piece are assembled together;

[0043] Figure 7 Schematic diagram of the structure of the large gear;

[0044] Figure 8 Schematic diagram of the structure of the sheath tube;

[0045] Figure 9 Schematic diagram of the structure of the intermediate channel;

[0046] Figure 10 For Figure 9 Cross-sectional view along the axial direction;

[0047] Figure 11 Schematic diagram of the structure of the locking structural member;

[0048] Figure 12 Schematic diagram of the structure of the connecting piece;

[0049] Figure 13 For Figure 12 Cross-sectional view along the axial direction.

[0050] The figure shows:

[0051] Fixed base 1;

[0052] Front support 2;

[0053] Motor 3;

[0054] Motor fixing piece 4;

[0055] Small gear 5;

[0056] Large gear 6;

[0057] Support plate fixing hole 601;

[0058] Connecting piece joint surface 602;

[0059] Bearing contact surface 603;

[0060] Sheath tube 7;

[0061] Puncture soft needle channel hole 701;

[0062] Drive wire channel hole 702;

[0063] Sheath tube fixing structure 703;

[0064] Bearing 8;

[0065] Connecting piece 9;

[0066] Large gear connection joint surface 901;

[0067] Sheath tube connection profile 902;

[0068] Middle channel 10;

[0069] Puncture soft needle working hole 1001;

[0070] Drive wire channel 1002;

[0071] Connector connection profile 1003;

[0072] Drive wire 11;

[0073] Support plate 12;

[0074] Servo 13;

[0075] Wire fixing structure 14;

[0076] Locking part base 15;

[0077] Locking structure 16;

[0078] Gear tooth engagement profile 1601. Specific embodiments

[0079] The present invention will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several changes and improvements can still be made. These all fall within the protection scope of the present invention.

[0080] Embodiment 1:

[0081] The present invention provides a controllable bending puncture soft needle guiding sheath tube mechanism, including a sheath tube rotation module, a sheath tube deflection module, a safety module and a support module. The support module is the fixed part of the entire mechanism and is used to support other modules; the sheath tube rotation module is arranged on the support module, and the sheath tube rotation module can fix the sheath tube 7 and can drive the sheath tube 7 to rotate, controlling the sheath tube to complete a 360-degree rotation; the sheath tube deflection module is arranged on the sheath tube rotation module, and the sheath tube deflection module realizes the horizontal deflection of the sheath tube 7, controlling the sheath tube 7 to complete the deflection in the left and right directions; the safety module is configured on the support module and can switch between a locked state and an unlocked state. When in the unlocked state, driving the sheath tube 7 to rotate is allowed; when in the locked state, driving the sheath tube 7 to rotate is not allowed.

[0082] The support module includes a fixed base 1, a front support member 2, an intermediate channel 10, and a bearing 8. The front support member 2 is fixed to the fixed base 1, preferably by welding or integrally formed. The fixed base 1 is provided with a plurality of threaded holes, and the adjacent threaded holes are arranged at intervals. The fixed base 1 can be fixed to other mechanisms by threaded connection. The bearing 8 is arranged on the front support member 2 to support the large gear 6. The intermediate channel 10 is placed between the fixed base 1 and the front support member 2 to form a channel for puncturing the soft needle and isolate other structures at the same time.

[0083] The sheath tube rotation module includes a motor 3, a motor fixing member 4, a small gear 5, a large gear 6, a sheath tube 7, and a connecting member 9. The motor fixing member 4 is arranged on the fixed base 1. The motor 3 is arranged on the motor fixing member 4. The small gear 5 is assembled at the output end of the motor 3. The large gear 6 is rotatably arranged on the front support member 2. The large gear 6 and the small gear 5 are meshed and connected. The connecting member 9 is arranged on the side of the large gear 6. The motor 3 can drive the small gear 5 to rotate and then drive the large gear 6 to rotate. The large gear 6 drives the connecting member 9 to rotate synchronously. It should be noted that there is a bearing 8 at the position on the front support member 2 that supports the large gear 6. The connecting member 9 is connected to the sheath tube 7. The large gear 6, the connecting member 9, and the sheath tube 7 are assembled together and can rotate synchronously. Driven by the motor 3, the small gear 5 rotates, and then the large gear 6 meshed with the small gear 5 is driven. The large gear 6 drives the connecting member 9 and the sheath tube 7 to achieve 360-degree rotation of the sheath tube 7.

[0084] The sheath tube deflection module includes a drive wire 11, a support plate 12, a servo motor 13, and a wire fixing structural member 14. The support plate 12 is fixed to the large gear 6. The servo motor 13 is fixed to the support plate 12. The wire fixing structural member 14 is fixed to the output end of the servo motor 13. When the large gear 6 rotates, it can drive the support plate 12 and the servo motor 13 and the wire fixing structural member 14 fixed on the support plate 12 to rotate synchronously. There are 2 drive wires 11 in total, and the two drive wires 11 are exactly the same. Among them, for a single drive wire 11, one end of the drive wire 11 is fixed to the front end of the sheath tube 7, and the other end is fixed to the wire fixing structural member 14. Driven by the rotation of the servo motor 13, the wire fixing structural member 14 rotates, so that the two drive wires 11 fixed on the wire fixing structural member 14 move in opposite directions, that is, one drive wire 11 is relaxed and the other drive wire 11 is tightened, causing the front end of the sheath tube 7 to deflect left and right in the horizontal direction.

[0085] The sheath tube deflection module is arranged on the sheath tube rotation module, that is, the rotational movement of the sheath tube 7 will not affect the deflection of the sheath tube 7, avoiding situations such as winding of the drive wire 11 during the transmission process. It should be noted that the "fixing" in the present invention can adopt various assembly forms, such as welding, bolt fixing, clamping, bonding, etc. How to fix each specific part is flexibly selected according to the actual situation of each part to meet the comprehensive requirements of good product firmness and easy disassembly.

[0086] The safety module includes a locking base 15 and a locking structure 16; the locking base 15 is fixed on the fixed base 1, the locking structure 16 is placed on the locking base 15, the locking base 15 is provided with a chute, preferably a trapezoidal chute, and the locking structure 16 placed on the locking base 15 can move back and forth along the trapezoidal chute. There is a Y-shaped structure on the locking structure 16, which can engage with the teeth of the large gear 6. When the locking structure 16 moves to the position of the large gear 6, the tooth engaging surface on the locking structure 16 can lock with the teeth of the large gear 6, and the safety module is in the locked state. At this time, the large gear 6 is not allowed to rotate, realizing the locking of the position of the large gear 6 and ensuring the fixation of the posture of the sheath tube 7. When the locking structure 16 moves to a position deviating from the large gear 6, the safety module is in the unlocked state. At this time, the large gear 6 is allowed to rotate, and the rotary motion of the sheath tube 7 can be realized to adjust the posture of the sheath tube 7.

[0087] In the prior art, the puncture soft needle sheath tube for bronchial biopsy is mostly the working channel of the bronchoscope. However, in the present invention, an independent controllable sheath tube 7 is designed for the puncture soft needle. During the implementation of the puncture, the sheath tube 7 of the present invention will first enter the working channel of the bronchoscope, and then the puncture soft needle will enter the controllable sheath tube 7 of the present invention, solving the problems that the diameter of the puncture needle does not match the diameter of the working channel of the bronchoscope, resulting in the puncture soft needle being easily bent in the channel. The controllable sheath tube 7 designed in the present invention can extend out a certain distance after entering the bronchoscope, improving the flexibility of the puncture soft needle and expanding the reachable space; solving the problem that the puncture range can only be near the position that the bronchoscope head can reach, and the puncture depth is restricted by the position of the bronchoscope. The structure of the present invention is simple and compact. The axial rotation and radial deflection of the sheath tube 7 are completed through two driving parts and a transmission structure. The designed transmission structure avoids the interference of the two movements, with a clever structure design and strong practicability.

[0088] Embodiment 2:

[0089] This embodiment is a preferred example of Embodiment 1.

[0090] As Figures 1 to 13 shown, this embodiment provides a controllable bending puncture soft needle guiding sheath tube mechanism, including a fixed base 1, a front support 2, a motor 3, a motor fixing part 4, a small gear 5, a large gear 6, a sheath tube 7, a bearing 8, a connecting part 9, an intermediate channel 10, a driving wire 11, a support plate 12, a steering gear 13, a wire fixing structure 14, a locking base 15, and a locking structure 16.

[0091] Specifically, as Figure 1 、 Figure 2As shown, the fixed base 1 and the front support member 2 are connected to serve as the supporting part of the entire mechanism; the motor fixing member 4 is arranged on the fixed base 1, the motor 3 is configured on the motor fixing member 4, and the small gear 5 is sleeved on the output shaft of the motor 3; the large gear 6 is arranged on the front support member 2 through the bearing 8, the large gear 6 meshes with the small gear 5, and when the motor 3 rotates, it drives the small gear 5 to rotate and then can drive the large gear 6 to rotate.

[0092] As Figure 1 , Figure 2 , Figure 5 As shown, the sheath tube 7 is fixed on the connecting member 9, and the left and right sides of the connecting member 9 are respectively connected to the large gear 6 and the intermediate channel 10. When the large gear 6 rotates, it can drive the sheath tube 7 and the intermediate channel 10 to rotate synchronously; the support plate 12 is fixed on the large gear 6, the steering gear 13 is fixed on the support plate 12, the wire fixing structure member 14 is connected to the output end of the steering gear 13, one end of the driving wire 11 is fixed at the front end of the sheath tube 7, and the other end is fixed on the wire structure fixing member 14. The bending and straightening of the sheath tube 7 are realized by the tensioning and relaxation of the two driving wires 11 fixed on the wire fixing structure member 14.

[0093] As Figure 7 As shown, the large gear 6 is provided with a support plate fixing hole 601, and the support plate 12 is fixedly connected to the large gear 6 through the support plate fixing hole 601; the large gear 6 is provided with a connecting member joint surface 602. As Figure 12 shown, the connecting member 9 has a large gear connection joint surface 901, and the large gear connection joint surface 901 can be assembled to match the connecting member joint surface 602 to realize the connection between the large gear 6 and the connecting member 9; the large gear 6 is provided with a bearing contact surface 603, and the bearing 8 arranged on the front support member 2 engages with the bearing contact surface 603 to radially fix the large gear 6 on the front support member 2.

[0094] As Figure 8 , Figure 12 , Figure 13 As shown, the sheath tube 7 has a sheath tube fixing structure 703 arranged at the tail end, a puncture soft needle channel hole 701 penetrating along the length direction and located at the center, and two driving wire channel holes 702 arranged on both sides of the puncture soft needle channel hole 701. The puncture soft needle channel hole 701 is the working channel of the sheath tube 7; the sheath tube 7 is assembled on the connecting member 9 through the sheath tube fixing structure 703. The sheath tube 7 is a hollow structure, and there are two holes with the same diameter at the symmetric positions of the sheath tube wall, which are the driving wire channel holes 702.

[0095] Furthermore, the connecting member 9 has a central through-hole and two sheath connection profiles 902 arranged on both sides of the central through-hole and communicating with the central through-hole. The front ends of the two drive wires 11 are respectively connected to the front end of the sheath 7 through two drive wire passage holes 702. The rear ends of the two drive wires 11 are arranged on the wire fixing structure member 14. By driving the two drive wires 11, the front end of the sheath 7 can be horizontally deflected. The sheath 7 passes through the central through-hole and the sheath fixing structure 703 is arranged in the sheath connection profile 902, so that the sheath 7 is assembled on the connecting member 9. Specifically, the drive wires 11 are respectively connected to the front end of the sheath and the wire fixing structure member 14 through the drive wire passage holes 702. The sheath fixing structure 703 is combined with the sheath connection profile 902 of the connecting member 9 to assemble the sheath 7 and the connecting member 9 together.

[0096] As Figure 9 , Figure 10 shown, a puncture soft needle working hole 1001 is provided on the intermediate channel 10. The puncture soft needle working hole 1001 is the working channel of the intermediate channel 10. A drive wire channel 1002 is provided on the intermediate channel 10. The drive wire channel 1002 is a rectangular groove structure when viewed from the outside of the intermediate channel 10. One end of the drive wire 11 connected to the front end of the sheath 7 passes through the drive wire channel 701 of the sheath 7 and then extends out through the drive wire channel 1002 of the intermediate channel 10 and is connected to the wire fixing structure member 11. A connecting member connection profile 1003 is provided on the intermediate channel 10 and is combined with the intermediate channel connection profile 903 of the connecting member 9 to connect the connecting member 9 and the intermediate channel 10. A gear tooth engagement profile 1601 is provided on the locking structure member 16 to engage with the teeth of the large gear 6 to achieve locking. It should be noted that the motor fixing member 4 and the locking member base 15 can move synchronously forward and backward or backward to fix the position, and the outer extension length of the intermediate channel 10 can be adjusted.

[0097] The controllable bending puncture soft needle guiding sheath mechanism designed by the present invention is a functionally complete module, which can be applied to other medical devices and has strong portability. For the controllable bending puncture soft needle guiding sheath mechanism, by adding a rotation structure and a deflection structure of the sheath, the control of the sheath pose is realized. At the same time, the locking device provided ensures that the sheath posture remains unchanged during the puncture process, improving the accuracy of the soft needle puncture.

[0098] The structure of the present invention is simple. The axial rotation and radial deflection of the front end of the sheath are realized through two driving members and a transmission structure. An isolation channel for the puncture needle to pass through is provided to ensure that the puncture needle is not interfered with and polluted, and a locking structure is provided to ensure that the sheath posture remains unchanged after the position is adjusted.

[0099] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0100] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. Without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A controllable bending puncture soft needle guide sheath mechanism, characterized in that: include: Support module; a sheath tube rotation module, arranged on the support module, capable of fixing the sheath tube (7) and driving the sheath tube (7) to rotate; A sheath tube deflection module, arranged on the sheath tube rotation module and capable of driving the sheath tube (7) to deflect horizontally; a safety module, arranged on the support module and capable of switching between a locked state and an unlocked state, wherein in the unlocked state, the sheath tube (7) is allowed to be driven to rotate; In the locked state, the sheath tube (7) is not allowed to be driven to rotate.

2. The controllable bending puncture soft needle guide sheath mechanism according to claim 1, characterized in that: The support module comprises a fixed base (1), a front support member (2), a bearing (8) and a middle channel (10), wherein the front support member (2) is fixed on the fixed base (1), and the bearing (8) is arranged on the front support member (2); The middle channel (10) is placed between the fixed base (1) and the front support (2) to form a channel for the puncture soft needle.

3. The controllable bending puncture soft needle guide sheath mechanism according to claim 2, characterized in that: The sheath tube rotation module comprises a motor (3), a motor fixing member (4), a small gear (5), a large gear (6), a sheath tube (7) and a connecting member (9); The motor fixing member (4) is arranged on the fixing base (1), the motor (3) is arranged on the motor fixing member (4), the pinion gear (5) is assembled on the output end of the motor (3), the large gear (6) is rotatably arranged on the front supporting member (2), the large gear (6) and the pinion gear (5) are meshed and connected, and the connecting member (9) is arranged on the side of the large gear (6); The motor (3) can drive the small gear (5) to rotate and then drive the large gear (6) to rotate, and the large gear (6) drives the connecting member (9) to rotate synchronously.

4. The controllable bending puncture soft needle guiding sheath mechanism according to claim 3, characterized in that: The sheath tube (7) comprises a sheath tube fixing structure (703) arranged at the tail end, a puncture soft needle channel hole (701) penetrating along the length direction and located at the center, and two drive wire channel holes (702) arranged on both sides of the puncture soft needle channel hole (701), and the puncture soft needle channel hole (701) is a working channel of the sheath tube (7); The sheath tube (7) is assembled on the connecting piece (9) via a sheath tube fixing structure (703).

5. The controllable bending puncture soft needle guiding sheath mechanism according to claim 4, characterized in that: The connecting piece (9) has a central through hole and two sheath tube connecting profiles (902) arranged on both sides of the central through hole and connected to the central through hole; The sheath tube deflection module comprises a driving wire (11) and a wire fixing structure (14), the front ends of the two driving wires (11) are connected to the front end of the sheath tube (7) through two driving wire channel holes (702) respectively, and the rear ends of the two driving wires (11) are arranged on the wire fixing structure (14), and the front end of the sheath tube (7) can be driven to deflect horizontally by driving the two driving wires (11); The sheath tube (7) passes through the central through hole and the sheath tube fixing structure (703) is arranged in the sheath tube connection profile (902) so that the sheath tube (7) is assembled on the connecting piece (9).

6. The controllable bending puncture soft needle guiding sheath mechanism according to claim 5, characterized in that: The sheath tube deflection module further comprises a support plate (12) and a steering gear (13); a support plate fixing hole (601) is provided on the large gear (6); and the support plate (12) is fixedly connected to the large gear (6) via the support plate fixing hole (601); The support plate (12) is detachably fixed on the large gear (6), the steering gear (13) is detachably fixed on the support plate (12), the wire fixing structure (14) is arranged on the output end of the steering gear (13), and the rear ends of the two driving wires (11) are arranged on the wire fixing structure (14). When the steering gear (13) rotates, it can drive the wire fixing structure (14) to rotate, thereby causing the two driving wires (11) fixed on the wire fixing structure (14) to move in opposite directions, so that the sheath tube (7) produces a horizontal left-right deflection; When the large gear (6) rotates, it can drive the support plate (12), the steering engine (13) fixed on the support plate (12), and the wire fixing structure (14) to rotate synchronously.

7. The controllable bending puncture soft needle guiding sheath mechanism according to claim 6, characterized in that: The large gear (6) is provided with a connecting piece coupling surface (602), and the connecting piece (9) has a large gear connecting coupling surface (901) matching the connecting piece coupling surface (602), and the large gear connecting coupling surface (901) can be matched and assembled on the connecting piece coupling surface (602) to achieve the connection between the large gear (6) and the connecting piece (9).

8. The controllable bending puncture soft needle guiding sheath mechanism according to claim 6, characterized in that: The large gear (6) is provided with a bearing contact surface (603), and one side of a bearing (8) arranged on the front support member (2) is assembled onto the bearing contact surface (603), so that the large gear (6) is fixedly supported on the front support member (2).

9. The controllable bending puncture soft needle guiding sheath mechanism according to claim 3, characterized in that: The safety module comprises a locking member base (15) and a locking structure (16); The locking member base (15) is fixed on the fixed base (1), the locking member base (15) is provided with a slide groove, and the locking structure (16) is arranged on the locking member base (15) and can move forward and backward along the slide groove; When the locking structure (16) moves to a position facing the large gear (6), the safety module is in the locked state, at which time the large gear (6) is not allowed to rotate; when the locking structure (16) moves to a position away from the large gear (6), the safety module is in the unlocked state, at which time the large gear (6) is allowed to rotate.

10. The controllable bending puncture soft needle guiding sheath mechanism according to claim 6, characterized in that: The locking structure (16) is provided with a gear tooth engagement profile (1601), and the gear tooth engagement profile (1601) is used to engage with the gear teeth of the large gear (6) to achieve locking.

Images