Controllably bent puncture soft needle guide sheath tube mechanism

Abstract

The present application relates to the technical field of medical equipment, and provides a controllable bending puncture soft needle guide sheath mechanism, which comprises a support module, a sheath rotation module arranged on the support module, capable of fixing a sheath and driving the sheath to rotate, a sheath deflection module arranged on the sheath rotation module and capable of driving the sheath to horizontally deflect, and a safety module arranged on the support module and capable of being switched between a locked state and an unlocked state, wherein the safety module allows the sheath to be driven to rotate in the unlocked state, and does not allow the sheath to be driven to rotate in the locked state. The present application has a simple and compact structure, and axial rotation and radial deflection of the sheath are completed through two driving members and a transmission structure. The transmission structure avoids interference between the two movements, has a clever structure design, and is practical.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, in particular to a controllable bending puncture soft needle guide sheath mechanism. BACKGROUND

[0002] The first step of the lung cancer diagnosis and treatment process is diagnosis. Clinically, CT is often used as the initial reference. Doctors combine patient image information to carry out lung cancer management. The most reliable clinical diagnosis method for lung cancer often requires clinical biopsy to remove pathological tissue for testing. The current common biopsy methods include bronchoscopic puncture biopsy and percutaneous puncture biopsy. Bronchoscopic puncture soft needle biopsy is widely used because it enters from the bronchial tube without damaging other tissues and is less likely to cause complications.

[0003] The current percutaneous puncture surgery still requires doctors to use CT to spend a lot of time aiming. The operation level of the doctor is high, and it is impossible to guarantee that the final puncture position is the target point. The puncture result may not completely reflect the actual disease condition. The transairway puncture biopsy assisted by the bronchoscope also causes the needle drop position to deviate from the target position due to the interaction between the puncture soft needle and the environment during the puncture process.

[0004] The patent document with publication number US10582914B2 discloses a bronchial puncture catheter assembly for navigating to target tissue of a patient 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 a 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 of this patent document still cannot guarantee the accuracy of the puncture result. SUMMARY

[0005] In view of the defects in the prior art, the purpose of the present application is to provide a controllable bending puncture soft needle guide sheath mechanism.

[0006] According to the controllable bending puncture soft needle guide sheath mechanism provided by the present application, the controllable bending puncture soft needle guide sheath mechanism comprises:

[0007] a support module;

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

[0009] a sheath deflection module arranged on the sheath rotation module and capable of driving the sheath to horizontally deflect;

[0010] A safety module is arranged on the support module and is capable of switching between a locked state and an unlocked state, in the unlocked state, the sheath is allowed to be driven to rotate; in the locked state, the sheath is not allowed to be driven to rotate.

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

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

[0013] Preferably, the sheath rotation module comprises a motor, a motor fixing member, a pinion, a large gear, a sheath, and a connecting member.

[0014] The motor fixing member is arranged on the fixed base, the motor is arranged on the motor fixing member, the pinion is assembled on the output end of the motor, the large gear is rotatably arranged on the front support, the large gear and the pinion are connected in meshing, and the connecting member is arranged on the side surface of the large gear.

[0015] The motor is capable of driving the pinion to rotate and in turn driving the large gear to rotate, and the large gear drives the connecting member to rotate synchronously.

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

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

[0018] Preferably, the connecting member has a center through hole and two sheath connecting profiles arranged on both sides of the center through hole and in communication with the center through hole.

[0019] The sheath deflection module comprises drive wires and a wire fixing structure, the front ends of the two drive wires are connected to the front end of the sheath through the two drive wire channel holes respectively, the rear ends of the two drive wires are arranged on the wire fixing structure, and driving the two drive wires can drive the front end of the sheath to deflect horizontally.

[0020] The sheath penetrates through the center through hole, and the sheath fixing structure is arranged in the sheath connecting profile, so that the sheath is assembled on the connecting member.

[0021] Preferably, the sheath deflection module further comprises a bracket and a rudder, the bracket is provided with a bracket fixing hole on the large gear, and the bracket is fastened to the large gear through the bracket fixing hole;

[0022] The bracket is detachably fixed on the large gear, the rudder is detachably fixed on the bracket, the wire fixing structure is arranged on the output end of the rudder, the rear ends of the two driving wires are arranged on the wire fixing structure, when the rudder rotates, the wire fixing structure can be driven to rotate, and then the two driving wires fixed on the wire fixing structure move in opposite directions, so that the sheath generates horizontal left and right deflection.

[0023] When the large gear rotates, the bracket, the rudder and the wire fixing structure fixed on the bracket can be synchronously rotated.

[0024] Preferably, the large gear is provided with a connecting piece combination surface, the connecting piece is provided with a large gear connecting combination surface matched with the connecting piece combination surface, and the large gear connecting combination surface can be matched and assembled on the connecting piece combination surface, so as to realize the connection of the large gear and the connecting piece.

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

[0026] Preferably, the safety module comprises a locking piece base and a locking structure.

[0027] The locking piece base is fixed on the fixed base, the locking piece base is provided with a sliding groove, and the locking structure is arranged on the locking piece base and can move forward and backward along the sliding groove.

[0028] When the locking structure moves to a position opposite to the large gear, the safety module is in the locking state, and the rotation of the large gear is not allowed at this time, and when the locking structure moves to a position deviated from the large gear, the safety module is in the unlocking state, and the rotation of the large gear is allowed at this time.

[0029] Preferably, the locking structure is provided with a gear tooth engagement profile, and the gear tooth engagement profile is used to engage with the gear tooth of the large gear, so as to realize locking.

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

[0031] 1. The independent controllable sheath tube is designed for the soft puncture needle, when the puncture is implemented, the sheath tube of the application enters the working channel of the bronchoscope first, and then the soft puncture needle enters the controllable sheath tube of the application, so that the problems of the mismatch between the diameter of the puncture needle and the diameter of the working channel of the bronchoscope and the bending of the soft puncture needle in the channel are solved.

[0032] 2. The controllable sheath tube designed in the application can extend outwards by a certain distance after entering the bronchoscope, so that the flexibility of the soft puncture needle is improved and the reachable space is expanded, and the problems that the puncture range can only be near the position reached by the head of the bronchoscope and the puncture depth is restricted by the position of the bronchoscope are solved.

[0033] 3. The controllable bending soft puncture needle guide sheath tube mechanism of the application realizes the control of the pose of the sheath tube by increasing the rotating structure of the sheath tube and the deflection structure of the sheath tube, and the locking device is arranged to ensure that the pose of the sheath tube remains unchanged during the puncture process, thereby improving the accuracy of the soft puncture.

[0034] 4. The realization mechanism of the deflection function of the sheath tube is arranged on the rotating large gear, so that the rotation and bending of the sheath tube are not interfered with, and the winding of the driving wire due to rotation is also avoided, and the practicability is higher.

[0035] 5. The deflection structure used in the application realizes the bending of the sheath tube by a steering wheel driving two driving wires, and the structure is simple and clear, and the intermediate channel designed in the application isolates the channel passed by the soft puncture needle from the external structure, so that pollution is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0036] Other features, objects and advantages of the application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings:

[0037] Figure 1 is a structural schematic view in one direction of the application;

[0038] Figure 2 is a structural schematic view in another direction of the application;

[0039] Figure 3 is a structural schematic view in one direction of the application, wherein the front end of the sheath tube is in a state of bending to the right side;

[0040] Figure 4 is a structural schematic view of the large gear in Figure 3 after rotating by a certain angle;

[0041] Figure 5 is a structural schematic view in one direction when the sheath tube, the bearing and the connecting piece are assembled together;

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

[0043] Figure 7 Structure diagram of the large gear;

[0044] Figure 8 Structure diagram of the sheath;

[0045] Figure 9 Structure diagram of the intermediate channel;

[0046] Figure 10 Structure diagram of Figure 9 Axial direction sectional view;

[0047] Figure 11 Structure diagram of the locking structure;

[0048] Figure 12 Structure diagram of the connecting piece;

[0049] Figure 13 Structure diagram of Figure 12 Axial direction sectional view.

[0050] Shown in the figure are:

[0051] Fixed base 1;

[0052] Front support 2;

[0053] Motor 3;

[0054] Motor fixing piece 4;

[0055] Pinion 5;

[0056] Large gear 6;

[0057] Pallet fixing hole 601;

[0058] Connecting piece joint surface 602;

[0059] Bearing contact surface 603;

[0060] Sheath 7;

[0061] Puncture soft needle channel hole 701;

[0062] Drive wire channel hole 702;

[0063] Sheath fixing structure 703;

[0064] Bearing 8;

[0065] Connecting piece 9;

[0066] Large gear connecting joint surface 901;

[0067] Sheath connecting profile 902;

[0068] Intermediate channel 10;

[0069] Puncture soft needle working hole 1001;

[0070] Drive wire channel 1002;

[0071] Connector connecting profile 1003;

[0072] Drive wire 11;

[0073] Support plate 12;

[0074] Steering wheel 13;

[0075] Wire fixing structure 14;

[0076] Locking member base 15;

[0077] Locking structure 16;

[0078] Gear tooth engagement profile 1601. DETAILED DESCRIPTION

[0079] The present application will be described in detail below with specific embodiments. The following examples will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of changes and improvements can be made. These are within the scope of the present application.

[0080] Example 1:

[0081] The present application provides a controllable bending puncture soft needle guide sheath mechanism, comprising a sheath rotation module, a sheath deflection module, a safety module and a support module, the support module is the fixed part of the whole mechanism, used to support other modules; the sheath rotation module is arranged on the support module, and the sheath rotation module can fix the sheath 7 and drive the sheath 7 to rotate, control the sheath to complete 360 degree rotation; the sheath deflection module is arranged on the sheath rotation module, and the sheath deflection module realizes the horizontal deflection of the sheath 7, controls the sheath 7 to complete the deflection in left and right directions; the safety module is arranged on the support module and can be switched between the locked state and the unlocked state, in the unlocked state, the sheath 7 is allowed to rotate; in the locked state, the sheath 7 is not allowed to rotate.

[0082] The support module comprises a fixed base 1, a front support 2, an intermediate channel 10 and a bearing 8, the front support 2 is fixed on the fixed base 1, preferably welded or integrally formed, the fixed base 1 is provided with a plurality of threaded holes, the adjacent threaded holes are arranged at intervals, and the fixed base 1 can be fixed on other mechanisms through threaded connection. The bearing 8 is arranged on the front support 2 and used for supporting the large gear 6, and the intermediate channel 10 is arranged between the fixed base 1 and the front support 2, forming a channel for the soft needle to pass through and isolating other structures at the same time.

[0083] The sheath rotation module comprises a motor 3, a motor fixing part 4, a pinion 5, a large gear 6, a sheath 7 and a connecting part 9, the motor fixing part 4 is arranged on the fixed base 1, the motor 3 is arranged on the motor fixing part 4, the pinion 5 is assembled on the output end of the motor 3, the large gear 6 is rotatably arranged on the front support 2, the large gear 6 and the pinion 5 are connected in meshing, and the connecting part 9 is arranged on the side surface of the large gear 6. The motor 3 can drive the pinion 5 to rotate and further drive the large gear 6 to rotate, and the large gear 6 drives the connecting part 9 to rotate synchronously. It should be noted that the position of the front support 2 supporting the large gear 6 is provided with the bearing 8, the connecting part 9 is connected with the sheath 7, the large gear 6, the connecting part 9 and the sheath 7 are assembled together and can rotate synchronously; the motor 3 drives the pinion 5 to rotate, and then drives the large gear 6 meshing with the pinion 5, the connecting part 9 and the sheath 7 are driven by the large gear 6, so that the sheath 7 rotates 360 degrees.

[0084] The sheath deflection module comprises a driving wire 11, a supporting plate 12, a steering wheel 13 and a wire fixing structure 14, the supporting plate 12 is fixed on the large gear 6, the steering wheel 13 is fixed on the supporting plate 12, and the wire fixing structure 14 is fixed on the output end of the steering wheel 13. The large gear 6 rotates to drive the supporting plate 12, the steering wheel 13 fixed on the supporting plate 12 and the wire fixing structure 14 to rotate synchronously; the driving wire 11 comprises two wires, and the two wires are completely consistent. For a single driving wire 11, one end of the driving wire 11 is fixed on the front end of the sheath 7, and the other end is fixed on the wire fixing structure 14; the steering wheel 13 drives the wire fixing structure 14 to rotate, so that the two driving wires 11 fixed on the wire fixing structure 14 move in opposite directions, that is, one driving wire 11 is loosened, and the other driving wire 11 is tightened, so that the front end of the sheath 7 deflects left and right in the horizontal direction.

[0085] The sheath deflection module is arranged on the sheath rotation module, that is, the rotation movement of the sheath 7 does not affect the deflection of the sheath 7, and the winding and other situations of the driving wire 11 in the transmission process are avoided. It should be noted that the "fixing" in the present application can adopt various assembly forms, such as welding, bolt fixing, clamping, bonding and the like, and the specific fixing of each part is flexibly selected according to the actual situation of each part to meet the comprehensive needs of good product firmness, easy disassembly and the like.

[0086] The safety module comprises a locking element base 15 and a locking structure 16; the locking element base 15 is fixed on the fixed base 1, and the locking structure 16 is placed on the locking element base 15; the locking element base 15 is provided with a sliding groove, preferably a trapezoidal sliding groove; the locking structure 16 placed on the locking element base 15 can move forward and backward along the trapezoidal sliding groove; the locking structure 16 is provided with a Y-shaped structure, which can engage with the gear teeth of the large gear 6. When the locking structure 16 moves to the position of the large gear 6, the gear teeth of the locking structure 16 can be locked with the gear teeth of the large gear 6, and the safety module is in a locked state, at which time the rotation of the large gear 6 is not allowed, the position of the large gear 6 is locked, and the posture of the sheath tube 7 is ensured. When the locking structure 16 moves to a position deviating from the large gear 6, the safety module is in an unlocked state, at which time the rotation of the large gear 6 is allowed, and the rotary motion of the sheath tube 7 can be realized to adjust the posture of the sheath tube 7.

[0087] The existing soft needle sheath for bronchial biopsy is mostly the working channel of a bronchoscope, and the present application designs an independent controllable sheath tube 7 for the soft needle, which enters the working channel of the bronchoscope first, and then the soft needle enters the controllable sheath tube 7, thereby solving the problem that the diameter of the soft needle does not match the diameter of the working channel of the bronchoscope, so that the soft needle is easy to bend in the channel. The controllable sheath tube 7 designed in the present application can extend out a certain distance after entering the bronchoscope, thereby improving the flexibility of the soft needle and expanding the reachable space; the problem that the puncture range can only be near the position reached by the head of the bronchoscope and the puncture depth is restricted by the position of the bronchoscope is solved. The present application has a simple and compact structure, and the axial rotation and radial deflection of the sheath tube 7 are completed through two driving elements and a transmission structure; the transmission structure avoids the interference of the two movements, has a clever structure design, and has strong practicability.

[0088] Embodiment 2

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

[0090] As shown in Figures 1 to 13 , the present embodiment provides a controllable bending soft needle guide sheath mechanism, which comprises a fixed base 1, a front support 2, a motor 3, a motor fixing element 4, a pinion 5, a large gear 6, a sheath tube 7, a bearing 8, a connecting element 9, a middle channel 10, a driving wire 11, a supporting plate 12, a rudder 13, a wire fixing structure 14, a locking element base 15, and a locking structure 16.

[0091] Specifically, as shown in Figure 1 , Figure 2As shown, the fixed base 1 and the front support 2 are connected as the supporting part of the whole mechanism; the motor fixing part 4 is arranged on the fixed base 1, the motor 3 is arranged on the motor fixing part 4, and the pinion 5 is sleeved on the output shaft of the motor 3; the gear wheel 6 is arranged on the front support 2 through the bearing 8, the gear wheel 6 and the pinion 5 are engaged, and the motor 3 drives the pinion 5 to rotate and in turn drives the gear wheel 6 to rotate when the motor 3 rotates.

[0092] As shown in Figure 1 , Figure 2 , Figure 5 , the sheath tube 7 is fixed on the connecting piece 9, the connecting piece 9 is connected with the gear wheel 6 and the middle channel 10 on the left and right sides respectively, and the gear wheel 6 can drive the sheath tube 7 and the middle channel 10 to rotate synchronously; the supporting plate 12 is fixed on the gear wheel 6, the steering engine 13 is fixed on the supporting plate 12, the wire fixing structure 14 is connected to the output end of the steering engine 13, one end of the driving wire 11 is fixed on the front end of the sheath tube 7, and the other end is fixed on the wire fixing structure 14, and the bending and straightening of the sheath tube 7 are realized by the tensioning and relaxing of the two driving wires 11 fixed on the wire fixing structure 14.

[0093] As shown in Figure 7 , the gear wheel 6 is provided with a supporting plate fixing hole 601, and the supporting plate 12 is fixedly connected with the gear wheel 6 through the supporting plate fixing hole 601; the gear wheel 6 is provided with a connecting piece combination surface 602, as shown in Figure 12 , the connecting piece 9 has a gear wheel connecting combination surface 901, which can be matched and assembled on the connecting piece combination surface 602 to realize the connection of the gear wheel 6 and the connecting piece 9; the gear wheel 6 is provided with a bearing contact surface 603, and the bearing 8 arranged on the front support 2 is combined with the bearing contact surface 603 to fix the gear wheel 6 radially on the front support 2.

[0094] As shown in Figure 8 , Figure 12 , Figure 13 , 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, and 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 piece 9 through the sheath tube fixing structure 703. The sheath tube 7 is a hollow structure, and the sheath tube wall has two holes with the same diameter at the symmetrical position, which are the driving wire channel holes 702.

[0095] Further, the connecting piece 9 has a central through hole and two sheath connecting surfaces 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 connected to the front end of the sheath 7 through the two drive wire passage holes 702 respectively, and the rear ends of the two drive wires 11 are arranged on the wire fixing structure 14, so that the front end of the sheath 7 can be deflected horizontally by driving the two drive wires 11; the sheath 7 penetrates through the central through hole, and the sheath fixing structure 703 is arranged in the sheath connecting surface 902, so that the sheath 7 is assembled on the connecting piece 9. Specifically, the drive wire 11 is connected to the front end of the sheath and the wire fixing structure 14 through the drive wire passage hole 702 respectively, and the sheath fixing structure 703 and the sheath connecting surface 902 of the connecting piece 9 are combined, so that the sheath 7 and the connecting piece 9 are assembled together.

[0096] As shown in Figure 9 、 Figure 10 The middle channel 10 is provided with a puncture soft needle working hole 1001, and the puncture soft needle working hole 1001 is a working channel of the middle channel 10. The middle channel 10 is provided with a drive wire channel 1002, which is a rectangular groove structure when viewed from the outside of the middle channel 10. One end of the drive wire channel 1002 is connected to the drive wire 11 at 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 middle channel 10 to be connected to the wire fixing structure 11. The middle channel 10 is provided with a connecting piece connecting surface 1003, which is combined with the middle channel connecting surface 903 of the connecting piece 9 to connect the connecting piece 9 and the middle channel 10. The locking structure 16 is provided with a gear tooth engagement surface 1601 for engaging with the gear teeth of the large gear 6 to achieve locking. It should be noted that the motor fixing piece 4 and the locking piece base 15 can be moved forward and backward or backward to a fixed position, and the extension length of the middle channel 10 can be adjusted.

[0097] The controllable bending puncture soft needle guide sheath mechanism designed by the application is a complete functional module and can be applied to other medical devices, and has strong portability. The controllable bending puncture soft needle guide sheath mechanism can control the pose of the sheath by increasing the rotation structure of the sheath and the deflection structure of the sheath, and the locking device is arranged to ensure that the pose of the sheath remains unchanged during puncture, thereby improving the accuracy of soft needle puncture.

[0098] The application has a simple structure, realizes axial rotation and radial deflection of the front end of the sheath through two drive members and a transmission structure, is provided with an isolation channel for the puncture needle to pass through, ensures that the puncture needle is not disturbed and contaminated, and is provided with a locking structure to ensure that the pose of the sheath remains unchanged after the position is adjusted

[0099] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0100] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the above specific embodiments, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which do not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict, provided that the combinations do not conflict.

Claims

1. A steerable puncture soft needle guide sheath mechanism, characterized in that, The utility model relates to a kind of needle insertion device, including: Support module; Sheath rotation module, arranged on the support module, can fix sheath (7) and can drive the sheath (7) rotation; Sheath deflection module, set on sheath rotation module can drive the sheath (7) horizontal deflection; Safety module, configured on the support module and can be switched between locking state and unlocking state, in the unlocking state, allow driving the sheath (7) rotation;In the locking state, do not allow driving the sheath (7) rotation; The support module includes fixed base (1), front support (2), bearing (8) and intermediate passage (10), the front support (2) is fixed on the fixed base (1), the bearing (8) is arranged on the front support (2); The intermediate passage (10) is placed between the fixed base (1) and the front support (2), forms the passage of puncture soft needle; The sheath rotation module includes motor (3), motor fixing piece (4), pinion (5), gear (6), sheath (7) and connecting piece (9); The motor fixing piece (4) is configured on the fixed base (1), the motor (3) is arranged on the motor fixing piece (4), the pinion (5) is assembled in the output end of the motor (3), the gear (6) is rotatably configured on the front support (2), the gear (6) and the pinion (5) are engaged and connected, the connecting piece (9) is configured on the side of the gear (6); The motor (3) can drive the pinion (5) rotation and then can drive the gear (6) rotation, the gear (6) drives the connecting piece (9) synchronous rotation; The sheath (7) has sheath fixing structure (703) arranged at tail end, puncture soft needle passage hole (701) along length direction and located in center and two drive wire passage holes (702) arranged on both sides of the puncture soft needle passage hole (701), the puncture soft needle passage hole (701) is the working passage of sheath (7); The sheath (7) is assembled on the connecting piece (9) by sheath fixing structure (703); The safety module includes locking piece base (15) and locking structure piece (16); The locking piece base (15) is fixed on the fixed base (1), the locking piece base (15) is provided with sliding groove, the locking structure piece (16) is configured on the locking piece base (15) and can move back and forth along the sliding groove; When the locking structure piece (16) moves to the position opposite the gear (6), the safety module is in the locking state, at this time, the gear (6) is not allowed to rotate, when the locking structure piece (16) moves to the position deviating from the gear (6), the safety module is in the unlocking state, at this time, the gear (6) is allowed to rotate.

2. The steerable puncture soft needle guide sheath mechanism according to claim 1, wherein, The connecting piece (9) has center through hole and two sheath connecting profiles (902) arranged on both sides of the center through hole and communicated with the center through hole; The sheath deflection module comprises driving wires (11) and wire fixing structure (14), the front ends of the two driving wires (11) are connected to the front end of the sheath (7) through two driving wire passage holes (702), 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 (7) can be deflected horizontally by driving the two driving wires (11). The sheath (7) penetrates the center through hole, and the sheath fixing structure (703) is arranged in the sheath connecting profile (902), so that the sheath (7) is assembled on the connecting piece (9).

3. The steerable puncture soft needle guide sheath mechanism according to claim 2, wherein, The sheath deflection module further comprises a supporting plate (12) and a rudder (13), the supporting plate fixing hole (601) is arranged on the large gear (6), and the supporting plate (12) is fixedly connected with the large gear (6) through the supporting plate fixing hole (601). The supporting plate (12) is detachably fixed on the large gear (6), the rudder (13) is detachably fixed on the supporting plate (12), the wire fixing structure (14) is arranged on the output end of the rudder (13), the rear ends of the two driving wires (11) are arranged on the wire fixing structure (14), when the rudder (13) rotates, the wire fixing structure (14) can be driven to rotate, so that the two driving wires (11) fixed on the wire fixing structure (14) move in opposite directions, so that the sheath (7) produces horizontal left and right deflection. When the large gear (6) rotates, the supporting plate (12), the rudder (13) and the wire fixing structure (14) fixed on the supporting plate (12) can be synchronously rotated.

4. The steerable puncture soft needle guide sheath mechanism of claim 3, wherein, The large gear (6) is provided with a connecting piece combining surface (602), the connecting piece (9) has a large gear connecting combining surface (901) matched with the connecting piece combining surface (602), the large gear connecting combining surface (901) can be matched and assembled on the connecting piece combining surface (602), so that the large gear (6) and the connecting piece (9) are connected.

5. The steerable puncture soft needle guide sheath mechanism of claim 3, wherein, The large gear (6) is provided with a bearing contact surface (603), one side of the bearing (8) arranged on the front supporting piece (2) is assembled on the bearing contact surface (603), and the large gear (6) is fixed and supported on the front supporting piece (2).

6. The steerable puncture soft needle guide sheath mechanism of claim 3, wherein, The locking structure (16) is provided with a gear tooth engaging profile (1601), and the gear tooth engaging profile (1601) is used to engage with the gear tooth of the large gear (6), so as to realize locking.

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