Active variable-curvature oblique-angle flexible needle based on adjustable supporting structure

Abstract

The invention relates to the technical field of interventional medical instruments, in particular to an active variable-curvature oblique-angle flexible needle based on an adjustable supporting structure, which comprises an oblique-angle needle tip, a needle body and an active adjusting supporting assembly arranged between the oblique-angle needle tip and the needle body, the active adjusting and supporting assembly comprises a first driving rod, a second driving rod and a third driving rod, one end of each of the first driving rod, the second driving rod and the third driving rod is provided with a ball head, bending is achieved through active control of the first driving rod, the second driving rod and the third driving rod, and therefore higher controllability and accuracy are achieved; the variable-curvature form can provide better guidance quality when the needle enters target tissue, tissue damage can be effectively reduced, and the puncture success rate is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of interventional medical devices, and specifically to an active variable-curvature bevel flexible needle based on an adjustable support structure. Background Art

[0002] Percutaneous puncture surgery is one of the most common minimally invasive surgeries for diagnosing and treating cancer, and is also the main method for many medical diagnoses and treatments. The result of the surgery highly depends on the accuracy of needle placement. Targeting errors or failure to reach the target may reduce the effectiveness of the treatment, or biopsy in non-target tissue areas may bias the diagnostic results. At the same time, key parts such as blood vessels, nerves, and organs need to be avoided during the surgery. Therefore, the needle needs to be able to turn flexibly during the surgery.

[0003] There are two commonly used medical puncture needles, namely rigid needles and flexible needles. Rigid needles have less elasticity and can only move and position along an approximate straight line, making it difficult to flexibly bypass obstacles such as bones, blood vessels, and vital organs. For this reason, researchers introduced the concept of bevel flexible needles. The needle is usually made of low-stiffness nitinol alloy and has an asymmetric bevel design. This asymmetric design causes the flexible puncture needle to bend when subjected to uneven lateral forces and frictional forces in human tissues, thereby achieving a curved movement in the tissue and being able to flexibly avoid obstacles and accurately reach the target point during the puncture process. However, existing flexible needles generally can only achieve bending with a fixed curvature, and it is difficult for the needle to accurately reach the target point when the curvature needs to be changed. Therefore, an active variable-curvature bevel flexible needle based on an adjustable support structure is proposed. Summary of the Invention

[0004] In order to solve the above problems, the present invention proposes an active variable-curvature bevel flexible needle based on an adjustable support structure.

[0005] An active variable-curvature bevel flexible needle based on an adjustable support structure includes a bevel tip, a needle body, and an active adjustment support assembly disposed between the bevel tip and the needle body;

[0006] The active adjustment support assembly includes a first drive rod, a second drive rod, and a third drive rod. One end of each of the first drive rod, the second drive rod, and the third drive rod is processed with a ball head.

[0007] Both ends of the bevel tip are asymmetric bevels, and the bevel cutting angle is 15°.

[0008] The bottom of the bevel tip is provided with a main positioning groove in the shape of three-quarter spherical surface, a cylindrical guiding groove of three-quarters, and quarter-spherical surface auxiliary limiting grooves symmetrically distributed on both sides of the cylindrical guiding groove.

[0009] One end of the needle body is an asymmetric bevel with a bevel cutting angle of 15°. The inside of the needle body contains a first guiding channel, a second guiding channel, and a third guiding channel.

[0010] The first driving rod, the second driving rod, and the third driving rod penetrate through the first guiding channel, the second guiding channel, and the third guiding channel.

[0011] The first driving rod, the second driving rod, and the third driving rod can be individually adjusted in height to form relative displacement.

[0012] The main positioning groove of the bevel tip corresponds to the guiding channel of the needle body.

[0013] The bevel tip, the needle body, and the active adjustment support assembly are all made of nitinol alloy.

[0014] The ball head of the first driving rod in the active adjustment support assembly forms a self-locking ball hinge with the main positioning groove of the bevel tip.

[0015] The second driving rod and the third driving rod form a sliding pair with the cylindrical guiding groove of the bevel tip.

[0016] The beneficial effects of the present invention are as follows: The present invention realizes bending through the active control of the first driving rod, the second driving rod, and the third driving rod, thus having higher maneuverability and precision. Compared with the existing variable curvature flexible needle, this variable curvature form can provide better guidance when the needle enters the target tissue, can effectively reduce tissue damage, and improve the puncture success rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below in conjunction with the drawings and embodiments.

[0018] Figure 1 is a three-dimensional view of the bevel flexible needle of the present invention without changing the bevel angle;

[0019] Figure 2 is a three-dimensional view of the active variable curvature bevel flexible needle of the present invention with the bevel angle changed;

[0020] Figure 3 is for the present invention Figure 2 is an enlarged view of the bottom structure of the 15° bevel tip in

[0021] Reference numerals: 1, bevel tip; 2, needle body; 2a, first guiding channel; 2b, second guiding channel; 2c, third guiding channel; 3, active adjustment support assembly; 3a, first driving rod; 3b, second driving rod; 3c, third driving rod; 4, main positioning groove; 5, cylindrical guiding groove; 6, spherical auxiliary limiting groove. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] In order to make the technical means, creative features, achieved purposes and effects realized by the present invention easy to understand, the present invention will be further described below.

[0023] As Figures 1 to 3 shown, an active variable-curvature bevel flexible needle based on an adjustable support structure includes a bevel tip 1, a needle body 2, and an active adjustment support assembly 3 disposed between the bevel tip 1 and the needle body 2;

[0024] One end of each of the driving rod one 3a, the driving rod two 3b, and the driving rod three 3c of the active adjustment support assembly 3 is processed with a ball head.

[0025] As Figure 1 and Figure 2 shown, both ends of the bevel tip 1 of the present invention are asymmetric bevels, and the bevel cutting angle is 15°.

[0026] As Figure 3 shown, a main positioning groove 4 with a three-quarter spherical surface, a three-quarter cylindrical guiding groove 5, and quarter-spherical surface auxiliary limiting grooves 6 symmetrically distributed on both sides of the cylindrical guiding groove 5 are provided at the bottom of the bevel tip 1. The main positioning groove 4 and the cylindrical guiding groove 5 are linearly arranged, and the needle body 2 is a solid body.

[0027] As Figure 1 shown, one end of the needle body 2 is an asymmetric bevel, and the bevel cutting angle is 15°. The needle body 2 contains a guiding channel one 2a, a guiding channel two 2b, and a guiding channel three 2c inside.

[0028] The driving rod one 3a, the driving rod two 3b, and the driving rod three 3c penetrate through the guiding channel one 2a, the guiding channel two 2b, and the guiding channel three 2c. These three groups of guiding channels are linearly distributed to store the active adjustment support assembly 3. The present invention realizes bending through the active control of the driving rod one 3a, the driving rod two 3b, and the driving rod three 3c, so as to have higher maneuverability and accuracy. Compared with the existing variable-curvature flexible needles, this variable-curvature form can provide better guiding performance when the needle enters the target tissue, can effectively reduce tissue damage, and improve the puncture success rate.

[0029] Specifically, the driving rod one 3a, the driving rod two 3b, and the driving rod three 3c can be adjusted separately in height to form relative displacements to meet the requirements of the tip angles corresponding to different curvatures.

[0030] The bevel-tip needle 1 first has its two ends cut by a cutting machine to form asymmetric bevels of 15°. Subsequently, on the bottom, a three-quarter circular spherical main positioning groove 4, a three-quarter cylindrical guiding groove 5, and quarter-spherical auxiliary limiting grooves 6 symmetrically distributed on both sides of the cylindrical groove are processed by femtosecond laser, and they are linearly distributed. The needle body 2 is made of medical-grade nitinol wire material through a cold drawing process, with an outer diameter of 1.2 mm and a needle length of 120 mm. Its two ends are first cut by a cutting machine to form asymmetric bevels of 15°, and three through-guiding channels with a diameter of 0.15 mm are processed inside, namely guiding channel one 2a, guiding channel two 2b, and guiding channel three 2c, which are linearly distributed. Among them, guiding channel one 2a corresponds to the main positioning groove 4 in the bevel-tip needle 1.

[0031] The cylindrical rod diameters of the driving rods one 3a, two 3b, and three 3c of the active adjustment support assembly 3 are 0.15 mm, and their lengths are all 130 mm. The ball heads are formed by micro-forging process, with a curvature radius of 0.2 mm. During processing, the ball head of the driving rod one 3a forms a self-locking spherical hinge with the circular spherical main positioning groove 4 of the bevel-tip needle 1, and the driving rods two 3b and three 3c form a two-dimensional sliding pair in the cylindrical guiding groove 5 of the bevel-tip needle 1 to ensure that the driving rods do not slip off.

[0032] The main positioning groove 4 of the bevel-tip needle 1 corresponds to the guiding channel 2a of the needle body 2.

[0033] The bevel-tip needle 1, the needle body 2, and the active adjustment support assembly 3 are all made of nitinol alloy. The three support members are linearly distributed to avoid excessive local stress caused by single-point support.

[0034] The ball head of the driving rod one 3a in the active adjustment support assembly 3 forms a self-locking spherical hinge with the main positioning groove 4 of the bevel-tip needle 1. Compared with the existing variable-curvature flexible needle, the present invention can flexibly adjust the shape of the bevel-tip needle 1 according to the real-time changes during the puncture process, can be dynamically adjusted according to the actual situation, and improves the flexibility and adaptability of the operation.

[0035] The driving rods two 3b and three 3c and the cylindrical guiding groove 5 of the bevel-tip needle 1 form a sliding pair to prevent the active adjustment support assembly 3 from falling off.

[0036] Micro-threads are processed on the surfaces of the driving rods one 3a, two 3b, and three 3c, and matching internal threads are provided on the inner wall of the guiding channel of the needle body 2. They are driven to rotate by a micro stepping motor with a stepping angle of 1.8° to control the relative displacement of the driving rods one 3a, two 3b, and three 3c, so as to control the bending degree and direction of the flexible needle.

[0037] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and what is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. An active variable curvature bevel flexible needle based on an adjustable support structure, characterized in that: It comprises an angled needle tip (1), a needle body (2), and an active adjustment support component (3) arranged between the angled needle tip (1) and the needle body (2); The active adjustment support assembly (3) comprises a driving rod 1 (3a), a driving rod 2 (3b), and a driving rod 3 (3c), and one end of each of the driving rod 1 (3a), the driving rod 2 (3b), and the driving rod 3 (3c) is processed with a ball head.

2. The active variable curvature bevel flexible needle based on an adjustable support structure according to claim 1, characterized in that: Both ends of the bevel needle tip (1) are asymmetrically beveled, and the bevel cutting angle is 15°.

3. The active variable curvature bevel flexible needle based on an adjustable support structure according to claim 1, characterized in that: The bottom of the bevel needle tip (1) is provided with a main positioning groove (4) with a three-quarter spherical surface, a three-quarter cylindrical guide groove (5), and a quarter spherical auxiliary limiting groove (6) symmetrically distributed on both sides of the cylindrical guide groove (5).

4. The active variable curvature bevel flexible needle based on an adjustable support structure according to claim 3, characterized in that: One end of the needle body (2) is an asymmetrical bevel, and the bevel cutting angle is 15°. The needle body (2) includes a guide channel 1 (2a), a guide channel 2 (2b), and a guide channel 3 (2c).

5. The active variable curvature bevel flexible needle based on an adjustable support structure according to claim 4, characterized in that: The driving rod 1 (3a), the driving rod 2 (3b), and the driving rod 3 (3c) pass through the guiding channel 1 (2a), the guiding channel 2 (2b), and the guiding channel 3 (2c) respectively.

6. The active variable curvature bevel flexible needle based on an adjustable support structure according to claim 1, characterized in that: The driving rod 1 (3a), the driving rod 2 (3b) and the driving rod 3 (3c) can be adjusted in height individually to form relative displacement.

7. The active variable curvature bevel flexible needle based on an adjustable support structure according to claim 4, characterized in that: The main positioning groove (4) of the bevel needle tip (1) corresponds to the guide channel (2a) of the needle body (2).

8. The active variable curvature bevel flexible needle based on an adjustable support structure according to claim 1, characterized in that: The materials of the bevel needle tip (1), the needle body (2) and the active adjustment support component (3) are all nickel-titanium alloy.

9. The active variable curvature bevel flexible needle based on an adjustable support structure according to claim 3, characterized in that: The ball head of the driving rod 1 (3a) in the active adjustment support assembly (3) forms a self-locking ball hinge with the main positioning groove (4) of the bevel needle tip (1).

10. The active variable curvature bevel flexible needle based on an adjustable support structure according to claim 3, characterized in that: The second driving rod (3b), the third driving rod (3c) and the cylindrical guide groove (5) of the bevel needle tip (1) form a sliding pair.

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