An actively variable curvature beveled flexible needle based on an adjustable support structure

Abstract

The present application relates to the technical field of interventional medical instruments, in particular to an active variable-curvature oblique-angle flexible needle based on an adjustable support structure, which comprises an oblique-angle needle tip, a needle body and an active adjustment support assembly arranged between the oblique-angle needle tip and the needle body; the active adjustment support assembly comprises a driving rod one, a driving rod two and a driving rod three, one end of each of the driving rod one, the driving rod two and the driving rod three is provided with a ball head, and the driving rod one, the driving rod two and the driving rod three are actively controlled to realize bending, so that higher controllability and accuracy are achieved, compared with the existing variable-curvature flexible needle, the variable-curvature form can provide better directivity when the needle enters the target tissue, can effectively reduce tissue damage and improve the puncture success rate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of interventional medical devices, and particularly relates to an active variable-curvature oblique-angle flexible needle based on an adjustable support structure. BACKGROUND

[0002] Percutaneous puncture surgery is one of the most common minimally invasive surgeries for diagnosing and treating cancer, and is also a main way for many medical diagnoses and treatments. The result of the surgery is highly dependent on the accuracy of needle placement, and targeting errors or failure to reach the target can reduce the effectiveness of treatment or can cause deviation in the diagnostic result by performing biopsy in non-target tissue regions. Meanwhile, key parts such as blood vessels, nerves and organs need to be avoided during the surgery. Therefore, the needle needs to be able to flexibly turn during the surgery.

[0003] There are two commonly used medical puncture needles, namely rigid needles and flexible needles. The rigid needle has small elasticity and can only move and position along an approximate straight line, and it is difficult to flexibly bypass obstacles such as bones, blood vessels and important organs. For this reason, researchers introduce the concept of oblique-angle flexible needles, which are usually made of low-rigidity nickel-titanium alloy and have an asymmetric oblique-angle design. This asymmetric design causes the flexible puncture needle to bend when subjected to uneven lateral forces and friction in human tissue, thereby enabling curve movement in the tissue and enabling the needle to flexibly avoid obstacles and accurately reach the target point during the puncture process. However, the existing flexible needle can only achieve bending with a fixed curvature, and in the case of needing to change the curvature, the needle is difficult to accurately reach the target point. Therefore, an active variable-curvature oblique-angle flexible needle based on an adjustable support structure is proposed. SUMMARY

[0004] To solve the above problems, the present application proposes an active variable-curvature oblique-angle flexible needle based on an adjustable support structure.

[0005] An active variable-curvature oblique-angle flexible needle based on an adjustable support structure, comprising an oblique-angle needle tip, a needle body and an active adjustment support assembly arranged between the oblique-angle needle tip and the needle body.

[0006] The active adjustment support assembly comprises a driving rod one, a driving rod two and a driving rod three, and one end of each of the driving rod one, the driving rod two and the driving rod three is provided with a ball head.

[0007] Both ends of the oblique-angle needle tip are asymmetrically oblique-angled, and the oblique-angle cutting angle is 15°.

[0008] The bottom of the oblique-angle needle tip is provided with a three-quarter spherical main positioning groove, a three-quarter cylindrical guide groove and four one-quarter spherical auxiliary limiting grooves symmetrically distributed on both sides of the cylindrical guide groove.

[0009] The needle body is asymmetrically beveled at one end, and the bevel cutting angle is 15°, and the needle body contains a guide channel one, a guide channel two and a guide channel three.

[0010] The driving rod one, the driving rod two and the driving rod three penetrate the guide channel one, the guide channel two and the guide channel three.

[0011] The driving rod one, the driving rod two and the driving rod three can be individually adjusted in height to form relative displacement.

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

[0013] The material of the beveled needle tip, the needle body and the active adjustment support assembly is nickel-titanium alloy.

[0014] The ball head of the driving rod one in the active adjustment support assembly forms a self-locking ball hinge with the main positioning groove 4 of the beveled needle tip.

[0015] The driving rod two and the driving rod three constitute a sliding pair with the cylindrical guide groove of the beveled needle tip.

[0016] The present application has the advantages that the present application realizes bending through active control of the driving rod one, the driving rod two and the driving rod three, thereby having higher controllability and accuracy, compared with the existing variable curvature flexible needle, the variable curvature shape 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 DRAWINGS

[0017] The present application will be further described below in combination with the drawings and examples.

[0018] Figure 1 It is a perspective view of the unchanged bevel angle of the bevel angle flexible needle of the present application;

[0019] Figure 2 It is a perspective view of the changed bevel angle of the active variable curvature bevel angle flexible needle of the present application;

[0020] Figure 3 It is an enlarged view of the 15° bevel angle needle tip bottom structure in the present application; Figure 2

[0021] The reference signs: 1, beveled needle tip; 2, needle body; 2a, guide channel one; 2b, guide channel two; 2c, guide channel three; 3, active adjustment support assembly; 3a, driving rod one; 3b, driving rod two; 3c, driving rod three; 4, main positioning groove; 5, cylindrical guide groove; 6, spherical surface auxiliary limiting groove. DETAILED DESCRIPTION

[0022] ​In order to make the technical means, creative features, purposes and effects of the present application easy to understand, the present application is further described below.

[0023] As shown in Figures 1 to 3 A variable curvature flexible needle based on adjustable support structure, comprising an oblique angle needle tip 1, a needle body 2, an active adjustment support assembly 3 arranged between the oblique angle needle tip 1 and the needle body 2.

[0024] The active adjustment support assembly 3 comprises a driving rod one 3a, a driving rod two 3b and a driving rod three 3c, and the driving rod one 3a, the driving rod two 3b and the driving rod three 3c are each provided with a ball head at one end.

[0025] As shown in Figure 1 and Figure 2 The two ends of the oblique angle needle tip 1 are asymmetrically oblique, and the bevel cutting angle is 15°.

[0026] As shown in Figure 3 The bottom of the oblique angle needle tip 1 is provided with a three-quarter spherical main positioning groove 4, 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, and the main positioning groove 4 and the cylindrical guide groove 5 are linearly arranged.

[0027] As shown in Figure 1 One end of the needle body 2 is asymmetrically oblique, and the bevel cutting angle is 15°.

[0028] The driving rod one 3a, the driving rod two 3b and the driving rod three 3c penetrate the guide channel one 2a, the guide channel two 2b and the guide channel three 2c, and the three groups of guide channels are linearly distributed to store the active adjustment support assembly 3.

[0029] Specifically, the driving rod one 3a, the driving rod two 3b and the driving rod three 3c can be individually adjusted in height to form relative displacement to meet the demand of the needle tip angle corresponding to different curvatures.

[0030] The angled needle tip 1 is first cut with a 15° asymmetrical angle at both ends using a cutting machine. Then, the bottom is processed with a femtosecond laser to create a three-quarter spherical main positioning groove 4, a three-quarter cylindrical guide groove 5, and a quarter spherical auxiliary limiting groove 6 symmetrically distributed on both sides of the cylindrical groove, in a linear distribution. The needle body 2 is made of medical-grade nickel-titanium alloy wire by cold drawing process, with an outer diameter of 1.2mm and a needle length of 120mm. The two ends are first cut with a 15° asymmetrical angle using a cutting machine. Three through guide channels with a diameter of 0.15mm are processed inside, namely guide channel 1 2a, guide channel 2 2b, and guide channel 3 2c, in a linear distribution. Among them, guide channel 1 2a corresponds to the main positioning groove 4 in the angled needle tip 1.

[0031] The cylindrical rods of the active adjustment support assembly 3, namely drive rod 3a, drive rod 3b, and drive rod 3c, have a diameter of 0.15 mm and a length of 130 mm. The ball heads are formed by micro-forging process with a radius of curvature of 0.2 mm. During processing, the ball head of drive rod 3a forms a self-locking ball hinge with the spherical main positioning groove 4 of the beveled needle tip 1. Drive rods 3b and 3c form a two-dimensional sliding pair in the cylindrical guide groove 5 of the beveled needle tip 1 to ensure that the drive rod does not slip.

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

[0033] The angled needle tip 1, needle body 2, and active adjustment support component 3 are all made of nickel-titanium alloy. The three support components are arranged in a straight line to avoid excessive local stress caused by single-point support.

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

[0035] The drive rod 2 3b, drive rod 3c and the cylindrical guide groove 5 of the beveled needle tip 1 form a sliding pair to prevent the active adjustment support assembly 3 from falling off.

[0036] Micro-threads are machined on the surfaces of drive rod 1 (3a), drive rod 2 (3b), and drive rod 3 (3c). Matching internal threads are set on the inner wall of the guide channel of needle body 2. The rotation is driven by a micro stepper motor with a step angle of 1.8°, which controls the relative displacement of drive rod 1 (3a), drive rod 2 (3b), and drive rod 3 (3c) to control the degree and direction of bending 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 to the above embodiments. The embodiments and descriptions in the specification are merely prisms of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention 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: Includes an angled needle tip (1), a needle body (2), and an active adjustment support assembly (3) disposed between the angled needle tip (1) and the needle body (2); The active adjustment support assembly (3) includes drive rod one (3a), drive rod two (3b), and drive rod three (3c), and one end of each of the drive rod one (3a), drive rod two (3b), and drive rod three (3c) is machined with a ball head; The bottom of the angled needle tip (1) is provided with a three-quarter spherical main positioning groove (4), 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); one end of the needle body (2) is an asymmetrical angled angle with a cutting angle of 15°; the body of the needle body (2) contains guide channel one (2a), guide channel two (2b), and guide channel three (2c); the drive rod one (3a), drive rod two (3b), and drive rod three (3c) respectively pass through guide channel one (2a), guide channel two (2b), and guide channel three (2c).

2. The active variable curvature bevel flexible needle based on an adjustable support structure according to claim 1, characterized in that: The two ends of the beveled needle tip (1) are both asymmetrical bevels, 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 drive rod one (3a), drive rod two (3b), and drive rod three (3c) can be individually adjusted in height to form relative displacement.

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

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

6. The active variable curvature bevel flexible needle based on an adjustable support structure according to claim 1, characterized in that: In the active adjustment support assembly (3), the ball head of the drive rod (3a) and the main positioning groove (4) of the beveled needle tip (1) form a self-locking ball joint.

7. The active variable curvature bevel flexible needle based on an adjustable support structure according to claim 1, characterized in that: The drive rods 2 (3b) and 3 (3c) and the cylindrical guide groove (5) of the angled needle tip (1) form a sliding pair.

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