Motion platform

Abstract

The invention provides a motion platform. The motion platform comprises a needle taking assembly, a first motion mechanism and a second motion mechanism. The needle taking assembly is installed on the first movement mechanism and can reciprocate in the preset direction under the action of the first movement mechanism so as to take and place medical needles, and the preset direction is parallel to the length direction of the medical needles; the first movement mechanism is installed on the second movement mechanism and can reciprocate in the preset direction under the action of the second movement mechanism, and the needle taking assembly synchronously moves along with the first movement mechanism. The total stroke of the needle taking assembly is the total length of the first track and the second track, enough movement stroke can be provided in a relatively short movement space, and the problem that the kirschner wire is long and the needle taking assembly is not prone to retreating is solved. According to the motion platform provided by the invention, high feasibility can be provided for automatic operation of the kirschner wire by surgical equipment.

Description

Technical Field

[0001] This application relates to the technical field of surgical equipment, and particularly to a motion platform. Background Art

[0002] Medical needles (such as those with a length of more than 10 cm) are commonly used in the medical field. For example, Kirschner wires are a commonly used internal fixation material in orthopedic surgeries. They are made of stainless steel or other biocompatible materials and have characteristics such as high strength, good flexibility, and strong plasticity. Therefore, they are widely used in the internal fixation treatment of fractures. Kirschner wires come in various specifications. Usually, their diameter is between 0.5 mm and 2 mm, and the length can be customized according to needs. Its main function is to be inserted into the fracture site through minimally invasive surgery to fix the fracture and promote healing.

[0003] Due to the slender structure of Kirschner wires, in the prior art, Kirschner wires on surgical equipment are generally inserted manually, and it is difficult to use mechanical equipment to replace manual operations, which brings certain inconvenience to the surgical process. Summary of the Invention

[0004] In view of this, an embodiment of this application provides a motion platform to solve the problem that it is difficult for surgical equipment to automatically pick up Kirschner wires in the background art.

[0005] An embodiment of this application provides a motion platform, including: a needle picking component, a first motion mechanism, and a second motion mechanism;

[0006] The needle picking component is installed on the first motion mechanism and can reciprocate in a preset direction under the action of the first motion mechanism to pick up and place medical needles; wherein, the preset direction is parallel to the length direction of the medical needle;

[0007] The first motion mechanism is installed on the second motion mechanism and can reciprocate in the preset direction under the action of the second motion mechanism, and the needle picking component moves synchronously with the first motion mechanism.

[0008] Optionally, the first motion mechanism includes a first track, a first connecting piece, and a first driving piece. The first track extends along the length direction of the medical needle, and the first connecting piece is connected to the needle picking component; the first driving piece is connected to the first connecting piece and can drive the first connecting piece to move along the first track;

[0009] The second motion mechanism includes a second track, a second connecting piece, and a second driving piece. The second track is arranged parallel to the first track, and the second connecting piece is connected to the first track; the second driving piece is connected to the second connecting piece and can drive the second connecting piece to move along the second track.

[0010] In an alternative embodiment, the first connecting member is located on a first side of the first track, and the second connecting member is located on a second side of the first track, where the second side is opposite to the first side.

[0011] In an alternative embodiment, a bottom end of the first track is flush with a bottom end of the second track, and a top end of the first track is located below a top end of the second track.

[0012] In an alternative embodiment, the first motion mechanism further includes: a first bracket and a first lead screw;

[0013] Both the first bracket and the first lead screw extend along the first track; the first track is fixed to the first bracket;

[0014] The first connecting member is respectively connected to the first lead screw and the first track, and the first lead screw is connected to the first driving member;

[0015] Under the action of the first driving member, the first lead screw drives the first connecting member to reciprocate along the first track.

[0016] In an alternative embodiment, the first track, the first lead screw, and the first driving member are fixed on the same side of the first bracket, and the first lead screw and the first driving member are coaxially arranged.

[0017] In an alternative embodiment, the second motion mechanism further includes: a second bracket and a second lead screw; both the second bracket and the second lead screw extend along the second track; the second track is fixed to the second bracket;

[0018] Both the second track and the second lead screw are located on one side of the second bracket, and the second driving member is located on the other side of the second bracket; the second driving member is connected to the second lead screw through a transmission member;

[0019] The second connecting member is respectively connected to the second lead screw and the second track in a threaded manner.

[0020] In an alternative embodiment, the motion platform further includes a supporting assembly, which is located below the needle taking assembly and is fixed relative to the first track or the first connecting member;

[0021] The supporting assembly is provided with a channel for the medical needle to pass through, and the channel can stabilize the medical needle

[0022] In an alternative embodiment, the supporting assembly includes:

[0023] a supporting tube, and the supporting tube is provided with the channel;

[0024] A fixing frame, the fixing frame is connected to the supporting tube and is fixed or detachable relative to the first track.

[0025] In an optional embodiment, the supporting assembly further includes a locking knob, and the locking knob fixes the fixing frame to the first bracket or the first connecting member.

[0026] In an optional embodiment, the accuracy of the first motion mechanism is greater than the accuracy of the second motion mechanism.

[0027] In an optional embodiment, the distance that the first connecting member is moved when the output shaft of the first driving member rotates one circle is smaller than the distance that the second connecting member is moved when the output shaft of the second driving member rotates one circle.

[0028] In the motion platform provided in the embodiment of the present application, the second motion mechanism indirectly drives the needle removal assembly to move through the first motion mechanism, which can increase the stroke length of the needle removal assembly along the preset direction. Both the first motion mechanism and the second motion mechanism can realize the movement of the needle removal assembly in a direction parallel to the length of the medical needle. Therefore, the total stroke of the needle removal assembly can be the sum of the motion strokes of the first motion mechanism and the second motion mechanism, which can provide sufficient activity stroke in a relatively short activity space, so as to overcome the problem that the medical needle is long and the needle removal assembly is not easy to withdraw; and the needle removal assembly can be driven by the first drive mechanism alone or the second drive mechanism alone, or it can be driven by the first drive mechanism and the second drive mechanism at the same time, providing a variety of options in terms of speed, accuracy, stroke, etc. when the needle removal assembly advances and retreats, so as to better control the movement of the needle removal.

[0029] The needle removal assembly generally takes the needle from the needle storage mechanism (such as a needle box), and after taking the needle, it is transported to the set position under the action of the first motion mechanism and the second motion mechanism to be used for surgical needle placement. If the surgery requires multiple needle placements, the first motion mechanism and the second motion mechanism can drive the needle removal assembly to and from the needle storage mechanism and the set position multiple times to achieve the need for continuous needle placement.

[0030] In summary, the motion platform provided in the embodiments of the present application can provide high feasibility for automated operation of medical needles by surgical equipment.

[0031] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings described herein are used to provide a further understanding of the present application, and constitute a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation of the present application. In the drawings:

[0033] Figure 1 Schematic structural diagram of the motion platform provided by an embodiment of the present application;

[0034] Figure 2 Schematic structural diagram of the first motion mechanism provided by an embodiment of the present application;

[0035] Figure 3 Schematic structural diagram of the second motion mechanism provided by an embodiment of the present application;

[0036] Figure 4 Schematic diagram of the motion state of the needle picking component clamping the Kirschner wire in the needle cartridge provided by an embodiment of the present application;

[0037] Figure 5 Schematic diagram of the separation state of the needle picking component and the Kirschner wire on the patient provided by an embodiment of the present application;

[0038] Figure 6 Schematic structural diagram of the supporting component provided by an embodiment of the present application.

[0039] 1. Needle picking component;

[0040] 2. Needle cartridge;

[0041] 3. Kirschner wire;

[0042] 4. First motion mechanism; 41. First track; 42. First connecting piece; 43. First driving piece; 44. First bracket; 45. First lead screw;

[0043] 5. Second motion mechanism; 51. Second track; 52. Second connecting piece; 53. Second driving piece; 54. Second bracket; 55. Second lead screw; 56. Transmission piece;

[0044] 6. Supporting component; 61. Supporting tube; 62. Fixed frame; 63. Locking knob. Detailed implementation manners

[0045] In order to make the technical solutions and beneficial effects of the present invention more obvious and understandable, the following will be described in detail by listing specific embodiments. Among them, the accompanying drawings are not necessarily drawn to scale, and local features can be enlarged or reduced to more clearly show the details of the local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which the present application belongs.

[0046] In the description of the present invention, the orientation or positional relationship indicated by terms such as "length", "", "height", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of simplifying the description of the present invention, rather than indicating that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, that is, it cannot be understood as a limitation to the present invention.

[0047] In the present invention, the terms "first" and "second" are only used for the purpose of clear description, and cannot be understood as the relative importance of the indicated features or the number of the indicated technical features. Therefore, the features defined with "first" and "second" may clearly include at least one such feature. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc.

[0048] In the present invention, unless otherwise clearly defined, terms such as "installed", "connected", "connected to", "fixed", "set", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can also be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In the present invention, unless otherwise clearly defined, the first feature on, above, over, and on top of, under, below, beneath, or under the second feature may be that the first feature is in direct contact with the second feature, or the first feature and the second feature are indirectly in contact through an intermediate medium. Moreover, the first feature being above, over, and on top of the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than the horizontal height of the second feature. The first feature being under, below, and beneath the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is less than the horizontal height of the second feature.

[0050] To thoroughly understand the present application, detailed steps and detailed structures will be presented in the following description to explain the technical solution of the present application. The preferred embodiments of the present application are described in detail as follows. However, in addition to these detailed descriptions, the present application may also have other implementation manners.

[0051] This embodiment provides a motion platform, such as Figure 1As shown, the motion platform includes: a needle removal assembly 1, wherein the needle removal assembly 1 can take and place medical needles. For example, the needle is taken from the needle storage mechanism, and the medical needle is released after the medical needle reaches a set position. The needle storage mechanism is used to store medical needles, and the needle storage mechanism can be used Figure 1 The needle magazine 2 shown is in the form of, but not limited to, this. Exemplarily, the needle removal assembly may include a clamping claw structure, which can be retracted or opened to clamp or release the medical needle.

[0052] Medical needles generally refer to longer needles that are longer than 10 cm, or even longer than 20 cm, 30 cm, or 50 cm. Medical needles may be bone needles or other needles used to help bone healing or fixation. Bone needles include, but are not limited to, Kirschner wires, Steiner wires, traction wires, and the like. For ease of description, the present invention is described in detail below using Kirschner wires as an example.

[0053] Continue to see Figure 1 The motion platform also includes a first motion mechanism 4 and a second motion mechanism 5. The needle removal assembly 1 is installed on the first motion mechanism 4, and can reciprocate along a preset direction under the action of the first motion mechanism 4 to achieve the purpose of the needle removal assembly 1 taking and placing the medical needle; wherein the preset direction is a direction parallel to the length of the medical needle; the first motion mechanism 4 is installed on the second motion mechanism 5, and can reciprocate along a preset direction under the action of the second motion mechanism 5, and the needle removal assembly 1 moves synchronously with the first motion mechanism 4.

[0054] The second motion mechanism 5 indirectly drives the needle removal assembly 1 to move through the first motion mechanism 4, which can increase the stroke length of the needle removal assembly 1 along the preset direction. The second motion mechanism 5 indirectly drives the needle removal assembly 1 to move through the first motion mechanism 4. Both the first motion mechanism 4 and the second motion mechanism 5 can realize the movement of the needle removal assembly along the preset direction parallel to the length of the medical needle, that is, the movement directions of the two are parallel, and then the total stroke of the needle removal assembly 1 can be the sum of the movement strokes of the first motion mechanism 4 and the second motion mechanism 5, which can provide sufficient activity stroke in a relatively short activity space, which is convenient for overcoming the problem that the medical needle is long and the needle removal assembly 1 is not easy to withdraw; and the needle removal assembly 1 can be driven by the first motion mechanism 4 alone or by the second motion mechanism 5 alone, or it can be driven by the first motion mechanism 4 and the second motion mechanism 5 at the same time, providing a variety of options in terms of speed, accuracy, stroke, etc. when the needle removal assembly 1 advances and retreats, so as to better control the movement when the needle is removed.

[0055] exist Figure 1In the implementation shown, the preset direction is the up-down direction. The needle magazine 2 is located above the needle picking assembly 1. The first motion mechanism 4 and the second motion mechanism 5 drive the needle picking assembly 1 to move upward to take out the medical needle from the needle magazine 1, and drive the needle picking assembly 1 downward to a set position to release the medical needle for use during the operation for needle placement. If multiple needle placements are required during the operation, the first motion mechanism 4 and the second motion mechanism 5 can drive the needle picking assembly 1 to move back and forth between the needle storage mechanism and the set position multiple times to meet the requirement of continuous needle placement. This method also keeps the medical needle in an upright state during storage, transportation, and when reaching the set position, without the need to change its own state, which is beneficial to ensuring the safety and reliability during the movement process.

[0056] Non-limitingly, the reciprocating motion of the first motion mechanism 4 driven by the second motion mechanism 5 along the preset direction, and the reciprocating motion of the first motion mechanism 4 driving the needle picking assembly 1 along the preset direction are both linear reciprocating motions. This motion method is simple and reliable. In this case, both the first motion mechanism 4 and the second motion mechanism 5 are linear motion modules, such as the implementation shown in this application Figure 1 and Figure 4 shown.

[0057] In some alternative embodiments, as Figures 1-3 shown, the first motion mechanism 4 includes a first track 41, a first connecting member 42, and a first driving member 43. The first track 41 extends along the length direction of the Kirschner wire 3. The first connecting member 42 is connected to the needle picking assembly 1; the first driving member 43 is connected to the first connecting member 42 and can drive the first connecting member 42 to move along the first track 41. The second motion mechanism 5 includes a second track 51, a second connecting member 52, and a second driving member 53. The second track 51 is arranged parallel to the first track 41. The second connecting member 52 is connected to the first track 41; the second driving member 53 is connected to the second connecting member 52 and can drive the second connecting member 52 to move along the second track 51.

[0058] In the motion platform provided in this embodiment, the first motion mechanism 4 and the second motion mechanism 5 are respectively provided with independent first driving members 43 and second driving members 53. The first track 41 and the second track 51 of the two are parallel, and the first track 41 is connected to the second connecting member 52. Therefore, by connecting the needle-taking assembly 1 to the first connecting member 42, its total stroke is the total length of the first track 41 and the second track 51, and it can provide sufficient movement stroke within a relatively short movement space, facilitating the overcoming of the problem that the Kirschner wire is long and the needle-taking assembly 1 is not easily withdrawn. Moreover, the needle-taking assembly 1 can be driven independently by the first driving member 43 or independently by the second driving member 53, or can be driven simultaneously by the first driving member 43 and the second driving member 53, providing multiple options in terms of speed, accuracy, stroke, etc. when the needle-taking assembly 1 moves forward and backward, so as to better control the actions during needle-taking. The motion platform provided in this embodiment can provide high feasibility for the automatic operation of the Kirschner wire by the surgical device.

[0059] This embodiment provides a method for taking and placing the Kirschner wire 3 through the motion platform of this embodiment, including the following steps:

[0060] 1. As Figure 4 shown, in the surgical device, the Kirschner wires 3 stored in the needle cartridge 2 are stored in the vertical direction. First, the second driving member 53 acts to raise the second connecting member 52 located at the lowest position of the second track 51 to a set position;

[0061] 2. As Figure 4 shown, the first driving member 43 continues to act to raise the first connecting member 42 located at the lowest position of the first track 41 to a position where the Kirschner wire 3 can be clamped. Subsequently, the needle-taking assembly 1 acts to clamp the end of the Kirschner wire 3;

[0062] 3. As Figure 1 shown, both the first driving member 43 and the second driving member 53 act (they can act successively or simultaneously) to remove the Kirschner wire 3 from the needle cartridge 2. Subsequently, the needle-taking assembly 1 conveys the removed Kirschner wire 3 downward to a set position for use during the operation;

[0063] 4. After the Kirschner wire 3 is fixed to the patient's bone, it is necessary for the needle-taking assembly 1 to completely leave the Kirschner wire 3. As Figure 5 shown, after the surgical device moves the needle cartridge 2 away, both the first driving member 43 and the second driving member 53 act (they can act successively or simultaneously). As Figure 6 shown, the second connecting member 52 located at the lowest position of the second track 51 is raised to the highest position, and the first connecting member 42 located at the lowest position of the first track 41 is raised to the highest position. At this time, the needle-taking assembly 1 and the Kirschner wire 3 on the patient are completely separated, and the stage of inserting the Kirschner wire 3 during the operation is completed.

[0064] In an alternative embodiment, asFigures 1-3 As shown, the first connecting member 42 is located on the first side of the first track 41, and the second connecting member 52 is located on the second side of the first track 41, where the second side is the opposite side of the first side. Under this arrangement structure, the needle picking assembly 1, the first motion mechanism 4, and the second motion mechanism 5 can be arranged in a straight line, reducing space occupation and making it easier to avoid other components in the surgical device.

[0065] In an alternative embodiment, as Figures 1-3 shown, the bottom end of the first track 41 is substantially flush with the bottom end of the second track 51, and the top end of the first track 41 is located below the top end of the second track 51. That is to say, the bottom height of the first track 41 is substantially the same as the bottom height of the second track 51, and the length of the first track 41 is less than the length of the second track 51. As Figure 1 shown, under this structure, the movement range of the first connecting member 42 is within the length range of the second track 51, which is equivalent to that the movement range of the first connecting member 42 does not additionally increase the length required for the device to move, making full use of the space.

[0066] In an alternative embodiment, as Figure 2 shown, the first motion mechanism 4 further includes: a first bracket 44 and a first lead screw 45. Both the first bracket 44 and the first lead screw 45 extend along the first track 41; the first track 41 is fixed to the first bracket 44, the first connecting member 42 is respectively connected to the first lead screw 45 and the first track 41, and the first lead screw 45 is connected to the first driving member 43; under the action of the first driving member 43, the first lead screw 45 drives the first connecting member 42 to reciprocate along the first track 41.

[0067] Among them, the first lead screw 45 is rotatably installed on the first bracket 44; the first lead screw 45 is connected to the first driving member 43 and can rotate under the drive of the first driving member 43, and the first connecting member 42 is threadedly connected to the first lead screw 45. In this embodiment, through the setting of the first bracket 44, it is convenient to install the first track 41 and the first lead screw 45, and through the setting of the first lead screw 45, it is possible to conveniently drive the first connecting member 42 to advance and retreat controllably.

[0068] The first driving member 43 can be a motor. The first lead screw 45 can convert the rotational motion output by the motor into a linear reciprocating motion of the first connecting member 42 along a preset direction. The first lead screw 45 can also be replaced by other structures. For example, a combination of belt drive and worm and worm gear. The first connecting member 42 is specifically a connecting block in Figure 2 this case.

[0069] In an alternative embodiment, as Figure 2As shown, the first track 41, the first lead screw 45, and the first driving member 43 are fixed on the same side of the first bracket 44, reducing the lateral space occupied by the device. The first lead screw 45 and the first driving member 43 are coaxially arranged, reducing space occupancy and facilitating transmission at the same time.

[0070] In an alternative embodiment, as Figure 3 shown, the second motion mechanism 5 further includes: a second bracket 54 and a second lead screw 55; both the second bracket 54 and the second lead screw 55 extend along the second track 51; the second track 51 is fixed to the second bracket 54, and the second lead screw 55 is rotatably installed on the second bracket 54. Both the second track 51 and the second lead screw 55 are located on one side of the second bracket 54, and the second driving member 53 is located on the other side of the second bracket 54; the second driving member 53 is connected to the second lead screw 55 through a transmission member 56; the second connecting member 52 is respectively connected to the second lead screw 55 and the second track 51. So that the second lead screw 55 can rotate driven by the second driving member 53 and convert the rotational motion into a linear motion. The second connecting member 52 is threadedly connected to the second lead screw 55. In this embodiment, through the setting of the second bracket 54, it is convenient to install the second track 51 and the second lead screw 55, and through the setting of the second lead screw 55, it is possible to drive the second connecting member 52 to move forward and backward controllably. Since the second track 51 and the second lead screw 55 require a large length of space, the second driving member 53 is arranged on the opposite side of the second track 51 and the second lead screw 55, which can relieve the space length requirement of the device.

[0071] In an alternative embodiment, the precision of the first motion mechanism 4 is greater than the precision of the second motion mechanism 5. The "precision" here includes but is not limited to motion precision, positioning precision, speed stability precision, etc.

[0072] For the motion platform of this embodiment, the distance that the first connecting member 42 moves when the output shaft of the first driving member 43 rotates one week is less than the distance that the second connecting member 52 moves when the output shaft of the second driving member 53 rotates one week. For example, on the premise that the rotational speeds of the first driving member 43 and the second driving member 53 are the same, it is designed that the pitch of the thread on the first lead screw 45 is less than the pitch of the thread on the second lead screw 55, or on the premise that the pitch of the thread on the first lead screw 45 is the same as the pitch of the thread on the second lead screw 55, the rotational speed of the first driving member 43 is less than the rotational speed of the second driving member 53. Under this design, the precision of the first driving member 43 driving the first connecting member 42 is greater than the precision of the second driving member 53 driving the second connecting member 52. When specifically controlling the surgical device, a scheme of the second driving member 53 acting first and the first driving member 43 acting later can be adopted to improve the overall driving precision and driving efficiency of the first motion mechanism 4 and the second motion mechanism 5.

[0073] In an alternative embodiment, as Figure 1As shown, the movement platform further includes a supporting component 6. The supporting component 6 is provided with a channel for the medical needle to pass through, and the channel can stabilize the medical needle. The inner wall of the channel is used to contact the Kirschner wire 3 clamped by the needle picking component 1 to reduce the radial shaking of the Kirschner wire 3. In this embodiment, by providing the supporting component 6, the radial shaking during the transportation of the Kirschner wire 3 by the needle picking component 1 can be reduced, so that the Kirschner wire 3 can be accurately inserted into the patient's bone.

[0074] The supporting component 6 can be fixed relative to the first track 41. For example, the supporting component 6 is fixed on the first bracket 44 or the second connecting member 52. In this way, when the needle picking component 1 moves relative to the first track 41, referring to Figure 4 , the supporting component 6 does not move synchronously with the needle picking component 1, and the position of the supporting component 6 is relatively fixed, which can ensure that multiple needle insertions can meet the required position requirements.

[0075] Or, the supporting component 6 can also be fixed relative to the first connecting member 42. For example, the supporting component 6 is fixedly connected to the first connecting member 42.

[0076] In an alternative embodiment, as Figure 6 shown, the supporting component 6 includes: a supporting tube 61 and a fixing frame 62. The supporting tube 61 has a through hole matching the diameter of the medical needle, and the Kirschner wire 3 passes through the through hole; this through hole is a structural form of the aforementioned channel. The inner diameter of the through hole can be slightly larger than the medical needle, or the inner diameter of the through hole gradually decreases from top to bottom to improve the stabilizing effect on the Kirschner wire 3.

[0077] The fixing frame 62 is fixed or detachable relative to the first track 41. For example: one end of the fixing frame 62 fixes the supporting tube 61, and the other end is fixedly connected to the first bracket 44 or the second connecting member 52. In this embodiment, through the setting of the supporting tube 61, radial support for the Kirschner wire 3 can be stably provided, and through the fixing frame 62, it is convenient to fix the supporting tube 61 to the first bracket 44 or the second connecting member 52. Or, the fixing frame 62 is detachably connected to the first bracket 44 or the first connecting member 42, and the detachable connection methods include but are not limited to screw connection, snap connection or buckle connection, etc.

[0078] As Figure 5 shown, when the supporting tube 61 is fixed to the first bracket 44 through the fixing frame 62, in order to ensure that the needle picking component 1 is completely separated from the Kirschner wire 3 on the patient while the supporting tube 61 can also be completely separated from the Kirschner wire 3, the length of the second track 51 needs to be long enough. It can be understood that when the supporting tube 61 is fixed to the first connecting member 42 through the fixing frame 62, in order to ensure that the needle picking component 1 is completely separated from the Kirschner wire 3 on the patient while the supporting tube 61 can also be completely separated from the Kirschner wire 3, the total length of the second track 51 plus the first track 41 needs to be long enough.

[0079] In an alternative embodiment, as Figure 6As shown, the supporting assembly 6 further includes a locking knob 63, and the locking knob 63 fixes the fixing bracket 62 to the first bracket 44 or the first connecting member 42. In this embodiment, the supporting assembly 6 can be fixed to the first bracket 44 or the first connecting member 42 through the locking knob 63, and it is also convenient to disassemble from the first bracket 44 or the first connecting member 42 through the locking knob 63. When taking the Kirschner wire 3 with a short length and no need for radial limit, the supporting can be omitted.

[0080] It should be understood that the above embodiments are all exemplary and do not cover all possible implementation manners included in the claims. Without departing from the scope of the present disclosure, various deformations and changes can also be made on the basis of the above embodiments. Similarly, the various technical features of the above embodiments can also be arbitrarily combined to form other embodiments of the present application that may not be clearly described. Therefore, the above embodiments only represent several implementation manners of the present application and do not limit the protection scope of the patent of the present application.

Claims

1. A motion platform, characterized in that, Comprising: a needle picking component (1), a first motion mechanism (4) and a second motion mechanism (5); the needle picking component (1) is installed on the first motion mechanism (4) and can reciprocate in a preset direction under the action of the first motion mechanism (4) to pick up and place a medical needle (3); wherein, the preset direction is the direction parallel to the length of the medical needle; the first motion mechanism (4) is installed on the second motion mechanism (5) and can reciprocate in the preset direction under the action of the second motion mechanism (5), and the needle picking component (1) moves synchronously with the first motion mechanism (4).

2. The motion platform according to claim 1, wherein the first motion mechanism (4) includes a first track (41), a first connecting member (42) and a first driving member (43), the first track (41) extends along the length direction of the medical needle, and the first connecting member (42) is connected to the needle picking component (1); the first driving member (43) is connected to the first connecting member (42) and can drive the first connecting member (42) to move along the first track (41); the second motion mechanism (5) includes a second track (51), a second connecting member (52) and a second driving member (53), the second track (51) is arranged parallel to the first track (41), and the second connecting member (52) is connected to the first track (41); the second driving member (53) is connected to the second connecting member (52) and can drive the second connecting member (52) to move along the second track (51).

3. The motion platform according to claim 2, wherein The first connecting member (42) is located on the first side of the first track (41), and the second connecting member (52) is located on the second side of the first track (41), and the second side is the opposite side of the first side.

4. The motion platform according to claim 2, wherein, The bottom end of the first track (41) is flush with the bottom end of the second track (51), and the top end of the first track (41) is located below the top end of the second track (51).

5. The motion platform according to any one of claims 1-4, characterized in that, The first motion mechanism (4) further includes: a first bracket (44) and a first lead screw (45); both the first bracket (44) and the first lead screw (45) extend along the first track (41); the first track (41) is fixed to the first bracket (44); the first connecting member (42) is respectively connected to the first lead screw (45) and the first track (41), and the first lead screw (45) is connected to the first driving member (43); under the action of the first driving member (43), the first lead screw (45) drives the first connecting member (42) to reciprocate along the first track (41).

6. The motion platform according to claim 5, wherein the first track (41), the first lead screw (45) and the first driving member (43) are fixed on the same side of the first bracket (44), and the first lead screw (45) and the first driving member (43) are coaxially arranged.

7. The exercise platform according to any one of claims 1-4, characterized in that, The second motion mechanism (5) further includes: a second bracket (54) and a second lead screw (55); both the second bracket (54) and the second lead screw (55) extend along the second track (51); the second track (51) is fixed to the second bracket (54); Both the second track (51) and the second lead screw (55) are located on one side of the second bracket (54), and the second driving member (53) is located on the other side of the second bracket (54); the second driving member (53) is connected to the second lead screw (55) through a transmission member (56); The second connecting member (52) is respectively connected to the second lead screw (55) and the second track (51).

8. The exercise platform according to claim 2, wherein The moving platform further includes a supporting assembly (6), the supporting assembly (6) is located below the needle picking assembly (1) and is fixed relative to the first track (41) or the first connecting member (42); The supporting assembly (6) is provided with a channel for the medical needle to pass through, and the channel can stabilize the medical needle.

9. The motion platform according to claim 8, characterized in that, The supporting assembly (6) includes: A supporting tube (61), the supporting tube (61) is provided with the channel; A fixing frame (62), the fixing frame (62) connects the supporting tube (61) and is fixed or detachable relative to the first track (41).

10. The motion platform according to any one of claims 1-4, characterized in that, The precision of the first motion mechanism (4) is greater than that of the second motion mechanism (5). Preferably, the distance that the first connecting member (42) moves when the output shaft of the first driving member (43) rotates one week is less than the distance that the second connecting member (52) moves when the output shaft of the second driving member (53) rotates one week.

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