Needle supply device and needle placement equipment

Abstract

The embodiment of the invention provides a needle supply device which comprises a supporting arm, a first driving assembly and a needle box, the needle box comprises a box body and a clamping piece, and the first driving assembly is arranged at the first end of the supporting arm and connected with the first end of the box body to drive the box body to rotate around the axis of the box body; the box body is cylindrical, N clamping piece sets are arranged on the outer wall of the box body in the circumferential direction, and one clamping piece set comprises M clamping pieces arranged in the axial direction of the box body; the clamping piece is used for clamping the inner fixing needle; the M clamping pieces in one clamping piece group are used for clamping the same inner fixing needle, so that the inner fixing needle is parallel to the axis of the box body, and N and M are integers greater than or equal to 1.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a needle supply device and a needle placement device. Background Art

[0002] An internal fixation needle (Kirschner wire), also known as a K-wire, is an internal fixation needle used in orthopedics, usually in the medical field, especially in orthopedic surgeries. The main functions of the Kirschner wire are to fix the fracture ends to promote fracture healing and to be used for positioning in orthopedic surgical robots to guide bone nails, etc. They can be used alone or in combination with other devices (such as plates, screws, or external fixators).

[0003] The Kirschner wire is inserted into the fracture site by a human using a needle placement component. Usually, the Kirschner wire is manually loaded into the needle placement component one by one. For surgical procedures that require multiple insertions (such as pedicle internal fixation surgery), multiple Kirschner wires need to be inserted in one operation. On the one hand, the loading efficiency is low. On the other hand, each manual loading greatly increases the risk of bacterial contamination and endangers the health of patients. In addition, the degree of automation is too low, which is not conducive to the development of orthopedic surgical robots towards the trend of intelligence. Summary of the Invention

[0004] According to a first aspect of an embodiment of the present disclosure, a needle supply device is provided, characterized in that the needle supply device includes: a support arm, a first driving component, and a needle magazine, and the needle magazine includes: a magazine body and a clamping member, wherein,

[0005] The first driving component is disposed at a first end of the support arm and is connected to a first end of the magazine body to drive the magazine body to rotate around the axis of the magazine body;

[0006] The magazine body is cylindrical, and N groups of clamping members are circumferentially arranged on an outer wall of the magazine body. One group of clamping members includes M clamping members arranged along an axial direction of the magazine body; the clamping members are used for clamping the internal fixation needle; M clamping members in one group of clamping members are used for clamping the same internal fixation needle so that the internal fixation needle is arranged parallel to the axis of the magazine body, and N and M are integers greater than or equal to 1.

[0007] In one embodiment, the needle supply device further includes a protective cover;

[0008] A first end of the protective cover is connected to a second end of the magazine body, and the protective cover is at least used to cover a part of the internal fixation needle extending out of the second end of the magazine body.

[0009] In one embodiment, the protective cover includes: a first cylindrical portion, a conical cylindrical portion, and a second cylindrical portion that are sequentially connected;

[0010] The first cylindrical portion is at least partially sleeved on the second end of the cartridge, the inner diameter of the first cylindrical portion is greater than the outer diameter of the cartridge, and the space between the outer wall of the cartridge and the inner wall of the first cylindrical portion is at least for the inner fixing needle to pass through;

[0011] From the first end to the second end of the conical tube portion, the inner diameter of the conical tube portion gradually increases. Wherein, the first end of the conical tube portion is connected to the first cylindrical portion, and the second end of the conical tube portion is connected to the second cylindrical portion.

[0012] In one embodiment, the needle supply device further includes: an end face cover:

[0013] The end face cover is used to cover the second end of the protective cover;

[0014] The inner surface of the end face cover facing the cartridge is a plane perpendicular to the axis of the cartridge;

[0015] The inner surface of the end face cover is used to abut against one end of the clamping inner fixing needle.

[0016] In one embodiment, the clamping member has a clamping channel for the inner fixing needle to pass through, and at least part of the inner wall of the clamping channel is in interference fit with the inner fixing needle.

[0017] In one embodiment, the clamping channel includes: a tapered channel and a cylindrical channel that communicate with each other;

[0018] The tapered channel is used to guide the inner fixing needle to the cylindrical channel;

[0019] The cylindrical channel is in interference fit with the inner fixing needle.

[0020] In one embodiment, the clamping member includes a base, a first clamping portion, a second clamping portion, an elastic member and a clamping housing;

[0021] The base is used to fix the clamping member on the outer wall of the cartridge

[0022] The clamping housing and the base form a receiving cavity for receiving the first clamping portion, the second clamping portion and the elastic member;

[0023] The first clamping portion and the second clamping portion are arranged opposite to each other. A first groove is provided on the first clamping surface of the first clamping portion facing the second clamping portion, and a second groove is provided on the second clamping surface of the second clamping portion facing the first clamping portion. The first groove and the second groove form the clamping channel;

[0024] The first clamping portion is disposed on the base, and an elastic member is disposed between the second clamping portion and the inner wall of the clamping housing, and the elastic member is configured to generate an elastic thrust that pushes the second clamping portion toward the first clamping portion.

[0025] In one embodiment, the first driving assembly includes: a driving motor and a transmission assembly, wherein,

[0026] The driving motor is fixedly disposed at the first end of the support arm,

[0027] The cartridge is connected to the transmission assembly;

[0028] The driving motor drives the cartridge to rotate through the transmission assembly.

[0029] In one embodiment, the cartridge and the transmission assembly are detachably connected by a first connection assembly;

[0030] The transmission assembly and the first end of the support arm are detachably connected by a second connection assembly.

[0031] In one embodiment, the transmission assembly includes: a bearing seat, a bearing, and a transmission shaft;

[0032] The first end of the support arm includes: a first surface and a second surface, and the first surface and the second surface face away from each other;

[0033] The first end of the support arm is further provided with a through hole penetrating the first surface and the second surface;

[0034] The driving motor is disposed on the first surface

[0035] The bearing seat detachably fixes the transmission assembly to the second surface through the second connection assembly;

[0036] The transmission shaft is rotatably disposed in the fixed seat through the bearing, the transmission shaft passes through the through hole, a first end of the transmission shaft is connected to the cartridge, and a second end of the transmission shaft is connected to the driving motor.

[0037] In one embodiment, the drive shaft of the driving motor is connected to the transmission shaft through a coupling sleeve to drive the transmission shaft, wherein the drive shaft is fixedly connected to the coupling sleeve, the coupling sleeve is detachably sleeved on the transmission shaft, an inner wall of the coupling sleeve includes a first plane extending along an axial direction of the transmission shaft, and an outer wall of the transmission shaft includes a second plane extending along the axial direction of the transmission shaft, and the first plane abuts against the second plane.

[0038] In one embodiment, the box body includes a connecting portion disposed at a first end of the box body, the connecting portion having a first abutting surface extending along the axial direction of the box body,

[0039] The transmission shaft has a second abutment surface extending axially along the box body;

[0040] The first connecting component is used to: lock the first abutting surface and the second abutting surface so that the transmission shaft drives the box body to rotate; or release the lock of the first abutting surface and the second abutting surface so that the transmission shaft and the box body are separated from each other.

[0041] In one embodiment, the transmission shaft includes a first shaft body and a second shaft body that are detachably connected; the first shaft body is connected to the drive shaft through the coupling sleeve, and the second shaft body is provided with the second abutment surface.

[0042] In one embodiment, the first connecting assembly and the second connecting assembly are quick-release connecting assemblies.

[0043] The quick-release connection assembly includes a first component, a second component, a handle, a shaft and a cross pin;

[0044] The handle is fixed to the first end of the shaft;

[0045] The first component is provided with a first through hole, and the second component is provided with a second through hole,

[0046] The shaft rod can be inserted into the first through hole and the second through hole in sequence;

[0047] The transverse pin protrudes from the shaft rod in the radial direction of the shaft rod, and the side wall of the second through hole is formed with a circumferentially arranged clearance portion capable of allowing the transverse pin to pass through, and a stop portion capable of limiting the transverse pin from passing through;

[0048] After the shaft rod is successively inserted into the first through hole and the second through hole, the bottom side of the handle abuts against the first component, and the handle is used to drive the shaft rod to rotate, so that the cross pin rotates and abuts against the stopper to lock the relative movement of the first component and the second component along the axial direction of the shaft rod, or the cross pin rotates to the yielding part to release the relative movement restriction of the first component and the second component along the axial direction of the shaft rod.

[0049] In one embodiment, the shaft is provided with a limiting column protruding along the radial direction of the shaft;

[0050] A rotation limiting groove cooperating with the limiting column is formed in the circumferential direction on the side wall of the first through hole to limit the rotation range of the limiting column when the shaft rod rotates.

[0051] In one embodiment, the needle supply device further comprises: a second drive assembly,

[0052] The second end of the support arm is connected to the second driving assembly;

[0053] The second driving assembly is configured to drive the support arm to rotate with the first end of the support arm as the free end and with the second end of the support arm as the rotation center.

[0054] According to a second aspect of the embodiments of the present disclosure, a needle placement device is provided. The needle placement device includes the needle supply device as described in the first aspect.

[0055] A needle supply device and a needle placement device provided in this embodiment. The needle supply device includes: a support arm, a first driving assembly, and a needle magazine. The needle magazine includes: a magazine body and a clamping member. Wherein, the first driving assembly is disposed at the first end of the support arm and is connected to the first end of the magazine body to drive the magazine body to rotate around the axis of the magazine body; the magazine body is cylindrical, and N groups of clamping members are circumferentially arranged on the outer wall of the magazine body. One group of clamping members includes M clamping members arranged along the axial direction of the magazine body; the clamping member is configured to clamp an internal fixation needle; M clamping members in one group of clamping members are configured to clamp the same internal fixation needle so that the internal fixation needle is arranged parallel to the axis of the magazine body. N and M are integers greater than or equal to 1. In this way, by rotating the magazine body through the first driving assembly, the internal fixation needles clamped on the outer wall of the magazine body can be aligned with the clamping structure of the needle placement member in sequence, and continuously provide internal fixation needles for the clamping structure, that is, continuous needle supply for the needle placement member can be realized. Thereby improving the efficiency of reloading the internal fixation needles of the needle placement member. Description of the Drawings

[0056] Figure 1 is a schematic structural diagram of a needle supply device shown according to an exemplary embodiment;

[0057] Figure 2 is a schematic structural diagram of a needle supply device shown according to an exemplary embodiment;

[0058] Figure 3 is a schematic structural diagram of a needle supply device shown according to an exemplary embodiment;

[0059] Figure 4 is a schematic structural diagram of a needle supply device shown according to an exemplary embodiment;

[0060] Figure 5 is a schematic structural diagram of a needle supply device shown according to an exemplary embodiment;

[0061] Figure 6 is a schematic structural diagram of a needle supply device shown according to an exemplary embodiment;

[0062] Figure 7It is a schematic structural diagram of a needle supply device shown according to an exemplary embodiment;

[0063] Figure 8 It is a schematic structural diagram of a needle supply device shown according to an exemplary embodiment;

[0064] Figure 9 It is a schematic structural diagram of a needle supply device shown according to an exemplary embodiment;

[0065] Figure 10 It is a schematic structural diagram of a needle supply device shown according to an exemplary embodiment;

[0066] Figure 11 It is a schematic structural diagram of a needle supply device shown according to an exemplary embodiment;

[0067] Figure 12 It is a schematic structural diagram of a needle supply device shown according to an exemplary embodiment;

[0068] Figure 13 It is a schematic structural diagram of a needle supply device shown according to an exemplary embodiment. Detailed implementation manners

[0069] 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 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 this application belongs.

[0070] The embodiments of the present disclosure are not exhaustive, but only schematic of some embodiments, and do not constitute a specific limitation on the protection scope of the present disclosure. Without contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be combined arbitrarily. For example, the solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. Additionally, the optional implementation manners in a certain embodiment can be combined arbitrarily; furthermore, the embodiments can be combined arbitrarily. For example, some or all of the steps of different embodiments can be combined arbitrarily, and a certain embodiment can be combined arbitrarily with the optional implementation manners of other embodiments.

[0071] In each embodiment of the present disclosure, if there is no special explanation and logical conflict, the terms and / or descriptions among the embodiments are consistent and can be cited from each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0072] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0073] In the embodiments of the present disclosure, unless otherwise specified, elements expressed in the singular form, such as "a", "an", "the", "above-mentioned", "said", "aforesaid", "this", etc., may mean "one and only one", or may also mean "one or more", "at least one", etc. For example, when using articles such as "a", "an", "the" in English translation, the noun after the article can be understood as a singular expression or a plural expression.

[0074] In the embodiments of the present disclosure, "a plurality of" means two or more.

[0075] In some embodiments, terms such as "at least one (at least one, at least one item, at least one)", "one or more", "a plurality of", "multiple", etc. can be replaced with each other.

[0076] In some embodiments, notations such as "at least one of A and B", "A and / or B", "in one case A, in another case B", "one case A, another case B", etc. may include the following technical solutions according to the situation: In some embodiments, A (performing A independently of B); in some embodiments, B (performing B independently of A); in some embodiments, selecting to perform from A and B (A and B are selectively performed); in some embodiments, A and B (both A and B are performed). The same is true when there are more branches such as A, B, C, etc.

[0077] In some embodiments, notations such as "A or B" may include the following technical solutions according to the situation: In some embodiments, A (performing A independently of B); in some embodiments, B (performing B independently of A); in some embodiments, selecting to perform from A and B (A and B are selectively performed). The same is true when there are more branches such as A, B, C, etc.

[0078] The prefix words such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different described objects, and do not constitute restrictions on the position, order, priority, value or content of the described objects. For the statements of the described objects, refer to the descriptions in the claims or the context of the embodiments. There should be no redundant restrictions due to the use of prefix words. For example, if the described object is "field", the ordinal numbers before "field" in "the first field" and "the second field" do not limit the position or order between the "fields", and "first" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of "the first field" and "the second field". Again, for example, if the described object is "level", the ordinal numbers before "level" in "the first level" and "the second level" do not limit the priority between the "levels". Again, for example, the value of the described object is not restricted by the ordinal number and can be one or more. Taking "the first device" as an example, the value of "device" therein can be one or more. In addition, the objects modified by different prefix words can be the same or different. For example, if the described object is "device", "the first device" and "the second device" can be the same device or different devices, and their types can be the same or different; again, for example, if the described object is "information", "the first information" and "the second information" can be the same information or different information, and their contents can be the same or different.

[0079] In some embodiments, "including A", "containing A", "used to indicate A", "carrying A" can be interpreted as directly carrying A or indirectly indicating A.

[0080] In some embodiments, terms such as "……", "determining……", "in the case of……", "when……", "when……", "if……", "if……" can be mutually replaced.

[0081] In some embodiments, terms such as "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not lower than", "above" can be mutually replaced, and terms such as "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "not more than", "lower than", "lower than or equal to", "not higher than", "below" can be mutually replaced.

[0082] In addition, each element, each row, or each column in the tables of the embodiments of the present disclosure can be implemented as an independent embodiment, and any combination of any element, any row, and any column can also be implemented as an independent embodiment.

[0083] Figure 1 It is a needle placement device for inserting an internal fixation needle into the human bone, such as a fracture site.

[0084] In a possible implementation, the internal fixation needle includes, but is not limited to, at least one of the following: Kirschner wire, bone screw, bone drill bit.

[0085] As Figure 1 shown, the needle placement device includes a needle placement member 110 and a guide rail 120 (there can be multiple guide rails 120 that can move relative to each other). The needle placement member 110 is used to hold the internal fixation needle and perform the needle placement operation (by rotating the internal fixation needle and moving axially to perform the needle placement operation). The guide rail 120 is used to allow the needle placement member 110 to move along the needle placement direction. The needle placement device can be arranged to perform the needle placement operation on a robotic arm. Usually, the needle placement member 110 can hold one internal fixation needle at a time. After completing the needle placement operation, it is necessary to manually load the internal fixation needle for the needle placement member 110. In some scenarios, when loading the internal fixation needle, it is necessary to adjust the position of the needle placement member 110 to facilitate manual loading, resulting in low loading efficiency and affecting the continuity of the needle placement operation of the needle placement member 110. Therefore, how to improve the efficiency of reloading the internal fixation needle for the needle placement member 110 and reduce the impact of reloading the internal fixation needle on the current working state of the needle placement member 110 is an urgent problem to be solved.

[0086] As Figure 2 described, an embodiment of the present disclosure provides a needle supply device 200, the needle supply device 200 includes: a support arm 210, a first driving assembly 220, and a needle magazine 230. The needle magazine 230 includes: a magazine body 231 and a clamping member 232, wherein,

[0087] The first driving assembly 220 is arranged at the first end of the support arm 210 and is connected to the first end of the magazine body 231 to drive the magazine body 231 to rotate around the axis of the magazine body 231;

[0088] The magazine body 231 is cylindrical, and N clamping member groups are arranged circumferentially on the outer wall of the magazine body 231. One clamping member group includes M clamping members 232 arranged along the axial direction of the magazine body 231; the clamping member 232 is used to hold the internal fixation needle 300; the M clamping members 232 in one clamping member group are used to hold the same internal fixation needle 300, so that the internal fixation needle 300 is arranged parallel to the axis of the magazine body 231. N and M are integers greater than or equal to 1.

[0089] Here, the support arm 210 is used to arrange the first driving assembly 220 and the needle magazine 230.

[0090] In a possible implementation, the types of internal fixation needles held by different clamping member groups are exactly the same. For example, the N clamping member groups can all hold N identical Kirschner wires.

[0091] In a possible implementation, the types of internal fixation needles held by different groups of clamping members are not exactly the same. For example, among the N groups of clamping members, at least one clamping group can hold Kirschner wires, and at least one clamping group can hold bone screws. The types of the N Kirschner wires that the N groups of clamping members can hold are not exactly the same.

[0092] In a possible implementation, the support arm 210 can swing to drive the needle magazine 230 to move.

[0093] In a possible implementation, the first driving component 220 can drive the cartridge body 231 to rotate about the axis of the cartridge body 231 by means of an electric drive such as a motor.

[0094] In a possible implementation, the first driving component 220 can include a connecting member that rotatably sets the cartridge body 231 to the first end of the support arm 210. In this way, the cartridge body 231 can rotate about the axis of the cartridge body 231 based on methods such as manual pushing.

[0095] As Figure 2 shown, two clamping members 232 of one clamping member group hold an internal fixation needle 300. A total of N groups of clamping members are used to hold N internal fixation needles 300.

[0096] In a possible implementation, in the radial section of the cartridge body 231, the axial centers of the N internal fixation needles 300 are located on the same circle centered on the axis of the cartridge body 231. That is, when the cartridge body 231 rotates, the N internal fixation needles 300 rotate along the same circle.

[0097] In a possible implementation, the clamping member 232 can have an interference fit with the internal fixation needle 300 by means of a snap or the like, that is, the clamping member 232 can hold the internal fixation needle 300.

[0098] In a possible implementation, the internal fixation needle 300 can be withdrawn from the second end of the cartridge body 231 from the cartridge body 231. Here, the first end of the cartridge body 231 is the end of the cartridge body 231 facing the support arm 210, and the second end of the cartridge body 231 is the end of the cartridge body facing the needle placement member 110.

[0099] The cartridge body 231 can be arranged on one side of the needle placement member 110, and the axis of the cartridge body 231 can be arranged along the parallel direction of the internal fixation needle 300 loaded by the needle placement member 110. As Figure 3 shown, the needle placement member 110 can be provided with a clamping structure 111 to clamp the internal fixation needle 300 on the cartridge body 231. The needle placement member 110 is arranged on a guide rail 120 parallel to the axis of the cartridge body 231. Therefore, the clamping structure 111 can move parallel to the axis of the cartridge body 231 following the needle placement member 110 to clamp the internal fixation needle 300.

[0100] In a possible implementation, when the center line of the gripper structure 111 overlaps with the internal fixation needle 300, the gripper structure 111 can move to grip the internal fixation needle 300. The support arm 210 can be adjusted to overlap a root of internal fixation needle 300 with the center line of the gripper structure 111. Since N internal fixation needles 300 are located on the same circle, by rotating the cartridge 231, each internal fixation needle 300 can be overlapped with the center line of the gripper structure 111 in turn. Thus, the gripper structure 111 can grip each internal fixation needle 300 in turn.

[0101] The gripper structure 111 can move with the needle placement component 110 to the extraction position, and at the extraction position, the gripper structure 111 can grip the internal fixation needle 300. The gripper structure 111 can move with the needle placement component 110 in a direction away from the cartridge 231 to extract the internal fixation needle 300 along a direction parallel to the axis of the cartridge 231. The gripper structure 111 moves along the guide rail 120 during the process of extracting the internal fixation needle 300, without affecting the deflection angle of the needle placement component 110, etc., so as to reduce the influence on the current working state of the needle placement component 110.

[0102] The first driving component 220 can rotate the cartridge 231 to align the N clamping positions corresponding to the N clamping member groups with the gripper structure 111 in turn. So that the gripper structure 111 can grip each internal fixation needle 300 in turn.

[0103] In this way, by rotating the cartridge 231 through the first driving component 220, the internal fixation needles 300 clamped on the outer wall of the cartridge 231 can be aligned with the gripper structure 111 of the needle placement component 110 in turn, continuously providing the internal fixation needles 300 for the gripper structure 111, that is, continuous needle supply for the needle placement component 110 can be realized. Thus, the efficiency of the needle placement component 110 for reloading the internal fixation needles 300 is improved. The cartridge 231 can realize continuous needle supply for the needle placement device, reduce the risk of bacterial contamination caused by manual loading for each needle placement in the related art, and improve the surgical hygiene level.

[0104] In one embodiment, as Figure 4 shown, the needle supply device 200 further includes a protective cover 233;

[0105] The first end of the protective cover 233 is connected to the second end of the cartridge 231, and the protective cover 233 is at least used to sleeved the part of the internal fixation needle 300 extending out of the second end of the cartridge 231.

[0106] Figure 4 is a cross-sectional view of the needle cartridge 230 along the axis direction of the cartridge 231, as Figure 4As shown, for the clamping structure 111 to clamp the internal fixation needle 300 from the needle cartridge 230, the internal fixation needle 300 can partially extend out of the second end of the cartridge body 231. Since the part of the internal fixation needle 300 extending out of the second end is relatively sharp, there is a safety risk. In addition, other instruments may also collide with the part of the internal fixation needle 300 extending out of the second end of the cartridge body 231, thereby damaging the internal fixation needle 300. Therefore, a protective cover 233 can be provided at the second end of the cartridge body 231.

[0107] The protective cover 233 can be generally cylindrical and sleeved outside all the internal fixation needles 300. The clamping structure 111 can partially extend into the protective cover 233 during movement to clamp the internal fixation needle 300. In this way, on the one hand, the safety risk caused by the part of the internal fixation needle 300 extending out of the second end of the cartridge body 231 is reduced, and on the other hand, the collision risk between other instruments and the part of the internal fixation needle 300 extending out of the second end of the cartridge body 231 is also reduced, improving the integrity rate of the internal fixation needle 300.

[0108] In one embodiment, as Figures 2 to 4 shown, the protective cover 233 includes: a first cylindrical portion 2331, a tapered cylindrical portion 2332, and a second cylindrical portion 2333 that are connected in sequence;

[0109] The first cylindrical portion 2331 is at least partially sleeved on the second end of the cartridge body 231, the inner diameter of the first cylindrical portion 2331 is greater than the outer diameter of the cartridge body 231, and the space between the outer wall of the cartridge body 231 and the inner wall of the first cylindrical portion 2331 is at least used for the internal fixation needle 300 to pass through;

[0110] From the first end to the second end of the tapered cylindrical portion 2332, the inner diameter of the tapered cylindrical portion 2332 gradually increases. Among them, the first end of the tapered cylindrical portion 2332 is connected to the first cylindrical portion 2331, and the second end of the tapered cylindrical portion 2332 is connected to the second cylindrical portion 2333.

[0111] Here, the inner diameter (such as the internal diameter) of the first cylindrical portion 2331 is smaller than the inner diameter of the second cylindrical portion 2333.

[0112] In a possible implementation, the distance in the radial direction of the space between the outer wall of the cartridge body 231 and the inner wall of the first cylindrical portion 2331 is at least greater than the diameter of the internal fixation needle 300. There is at least a clearance space in the circumferential direction of the space between the outer wall of the cartridge body 231 and the inner wall of the first cylindrical portion 2331 for the internal fixation needle 300 to pass through.

[0113] When the clamping structure 111 clamps the internal fixation needle 300, a certain operating space is required in the radial direction of the internal fixation needle 300. Therefore, the inner diameter of the protective cover 233 gradually increases along the extraction direction of the internal fixation needle 300 until it reaches the inner diameter of the second cylindrical portion 2333, so that the clamping structure 111 can extend into the second cylindrical portion 2333 to clamp the internal fixation needle 300.

[0114] In a possible implementation, the clamping structure 111 can extract multiple internal fixation needles 300 from the needle magazine 230 by reciprocating multiple times.

[0115] Since the moving distance of the clamping structure 111 is limited by the guide rail 120, after the clamping structure 111 clamps the internal fixation needle 300 at the extraction position, it moves away from the needle magazine 230 until it reaches the stop position restricted by the guide rail 120. The clamping structure 111 releases the internal fixation needle 300 at the stop position. Since the internal fixation needle 300 is not completely taken out of the needle magazine 230, a part of the internal fixation needle 300 is still clamped by the clamping portion. The clamping structure 111 can move from the stop position to the extraction position to clamp the internal fixation needle 300 again and repeat the extraction action, and so on until the internal fixation needle 300 is extracted from the needle magazine 230.

[0116] In one embodiment, as Figure 4 shown, the needle supply device 200 further includes: an end face cover 234:

[0117] The end face cover 234 is used to cover the second end of the protective cover 233;

[0118] The inner surface of the end face cover 234 facing the cartridge body 231 is a plane perpendicular to the axis of the cartridge body 231;

[0119] The inner surface of the end face cover 234 is used to abut against one end of the clamped internal fixation needle 300.

[0120] In a possible implementation, the end face cover 234 has a side wall that cooperates with the inner wall of the protective cover 233, so that the inner surface of the end face cover 234 is perpendicular to the axis of the cartridge body 231. For example, the end face cover 234 has a side wall that cooperates with the inner wall of the second cylindrical portion 2333, so that the inner surface of the end face cover 234 is perpendicular to the axis of the cartridge body 231.

[0121] In order to make the N internal fixation needles 300 flush in the axial direction, the inner surface of the end face cover 234 can be used as an alignment reference plane. One end of each internal fixation needle 300 can abut against the inner surface of the end face cover 234. Thus, the internal fixation needles 300 are flush in the axial direction.

[0122] In one embodiment, the clamping member 232 has a clamping channel 2321 for the internal fixation needle 300 to pass through, and at least part of the inner wall of the clamping channel 2321 is in interference fit with the internal fixation needle 300.

[0123] In a possible implementation, the clamping channels 2321 of the clamping members 232 may be arranged along a line parallel to the axis of the cartridge 231. The clamping channels 2321 of the M clamping members 232 in a clamping member group are on the same straight line. In this way, the internal fixation needle 300 can pass through the clamping channels 2321 of the M clamping members 232 that can be penetrated.

[0124] The M clamping members 232 in a clamping member group can clamp different positions of the internal fixation needle 300, so as to maintain stable clamping of the internal fixation needle 300.

[0125] In a possible implementation, the clamping channel 2321 may be a through hole penetrating the clamping member 232 on the clamping member 232, and the through hole is in interference fit with the internal fixation needle 300.

[0126] In one embodiment, as Figure 5 shown, the clamping channel 2321 includes: a tapered channel 23211 and a cylindrical channel 23212 that communicate with each other;

[0127] The tapered channel 23211 is used to guide the internal fixation needle 300 to the cylindrical channel 23212;

[0128] The cylindrical channel 23212 is in interference fit with the internal fixation needle 300.

[0129] The tapered channel 23211 communicates with the cylindrical channel 23212.

[0130] In a possible implementation, the tapered channel 23211 may be a conical channel.

[0131] In a possible implementation, the tapered channel 23211 may be a pyramidal channel.

[0132] In a possible implementation, the cylindrical channel 23212 may be a cylindrical channel.

[0133] In a possible implementation, the cylindrical channel 23212 may be a prismatic channel 23212.

[0134] Exemplarily, Figure 5 is a cross-sectional view of the clamping channel 2321, as Figure 5As shown, the internal fixation needle 300 is inserted into the clamping channel 2321 in the direction indicated by arrow A. The internal fixation needle 300 first enters the conical channel 23211 through the bottom with a larger inner diameter. The inner diameter of the conical channel 23211 gradually decreases in the direction indicated by arrow A until it communicates with the cylindrical channel 23212. Therefore, after entering the conical channel 23211, the internal fixation needle 300 can enter the cylindrical channel 23212 under the guiding action of the inner wall of the conical channel 23211.

[0135] Through the guiding action of the conical channel 23211, the internal fixation needle 300 can accurately enter the cylindrical channel 23212, improving the convenience of inserting the internal fixation needle 300 into the cylindrical channel 23212.

[0136] In a possible implementation, conical channels 23211 are respectively communicated with both ends of the cylindrical channel 23212, and the conical channels 23211 at both ends of the cylindrical channel 23212 are both used to guide the internal fixation needle 300 to the cylindrical channel 23212. That is, the smaller-diameter ends of the two conical channels 23211 are respectively connected to both ends of the cylindrical channel 23212. In this way, both ends of the clamping channel 2321 can be used as guiding ends, improving the installation convenience of the clamping member 232.

[0137] In one embodiment, as Figure 6 shown, the clamping member 232 includes a base 23201, a first clamping portion 23202, a second clamping portion 23203, an elastic member (not shown in the figure), and a clamping housing 23204;

[0138] The base 23201 is used to fix the clamping member 232 on the outer wall of the cassette 231

[0139] The clamping housing 23204 and the base 23201 form an accommodation cavity for accommodating the first clamping portion 23202, the second clamping portion 23203, and the elastic member;

[0140] The first clamping portion 23202 and the second clamping portion 23203 are arranged opposite to each other. A first groove is provided on the first clamping surface of the first clamping portion 23202 facing the second clamping portion 23203, and a second groove is provided on the second clamping surface of the second clamping portion 23203 facing the first clamping portion 23202. The first groove and the second groove constitute the clamping channel 2321;

[0141] The first clamping portion 23202 is arranged on the base 23201, and an elastic member is provided between the second clamping portion 23203 and the inner wall of the clamping housing 23204. The elastic member is used to generate an elastic thrust that pushes the second clamping portion 23203 towards the first clamping portion 23202.

[0142] In a possible implementation, the base 23201 and the first clamping portion 23202 are integrally formed. The base 23201 can be fixed to the outer wall of the cartridge 231 by fixing means such as screws.

[0143] In a possible implementation, the housing can be fixed to the base 23201 by means such as snap-fitting.

[0144] In a possible implementation, an avoidance space can be provided on the housing for the internal fixing needle 300 to pass through. The avoidance space can be provided at both ends of the clamping channel 2321.

[0145] As Figure 6 shown, the clamping channel 2321 can be formed by a first groove provided on the first clamping portion 23202 arranged oppositely and a second groove provided on the second clamping portion 23203. The first clamping surface of the first clamping portion 23202 and the second clamping surface of the second clamping portion 23203 are respectively provided with the first groove and the second groove. The first clamping surface and the second clamping surface are arranged oppositely. The elastic member pushes the second clamping portion 23203 towards the first clamping portion 23202, so that the first clamping surface and the second clamping surface are in mutual abutment, and the first groove and the second groove form the clamping channel 2321.

[0146] At least a part of the clamping channel 2321 has an inner diameter smaller than the outer diameter of the internal fixing needle 300. Therefore, when the internal fixing needle 300 is inserted into the clamping channel 2321, the thrust of the elastic member causes the clamping channel 2321 to continuously generate a radial acting force on the internal fixing needle 300, playing a role in clamping the internal fixing needle 300.

[0147] In a possible implementation, the elastic member can be a separate component and is arranged between the second clamping portion 23203 and the inner wall of the clamping housing 23204. For example, the elastic member can be a spring or the like.

[0148] In a possible implementation, the elastic member is integrally formed with the second clamping portion 23203, and the elastic member and the second clamping portion 23203 can be made of an elastic material. For example, the elastic member and the second clamping portion 23203 can be made of a rubber material.

[0149] In an embodiment, as Figure 2 shown, the first driving assembly 220 includes: a driving motor 221 and a transmission assembly 222, wherein,

[0150] the driving motor 221 is fixedly arranged at the first end of the support arm 210,

[0151] the cartridge 231 is connected to the transmission assembly 222;

[0152] The driving motor 221 drives the cartridge 231 to rotate through the transmission assembly 222.

[0153] Here, the needle cartridge 230 can be connected to the transmission assembly 222 through the cartridge 231.

[0154] The driving motor 221 can include a stepper motor or the like. The stepper motor can drive the cartridge 231 to rotate with the angle between two adjacent inner fixed needles 300 as the stepping unit, so that each inner fixed needle 300 can be aligned with the needle placing member 110 in sequence.

[0155] The transmission assembly 222 is used to transmit the driving force of the motor to the cartridge 231 to rotate.

[0156] In a possible implementation, the transmission assembly 222 can include a coupling device for connecting the drive shaft 2211 of the driving motor 221 and the cartridge 231.

[0157] In a possible implementation, the transmission assembly 222 can include a speed-changing device, such as a gear set, etc., for changing the rotational speed, torque, etc. transmitted from the driving motor 221 to the cartridge 231.

[0158] In one embodiment, as Figure 2 shown, the cartridge 231 is detachably connected to the transmission assembly 222 through the first connection assembly 400;

[0159] The transmission assembly 222 is detachably connected to the first end of the support arm 210 through the second connection assembly 500.

[0160] Here, the number of inner fixed needles 300 that the needle cartridge 230 can carry is limited. Therefore, the transmission assembly 222 of the needle cartridge 230 and the transmission assembly 222 can be made detachable. The needle cartridge 230 can be removed for refilling during use, or the needle supply device 200 can have multiple needle cartridges 230 for alternative use. Therefore, the needle cartridge 230 can be detachably connected to the transmission assembly 222 through the first connection assembly 400. In this way, it is convenient for the user to disassemble and assemble the needle cartridge 230 during use.

[0161] Since the needle supply device 200 needs to perform operations such as disinfection and isolation, the transmission assembly 222 and the support arm 210 can be detachably connected through the second connection assembly 500 to facilitate setting an isolation cloth or the like between the transmission assembly 222 and the support arm 210 to isolate the sterile environment or perform disinfection and other operations.

[0162] In a possible implementation, the first connection assembly 400 and / or the second connection assembly 500 can adopt a quick-release connection assembly to facilitate disassembly and assembly.

[0163] The needle cartridge 230 and the transmission component 222 can be conveniently disassembled through the first connection component 400 and the second connection component 500 to meet the usage requirements in different scenarios.

[0164] In one embodiment, as Figure 3 shown and Figure 7 shown, the transmission component 222 includes: a bearing seat 2221, a bearing 2222, and a transmission shaft 2223;

[0165] The first end 211 of the support arm 210 includes: a first surface 2111 and a second surface 2112, and the first surface 2111 and the second surface 2112 face away from each other;

[0166] A through hole 212 penetrating the first surface 2111 and the second surface 2112 is further provided at the first end of the support arm 210;

[0167] The driving motor 221 is disposed on the first surface 2111

[0168] The bearing seat 2221 detachably fixes the transmission component 222 to the second surface 2112 through the second connection component 500;

[0169] The transmission shaft 2223 is rotatably disposed in the fixed seat through the bearing 2222. The transmission shaft 2223 passes through the through hole 212. The first end of the transmission shaft 2223 is connected to the cartridge body 231, and the second end of the transmission shaft 2223 is connected to the driving motor 221.

[0170] Figure 7 For Figure 3 a partial (frame a) enlarged schematic view.

[0171] Exemplarily, as Figure 3 shown, the axes of the bearing 2222, the transmission shaft 2223, and the through hole 212 overlap each other. The driving motor 221 drives the second end of the transmission shaft 2223, and the first end of the transmission shaft 2223 is connected to the cartridge body 231. Thus, the driving motor 221 located on the first surface 2111 can transmit the driving force to the cartridge body 231 through the transmission shaft 2223.

[0172] In a possible implementation, there may be multiple bearings 2222, such as two, to support the transmission shaft 2223, reduce the situation where the transmission shaft 2223 swings radially, and improve the stability of the transmission shaft 2223.

[0173] In a possible implementation, a first isolation layer for environmental isolation may be provided between the first surface 2111 and the drive motor 221, and / or a second isolation layer for environmental isolation may be provided between the second surface 2112 and the transmission assembly 222. The first isolation layer and the second isolation layer are used to meet the isolation requirements of medical devices. That is, an isolation layer can be established between the drive motor 221 and the driven device (such as the transmission assembly 222, the needle cartridge 230).

[0174] In one embodiment, as Figure 7 shown, the drive shaft 2211 of the drive motor 221 is connected to the transmission shaft 2223 through a coupling sleeve 2212 to drive the transmission shaft 2223. Wherein, the drive shaft 2211 is fixedly connected to the coupling sleeve 2212, the coupling sleeve 2212 is detachably sleeved on the transmission shaft 2223, the inner wall of the coupling sleeve 2212 includes a first plane extending along the axial direction of the transmission shaft 2223, and the outer wall of the transmission shaft 2223 includes a second plane extending along the axial direction of the transmission shaft 2223, and the first plane abuts against the second plane.

[0175] The first end of the coupling sleeve 2212 is sleeved on the outer surface of the drive shaft 2211, and the second end of the coupling sleeve 2212 is sleeved on the outer surface of the transmission shaft 2223.

[0176] In a possible implementation, the coupling sleeve 2212 and the drive shaft 2211 can be fixedly connected by connection means such as bolts.

[0177] In a possible implementation, the coupling sleeve 2212 is sleeved on the outer surface of the transmission shaft 2223, and the inner wall of the coupling sleeve 2212 and the outer wall of the transmission shaft 2223 can adopt fitting methods such as loose fitting or medium fitting. In this way, the user can remove the transmission shaft 2223 from the shaft sleeve without tools. Thus, the convenience of removing the transmission assembly 222 from the first end of the support arm 210 is improved.

[0178] The inner wall of the coupling sleeve 2212 can have at least one first plane. The outer wall of the transmission shaft 2223 can have at least one second plane. One first plane fits one second plane. Through the abutment of the first plane and the second plane, the coupling sleeve 2212 can drive the transmission shaft 2223 to rotate, reducing the situation that the transmission shaft 2223 rotates in circles inside the coupling sleeve 2212.

[0179] In a possible implementation, the cross-section of the inner wall of the second end of the coupling sleeve 2212 is polygonal, and the cross-section of the part of the transmission shaft 2223 located inside the coupling sleeve 2212 is polygonal and fits the coupling sleeve 2212.

[0180] In a possible implementation, the front end of the transmission shaft 2223 located inside the coupling sleeve 2212 is conical. When the transmission shaft 2223 is inserted into the coupling sleeve 2212, the conical body can play a guiding role and improve the convenience of inserting the transmission shaft 2223 into the coupling sleeve 2212.

[0181] In one embodiment, as Figure 8 shown, the cartridge body 231 includes a connecting portion 2311 provided at the first end of the cartridge body 231, and the connecting portion 2311 has a first abutting surface 23111 extending along the axial direction of the cartridge body 231.

[0182] The transmission shaft 2223 has a second abutting surface 22231 extending along the axial direction of the cartridge body 231.

[0183] The first connection assembly 400 is configured to: abut and lock the first abutting surface 23111 and the second abutting surface 22231, so that the transmission shaft 2223 drives the cartridge body 231 to rotate; or release the locking of the first abutting surface 23111 and the second abutting surface 22231, so that the transmission shaft 2223 and the cartridge body 231 are disengaged from each other.

[0184] In a possible implementation, the axis of the cartridge body 231 is located on the first abutting surface 23111, and the axis of the transmission shaft 2223 is located on the second abutting surface 22231. Since both the first abutting surface 23111 and the second abutting surface 22231 are located on the axis, the stability of rotational transmission can be improved, and the rotational stability of the cartridge body 231 can be improved.

[0185] In a possible implementation, the first abutting surface 23111 is provided with positioning posts protruding from the first abutting surface 23111, the second abutting surface 22231 is provided with positioning holes corresponding to the guiding posts, and the transmission shaft 2223 and the connecting portion 2311 are positioned by the cooperation of the positioning posts and the positioning holes. Alternatively, the second abutting surface 22231 is provided with positioning posts protruding from the second abutting surface 22231, the first abutting surface 23111 is provided with positioning holes corresponding to the guiding posts, and the transmission shaft 2223 and the connecting portion 2311 are positioned by the cooperation of the positioning posts and the positioning holes.

[0186] In a possible implementation, the locking or releasing of the first abutting surface 23111 and the second abutting surface 22231 can be achieved by screws and bolts passing through the connecting portion 2311 at the first end of the cartridge body 231 and the transmission shaft 2223, so as to install the needle cartridge 230 on the transmission shaft 2223, or remove the needle cartridge 230 from the transmission shaft 2223.

[0187] In one embodiment, as Figure 9As shown, the transmission shaft 2223 includes a first shaft body 22201 and a second shaft body 22202 that are detachably connected; the first shaft body 22201 is connected to the drive shaft 2211 through the coupling sleeve 2212, and a second abutting surface 22231 is provided on the second shaft body 22202.

[0188] In a possible implementation, the first shaft body 22201 has a smaller radial dimension, so that the aperture of the through hole 212 on the support arm 210 can be reduced. The second shaft body 22202 has a larger radial dimension, so that the dimension of the second abutting surface 22231 in the radial direction of the transmission shaft 2223 can be increased, thereby increasing the lever arm when the transmission shaft 2223 drives the cassette 231 to rotate and improving the driving efficiency of the cassette 231.

[0189] In a possible implementation, an installation hole is provided at the end of the second shaft body 22202, and one end of the first shaft body 22201 is disposed in the installation hole. Here, a pin hole can radially penetrate through the installation hole of the second shaft body 22202 and one end of the first shaft body 22201. A pin column can be installed in the pin hole to fix the relative displacement of the first shaft body 22201 and the second shaft body 22202. The pin hole and the pin column can adopt a threaded fit.

[0190] In a possible implementation, the radial dimension of the second shaft body 22202 and the connecting portion 2311 at the first end of the cassette 231 are the same. In this way, when the first abutting surface 23111 and the second abutting surface 22231 abut against each other, the second shaft body 22202 and the portion of the first end of the cassette 231 that abuts form a cylinder, thereby reducing the eccentric force during rotation.

[0191] In an embodiment, the first connection assembly 400 and the second connection assembly 500 are quick-release connection assemblies.

[0192] The quick-release connection assembly includes a first component 610, a second component 620, a handle 630, a shaft rod 640, and a cross pin 650.

[0193] The handle 630 is fixed to the first end of the shaft rod 640.

[0194] The first component 610 is provided with a first through hole 611, and the second component 620 is provided with a second through hole 621.

[0195] The shaft rod 640 can sequentially penetrate through the first through hole 611 and the second through hole 621.

[0196] The transverse pin 650 protrudes radially from the shaft rod 640 along the radial direction of the shaft rod 640. A relief portion 622 through which the transverse pin 650 can pass and a stop portion 623 that can limit the passing of the transverse pin 650 are formed in the circumferential direction on the side wall of the second through hole 621.

[0197] After the shaft rod 640 passes through the first through hole 611 and the second through hole 621 in sequence, the bottom side of the handle 630 abuts against the first component 610. The handle 630 is used to drive the shaft rod 640 to rotate, so that the transverse pin 650 rotates and abuts against the stop portion 623 to lock the relative movement of the first component 610 and the second component 620 along the axial direction of the shaft rod 640, or the transverse pin 650 rotates to the relief portion 622 to release the restriction on the relative movement of the first component 610 and the second component 620 along the axial direction of the shaft rod 640.

[0198] As Figure 2 shown, the cartridge body 231 is connected to the transmission shaft 2223 in the transmission assembly 222 through the first connection assembly 400; the bearing seat 2221 in the transmission assembly 222 is connected to the first end of the support arm 210 through the second connection assembly 500.

[0199] Here, the quick-release connection assembly can be a connecting member that does not require tools and allows users to disassemble and assemble, so as to realize the disassembly and assembly of the cartridge body 231 and the transmission assembly 222, or the disassembly and assembly of the bearing seat 2221 and the first end of the support arm 210.

[0200] As Figure 10 and Figure 11 shown, the first component 610 can be fixed to the cartridge body 231, and the second component 620 can be fixed to the transmission shaft 2223. Or, the second component 620 can be fixed to the cartridge body 231, and the first component 610 can be fixed to the transmission shaft 2223. In this way, when the first component 610 and the second component 620 are locked, the cartridge body 231 and the transmission shaft 2223 are locked. When the first component 610 and the second component 620 are released, the cartridge body 231 can be removed from the transmission shaft 2223.

[0201] As Figure 12 and Figure 13 shown, the first component 610 can be fixed to the bearing seat 2221, and the second component 620 can be fixed to the support arm 210. Or, the second component 620 can be fixed to the support arm 210, and the first component 610 can be fixed to the bearing seat 2221. In this way, when the first component 610 and the second component 620 are locked, the bearing seat 2221 and the support arm 210 are locked, that is, the transmission assembly 222 and the support arm 210 are locked. When the first component 610 and the second component 620 are released, the bearing seat 2221 can be removed from the support arm 210, that is, the transmission assembly 222 can be removed from the support arm 210.

[0202] The relief portion 622 can be arranged based on the cross pin 650. Figures 10 to 13 As shown, two transverse pins 650 are provided along the radial direction of the shaft rod 640, and two paving portions 622 are provided along the radial direction of the corresponding second through hole 621. The paving portions 622 are configured so that when the shaft rod 640 penetrates the first through hole 611 and the second through hole 621 at a specific angle, the transverse pin 650 can pass through the paving portions 622. After the transverse pin 650 passes through the paving portions 622, the shaft rod 640 can rotate at a certain angle, so that the transverse pin 650 can rotate to the stopper 623, and the stopper 623 stops the transverse pin 650 to prevent the shaft rod 640 from moving in the opposite direction of penetrating the first through hole 611 and the second through hole 621, thereby locking the first component 610 and the second component 620.

[0203] In one possible implementation, an elastic component (such as a spring) can be provided between the handle 630 and the first component 610, so that when the stop portion 623 stops the cross pin 650, the elastic component can generate a thrust on the handle 630, thereby generating a force that brings the first component 610 and the second component 620 closer to each other, thereby locking the box body 231 and the transmission shaft 2223, and / or locking the transmission assembly 222 and the support arm 210.

[0204] In one embodiment, the shaft 640 is provided with a limiting column 660 protruding along the radial direction of the shaft 640;

[0205] A rotation limiting groove 612 cooperating with the limiting column 660 is formed in the circumferential direction on the side wall of the first through hole 611 to limit the rotation range of the limiting column 660 when the shaft 640 rotates.

[0206] like Figure 11 and Figure 13 As shown, the limiting groove 612 is fan-shaped, thereby limiting the angle at which the limiting column 660 rotates along with the shaft 640 .

[0207] In a possible implementation, the position of one sector edge of the sector-shaped limiting groove 612 is the position where the cross pin 650 can pass through the evacuation portion 622 .

[0208] In one embodiment, the needle supply device 200 further includes: a second drive assembly 240,

[0209] The second end 212 of the support arm 210 is connected to the second driving assembly 240;

[0210] The second driving assembly 240 is used to drive the support arm 210 to rotate with the first end of the support arm 210 as a free end and with the second end 212 of the support arm 210 as a rotation center.

[0211] like Figure 3As shown in the figure, when the needle magazine 230 supplies needles to the needle placing component 110, the needle magazine 230 needs to be located behind the needle placing component 110. When the needle placing component 110 moves along the guide rail 120 during operation, if the needle magazine 230 is located behind the needle placing component 110, it will collide with the needle magazine 230. Therefore, it is necessary to keep the needle magazine 230 away from the moving range of the needle placing component 110.

[0212] Here, the support arm 210 can rotate in a plane perpendicular to the guide rail 120. Thus, the needle magazine 230 at the free end can move behind the needle placing component 110 when needles need to be supplied. When the needle magazine 230 needs to be refilled with the internal fixation needles 300, or when the needle placing component 110 needs to move a large range on the track and may collide with the needle magazine 230, the support arm 210 can rotate to a position where the needle magazine 230 does not collide with the needle placing component 110. On the one hand, the mobility of the needle magazine 230 is improved, and on the other hand, the moving safety of the needle placing component 110 is improved.

[0213] In a possible implementation, the second driving component 240 can include components such as a motor. The second driving component 240 can be arranged on installation components such as a robotic arm.

[0214] The embodiment of the present disclosure also proposes a needle placing device, and the needle placing device includes the needle supply device described in any of the above embodiments.

[0215] In a possible implementation, the needle placing device includes a needle placing device and a needle supply device.

[0216] In a possible implementation, the needle placing device can include at least one of the following: a robotic arm, a control device. Among them, the needle placing device and the needle supply device can be arranged on the robotic arm. The control device is used to control the movements of the needle placing device, the needle supply device, and / or the robotic arm.

[0217] In the present specification, the embodiments or implementation manners are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other.

[0218] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A needle supply device, characterized in that, The needle supply device includes: a support arm, a first driving component, and a needle magazine. The needle magazine includes: a magazine body and a clamping member. Among them, The first driving component is arranged at the first end of the support arm and is connected to the first end of the magazine body to drive the magazine body to rotate around the axis of the magazine body; The magazine body is cylindrical, and N groups of clamping members are arranged circumferentially on the outer wall of the magazine body. Among them, one group of clamping members includes M clamping members arranged along the axial direction of the magazine body; the clamping member is used to clamp the internal fixation needle; the M clamping members in one group of clamping members are used to clamp the same internal fixation needle, so that the internal fixation needle is arranged parallel to the axis of the magazine body. N and M are integers greater than or equal to 1.

2. The needle supply device according to claim 1, wherein The needle supply device further includes a protective cover; The first end of the protective cover is connected to the second end of the magazine body, and the protective cover is at least used to sleeve the part of the internal fixation needle extending out of the second end of the magazine body.

3. The needle supply device according to claim 2, wherein, The protective cover includes: a first cylindrical part, a conical part, and a second cylindrical part connected in sequence; The first cylindrical part is at least partially sleeved on the second end of the magazine body. The inner diameter of the first cylindrical part is greater than the outer diameter of the magazine body. The space between the outer wall of the magazine body and the inner wall of the first cylindrical part is at least used for the internal fixation needle to pass through; From the first end to the second end of the conical part, the inner diameter of the conical part gradually increases. Among them, the first end of the conical part is connected to the first cylindrical part, and the second end of the conical part is connected to the second cylindrical part.

4. The needle supply device according to claim 2, characterized in that, The needle supply device further includes: an end face cover: The end face cover is used to cover the second end of the protective cover; The inner surface of the end face cover facing the magazine body is a plane perpendicular to the axis of the magazine body; The inner surface of the end face cover is used to abut against one end of the internal fixation needle clamped; 5. The needle supply device according to claim 1, characterized in that, The clamping member has a clamping channel for the internal fixation needle to pass through, and at least part of the inner wall of the clamping channel is in interference fit with the internal fixation needle; Preferably, the clamping channel includes: a tapered channel and a cylindrical channel that communicate with each other; the tapered channel is used to guide the internal fixation needle to the cylindrical channel; the cylindrical channel is in interference fit with the internal fixation needle; Preferably, the clamping member includes a base, a first clamping part, a second clamping part, an elastic member, and a clamping housing; The base is used to fix the clamping member on the outer wall of the magazine body; The clamping housing and the base form an accommodation cavity for accommodating the first clamping part, the second clamping part, and the elastic member; The first clamping part and the second clamping part are arranged opposite to each other. A first groove is arranged on the first clamping surface of the first clamping part facing the second clamping part, and a second groove is arranged on the second clamping surface of the second clamping part facing the first clamping part. The first groove and the second groove form the clamping channel; The first clamping part is arranged on the base, and an elastic member is arranged between the second clamping part and the inner wall of the clamping housing. The elastic member is used to generate an elastic thrust that pushes the second clamping part towards the first clamping part.

6. The needle supply device according to claim 1, characterized in that, The first driving component includes: a driving motor and a transmission component. Among them, The driving motor is fixedly disposed at the first end of the supporting arm. The box body is connected to the transmission assembly; The driving motor drives the box body to rotate through the transmission assembly.

7. The needle supply device according to claim 6, characterized in that: The box body is detachably connected to the transmission assembly via a first connecting assembly; The transmission assembly is detachably connected to the first end of the support arm via a second connecting assembly; Preferably, the transmission assembly includes: a bearing seat, a bearing and a transmission shaft; the first end of the support arm includes: a first surface and a second surface, the first surface and the second surface are opposite to each other; the first end of the support arm is also provided with a through hole penetrating the first surface and the second surface; the drive motor is arranged on the first surface; the bearing seat removably fixes the transmission assembly to the second surface through the second connecting assembly; the transmission shaft is rotatably arranged in the fixed seat through the bearing, the transmission shaft passes through the through hole, the first end of the transmission shaft is connected to the box body, and the second end of the transmission shaft is connected to the drive motor.

8. The needle supply device according to claim 7, characterized in that, The driving shaft of the driving motor is connected to the transmission shaft through a coupling sleeve to drive the transmission shaft, wherein the driving shaft is fixedly connected to the coupling sleeve, the coupling sleeve is detachably sleeved on the transmission shaft, the inner wall of the coupling sleeve includes a first plane extending along the axial direction of the transmission shaft, the outer wall of the transmission shaft includes a second plane extending along the axial direction of the transmission shaft, and the first plane abuts against the second plane; Preferably, the box body includes a connecting portion arranged at a first end of the box body, the connecting portion has a first abutting surface extending along the axial direction of the box body, and the transmission shaft has a second abutting surface extending along the axial direction of the box body; the first connecting component is used to: make the first abutting surface and the second abutting surface abut and lock, so that the transmission shaft drives the box body to rotate; or release the locking of the first abutting surface and the second abutting surface, so that the transmission shaft and the box body are separated from each other; Preferably, the transmission shaft comprises a first shaft body and a second shaft body which are detachably connected; the first shaft body is connected to the driving shaft via the coupling sleeve, and the second shaft body is provided with the second abutting surface.

9. The needle supply device according to claim 7, characterized in that: The first connecting assembly and the second connecting assembly are quick-release connecting assemblies, The quick-release connection assembly includes a first component, a second component, a handle, a shaft and a cross pin; The handle is fixed to the first end of the shaft; The first component is provided with a first through hole, and the second component is provided with a second through hole, The shaft rod can be inserted into the first through hole and the second through hole in sequence; The transverse pin protrudes from the shaft rod in the radial direction of the shaft rod, and the side wall of the second through hole is formed with a circumferentially arranged clearance portion capable of allowing the transverse pin to pass through, and a stop portion capable of limiting the transverse pin from passing through; After the shaft rod is passed through the first through hole and the second through hole in sequence, the bottom side of the handle abuts against the first component, and the handle is used to drive the shaft rod to rotate, so that the cross pin rotates and abuts against the stopper to lock the relative movement of the first component and the second component along the axial direction of the shaft rod, or the cross pin rotates to the yielding portion to release the relative movement restriction of the first component and the second component along the axial direction of the shaft rod; Preferably, the shaft is provided with a limiting column protruding in the radial direction of the shaft; the side wall of the first through hole is circumferentially formed with a rotation limiting groove cooperating with the limiting column to limit the rotation range of the limiting column when the shaft rotates; Preferably, the needle supply device further comprises: a second drive assembly, the second end of the support arm being connected to the second drive assembly; The second driving assembly is used to drive the support arm to rotate with the first end of the support arm as the free end and the second end of the support arm as the rotation center.

10. A needle placement device, characterized in that, The needle placement device comprises a needle supply device as described in any one of claims 1 to 9.

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