Passive needle withdrawing device

Abstract

The passive needle withdrawing device comprises a guide template used for guiding and positioning a puncture needle, and a needle withdrawing module used for adjusting the insertion depth of the puncture needle and a driving module used for driving the needle withdrawing module to act are installed on the guide template; the needle pulling module and the driving module are connected through a connecting module, and an isolating membrane is arranged on the connecting module, so that the driving module can be isolated from the needle pulling module. According to the scheme, the needle withdrawing module is additionally arranged on the guiding template which is close to the body surface of a patient and used for guiding and positioning the puncture needle, and the needle withdrawing module and the driving module are isolated through the isolating membrane, so that an active device and a passive device are separated to facilitate operation disinfection and sterilization, and the operation cost is reduced.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and in particular relates to a passive needle removal device used in radioactive particle implantation surgery. Background Technology

[0002] Brachytherapy refers to radiation therapy performed using one or more radiation sources within a patient's cavity, between tissues, or superficially.

[0003] Radioactive particle implantation is a technique that involves directly implanting an isotope radioactive source into the tumor area for treatment, and it is a type of radiotherapy. Currently, this technique primarily utilizes modern imaging technology (CT, ultrasound, etc.) to place radioactive nuclides into or around the tumor target area via implantation. The radioactive nuclides continuously release radiation to kill tumor cells. The implanted particles are typically iodine-125 particles, which have a half-life of 59.6 days and a radiation radius of less than 1.7 cm within the human body, making them safe and easily protected against. The gamma rays released by the particles effectively irradiate tumor cells for 180 days, resulting in a high-dose distribution of radiation to the tumor target area to kill tumor cells, while surrounding normal tissues receive only minimal or no radiation damage. Essentially, it is a precise radiotherapy method.

[0004] Advances in imaging technologies such as ultrasound and CT, and the emergence of computed radiotherapy planning systems (TPS, or three-dimensional treatment planning systems), have solved the problem of implantation accuracy, enabling rapid development of radioactive particle brachytherapy for tumors. The basic procedure for radioactive particle implantation surgery in current technology is as follows: First, the implantation channel is located and determined under the guidance of imaging equipment (such as ultrasound and CT); then, a treatment plan for particle implantation is formulated through the radiotherapy planning system (TPS), mainly determining the number and location of implanted particles, as well as the puncture angle (or needle insertion direction), based on the location and size of the patient's tumor target area. The effective isodose distribution in the tumor target area is calculated. Finally, through surgery or under the guidance of imaging equipment, multiple puncture needles are percutaneously inserted into predetermined locations within the tumor according to the needle insertion positions and angles determined in the treatment plan. This process can be accomplished with the aid of a puncture guide template, ensuring that the spacing and direction between the needles remain consistent with the preoperative plan. After confirming with CT that all puncture needles have reached their target positions, the doctor then pushes the radioactive particles into the tumor through the channels established by the puncture needles, achieving precise implantation and treatment. After all radioactive particles have been implanted, the puncture needles are removed from the patient's body, completing the surgery. This procedure has a wide range of indications, including lung cancer, liver cancer, breast cancer, and prostate cancer. Moreover, it features small incisions, minimal bleeding, and relatively few surgical complications, while effectively inhibiting tumor growth. Its unique therapeutic effects have been effectively verified both domestically and internationally. However, in actual treatment, the treatment plan, tailored to the location and size of the patient's tumor target area, typically requires the implantation of multiple particles, sometimes reaching hundreds. Each particle usually needs to be implanted at different locations within the tumor target area, and the puncture angle for each particle also varies. This makes the actual puncture and implantation process extremely time-consuming. Furthermore, the doctor must be in close contact with the radioactive particles during the implantation process, suffering significant radiation damage. This greatly limits the application and promotion of this type of surgery. Therefore, using automated medical devices to replace doctors in performing surgeries under radiation conditions has become an inevitable trend.

[0005] In existing technologies, during radioactive particle implantation surgery, doctors often rely on puncture templates to guide the needle's path, preventing deviations during the puncture process and ensuring precise placement of the radioactive particles into the tumor. For example, the puncture templates disclosed in patent documents such as CN208877700U, CN113244518B, CN209951352U, and CN108904966A generally require manual operation by the doctor for particle implantation and needle removal, which can cause radiation damage to the doctor. Existing technologies also employ robots for automated needle removal, but this not only presents challenges due to the high precision required for movement and positioning, but also makes it difficult to separate active and passive components, hindering surgical sterilization and increasing surgical costs. Summary of the Invention

[0006] To address the aforementioned technical problems, the present invention aims to provide a passive needle removal device. A needle removal module is added to a guide template used to guide and position the puncture needle near the patient's body surface. The needle removal module and its drive module are separated by an isolation membrane, thus separating the active and passive components to facilitate surgical sterilization and reduce surgical costs.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A passive needle removal device includes a guide template for guiding and positioning a puncture needle. The guide template is equipped with a needle removal module for adjusting the insertion depth of the puncture needle and a drive module for driving the needle removal module. The needle removal module and the drive module are connected by a connecting module, which is provided with an isolation membrane to isolate the drive module from the needle removal module.

[0009] Preferably, the connection module includes a first clamping plate and a second clamping plate, which clamp the isolation membrane in the middle and are respectively fixedly connected to the needle removal module and the drive module by fasteners; an intermediate transmission shaft for power transmission and an electrical connector for electrical connection are also provided between the first clamping plate and the second clamping plate; the electrical connector is a spring-loaded contact.

[0010] Preferably, the drive module includes a power source for providing power to the needle removal module, while the needle removal module does not have a power source. The power source is one or a combination of an electric motor, an electromagnet, an air pump, a hydraulic pump, an air cylinder, a hydraulic cylinder, a pneumatic motor, and a hydraulic motor.

[0011] Preferably, the needle removal module includes a guide template and a needle clamping mechanism mounted on the guide template; the needle clamping mechanism includes multiple clamping members, which are driven by a clamping drive mechanism and can form several clamping positions for clamping the puncture needle, and the guide template is provided with a guide portion corresponding to the clamping position for guiding the puncture needle through.

[0012] Preferably, the guide template and / or drive module are provided with a clamping detection sensor for detecting the clamping state of the clamping member and / or the current position of the clamping drive mechanism and / or the current position of the clamping power source; the clamping detection sensor is one or more combinations of a rotary encoder, displacement sensor, limit switch, proximity switch, photoelectric sensor or Hall switch; the sensor signal is transmitted to the drive module through an electrical connector.

[0013] Preferably, the needle removal module includes a needle clamping mechanism for holding the puncture needle and a lifting mechanism for driving the needle clamping mechanism to move up and down. The needle clamping mechanism includes a first clamping drive mechanism, a second clamping drive mechanism, a first clamping member, and a second clamping member mounted on a guide template. Multiple first clamping members and multiple second clamping members are arranged in a crisscross pattern. The first clamping member is provided with multiple first clamping parts, and the second clamping member is provided with multiple second clamping parts. A first clamping part and a second clamping part cooperate to clamp the puncture needle. The first clamping drive mechanism drives the first clamping member to move longitudinally, and the second clamping drive mechanism drives the second clamping member to move laterally. Thus, by moving each of the first clamping members and the second clamping members to different positions, multiple clamping positions for holding the puncture needle can be combined. The guide template is provided with guide parts corresponding to the multiple clamping positions for guiding the puncture needle through.

[0014] Preferably, the drive module includes a lifting motor for powering the lifting mechanism, a first clamping motor for powering the first clamping drive mechanism, and a second clamping motor for powering the second clamping drive mechanism. The lifting motor, the first clamping motor, and the second clamping motor in the drive module each drive the needle-removing module via an intermediate transmission shaft.

[0015] Preferably, the lifting mechanism adopts a screw and nut transmission mechanism, a synchronous belt transmission mechanism, a rope drive mechanism, a chain transmission mechanism, or a gear and rack transmission mechanism; the guide template is provided with a lifting detection sensor for detecting the current position of the guide template and / or the lifting mechanism; the lifting detection sensor is one or more combinations of a rotary encoder, a displacement sensor, a limit switch, a proximity switch, a photoelectric sensor, or a Hall switch; the sensor signal is transmitted to the drive module through an electrical connector.

[0016] Preferably, the clamping drive mechanism includes a drive member for pushing and / or pulling the clamping member to switch it to a clamping state or a releasing state, and a drive member transmission structure for driving the drive member to switch between different clamping members; the drive member transmission structure is one or more combinations of a cam mechanism, a rope drive mechanism, a belt drive mechanism, a chain drive mechanism, a gear and rack mechanism, a lead screw and nut mechanism, and an inclined push mechanism.

[0017] Preferably, both the first clamping drive mechanism and the second clamping drive mechanism are camshafts, and the camshafts are provided with multiple cams for pushing and / or pulling multiple first clamping members or second clamping members respectively.

[0018] Alternatively, preferably, the first clamping drive mechanism includes a first drive member for pushing and / or pulling the first clamping member longitudinally and a first drive member transmission structure for driving the first drive member laterally. When the first drive member moves laterally, it can push and / or pull one of the multiple first clamping members respectively. The second clamping drive mechanism includes a second drive member for pushing and / or pulling the second clamping member laterally and a second drive member transmission structure for driving the second drive member longitudinally. When the second drive member moves longitudinally, it can push and / or pull one of the multiple second clamping members respectively. The first drive member transmission structure and the second drive member transmission structure are belt drive mechanisms, rope drive mechanisms, chain drive mechanisms, screw drive mechanisms, hydraulic drive mechanisms, or gear and rack mechanisms. One side of the first drive member or the second drive member is provided with an elastic part, or the first drive member or the second drive member itself is an elastic structure, which is used to apply pressure to the first drive member or the second drive member and provide rebound space to prevent the first drive member or the second drive member from jamming and to prevent the puncture needle from being squeezed and deformed.

[0019] By adopting the above technical solution, this invention adds a needle removal module to the guide template used to guide and position the puncture needle near the patient's body surface, and separates the needle removal module and its drive module through an isolation membrane, so that the active and passive components are separated to facilitate surgical disinfection and sterilization, reduce surgical costs, and solve the problem of the difficulty of automatic needle removal by robots. Attached Figure Description

[0020] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation thereof.

[0021] Figure 1 This is an exploded view of the multi-channel needle removal device of the present invention.

[0022] Figure 2 This is a partial exploded view of the multi-channel needle removal device of the present invention;

[0023] Figure 3 This is a schematic diagram of the needle clamping mechanism in the multi-channel needle removal device of the present invention;

[0024] Figure 4 This is one of the schematic diagrams (top view) of the needle clamping structure of the multi-channel needle removal device of the present invention;

[0025] Figure 5 This is a second schematic diagram (view from below) of the needle clamping structure of the multi-channel needle removal device of the present invention;

[0026] Figure 6 This is a schematic diagram of the pin-clamping mechanism in the multi-channel pin-removing device of the present invention;

[0027] Figure 7 This is a schematic diagram of another embodiment of the needle clamping mechanism in the multi-channel needle removal device of the present invention.

[0028] Among them, 20, puncture needle; 21, needle removal module; 2101, first mounting plate; 2102, upper guide plate; 2103, lower guide plate; 2104, second mounting plate; 2105, third mounting plate; 2106, second clamping drive shaft; 2107, second drive component; 2108, second clamping detection sensor; 2109, first clamping drive shaft; 2110, first drive component; 2111, drive belt; 2112, first clamping detection sensor; 2113, first clamping component; 2114, lifting screw; 2115, second clamping component; 2116, second clamping gear set; 2117, first clamping gear set; 2118, docking component; 2119, second clamping input shaft; 2120, electrical connector; 2121, first clamping input shaft; 2122, lifting input... Shaft; 2123, Lifting gear set; 2124, Lifting belt drive set; 2125, Pin plate; 2126, Partition plate; 2127, Friction plate; 2128, Support plate; 2129, Elastic plate; 2130, Sliding plate; 2131, Limiting component; 2132, Adjusting component seat; 2133, Adjusting component; 2134, Elastic strip; 2135, Elastic strip seat; 2136, Second cam; 2137, Pin shaft; 2138, First clamping block; 2139, Second clamping block; 2140, First cam; 22, Connecting module; 2201, First clamping plate; 2202, Second clamping plate; 2203, Reinforcing plate; 23, Isolation membrane; 24, Drive module; 2401, Drive bracket; 2402, Lifting motor; 2403, First clamping motor; 2404, Second clamping motor. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0030] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0031] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0032] In the description of this invention, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0033] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more, unless explicitly defined otherwise.

[0035] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] Example 1:

[0038] A particle implantation system, comprising:

[0039] A particle implantation machine; the particle implantation machine includes a particle implantation device;

[0040] Puncture needle; the puncture needle is connected to the particle implantation machine via a first flexible delivery catheter;

[0041] The puncture needle is positioned on an automatic needle removal device or is connected to an automatic needle removal device. The automatic needle removal device is set up near the patient's body. After the doctor or robot completes the particle implantation, the automatic needle removal device is used to pull out the puncture needle to a specified depth, thereby implanting the particles at the specified location, so that the particles are evenly distributed in the tumor, achieving a better effect of killing the tumor.

[0042] The particle implantation device includes a particle cassette for storing radioactive particles, a flexible particle pusher for pushing the radioactive particles, and a particle pushing drive mechanism for driving the flexible particle pusher to push the radioactive particles along a first flexible delivery conduit.

[0043] The puncture needle is a through-tube structure. When used, it needs to be punctured to the target location inside the tumor according to the preoperative surgical plan. Under the action of the flexible particle pusher, the particles are output from the tip of the puncture needle and implanted into the tumor.

[0044] The first flexible delivery conduit is a flexible pipe that can be bent. The length of the first flexible delivery conduit exceeds 500mm. The specific material is flexible material such as plastic, rubber, and silicone, preferably one or more combinations of polytetrafluoroethylene, nylon, polyethylene, and polyvinyl chloride.

[0045] The flexible particle push rod is a flexible filament that can be bent. The length of the flexible particle push rod exceeds 500mm. Preferably, the flexible particle push rod has a certain degree of elasticity and will return to a straight state when the external force is removed. The specific material is one or more combinations of nickel-titanium alloy, spring steel, elastomer material, and composite material.

[0046] In a preferred embodiment, the aforementioned puncture needle and the first flexible delivery catheter are further provided with a flexible needle core with a length exceeding 500 mm. This flexible needle core occupies the space inside the puncture needle tube, preventing blood from flowing into the puncture needle tube during the operation and causing coagulation and blockage. The particle implantation machine is also provided with an automatic core removal device, which is used to remove the flexible inner core from any selected puncture needle and the first flexible delivery catheter connected to it before implanting the particles, so as to form a smooth particle implantation channel, which facilitates the flexible particle pusher to push the radioactive particles into the puncture needle.

[0047] In this embodiment, the automatic needle removal device is a multi-channel needle removal device, such as... Figure 1 and Figure 2As shown, the multi-channel needle removal device includes: a needle removal module 21 for guiding the insertion of multiple puncture needles and adjusting the insertion depth of any one puncture needle, and a drive module 24 for driving the needle removal module 21. The needle removal module includes a guide template and a needle clamping mechanism mounted on the guide template; the needle clamping mechanism includes multiple clamping members, which are driven by a clamping drive mechanism to form several clamping positions for clamping puncture needles, and the guide template is provided with guide portions corresponding to the clamping positions for guiding the puncture needles through.

[0048] The clamping power source of the needle clamping mechanism is one or a combination of an electric motor, electromagnet, cylinder, hydraulic cylinder, pneumatic motor, and hydraulic motor. The clamping drive mechanism is directly connected or driven to the corresponding clamping power source on the drive module. The clamping drive mechanism is one or a combination of a cam mechanism, rope drive mechanism, belt drive mechanism, chain drive mechanism, gear and rack mechanism, lead screw and nut mechanism, and inclined plane mechanism.

[0049] In this preferred embodiment, the guide portion is one or more combinations of a through hole, a through groove, a sliding groove, a guide rod, and a guide block. Multiple guide portions are arrayed on the guide template, and the guiding directions of the multiple guide portions are parallel to each other and perpendicular to the guide template. The width or diameter spacing of the guide portions is adapted to the outer diameter of the puncture needle, and the guide portions are clearance-fitted with the puncture needle. The outer diameter of the puncture needle is 0.8-1.8 mm.

[0050] In this preferred embodiment, the needle removal module 21 includes a needle clamping mechanism for guiding and holding the puncture needle and a lifting mechanism for driving the needle clamping mechanism to move up and down. This is equivalent to adding a needle clamping mechanism and a lifting mechanism to the existing puncture template, achieving guided puncture and automatic needle removal, ensuring reliable and safe needle removal.

[0051] like Figure 3 and Figure 4As shown, the needle clamping mechanism includes an upper guide plate 2102, a lower guide plate 2103, a first clamping drive mechanism, a second clamping drive mechanism, a first clamping member 2113, and a second clamping member 2115. The upper guide plate 2102 and the lower guide plate 2103 are fixedly connected vertically. Multiple first clamping members 2113 and multiple second clamping members 2115 are disposed between the upper guide plate 2102 and the lower guide plate 2103. The multiple first clamping members 2113 are arranged longitudinally and can move longitudinally back and forth. The multiple second clamping members 2115 are arranged laterally and can move laterally back and forth. The multiple first clamping members 2113 and multiple second clamping members 2115 are arranged in a crisscross pattern. The first clamping member 2113 is provided with... Multiple first clamping parts are provided, and multiple second clamping parts are provided on the second clamping member 2115. One first clamping part and one second clamping part cooperate to clamp the puncture needle. The first clamping drive mechanism drives the first clamping member 2113 to move longitudinally, and the second clamping drive mechanism drives the second clamping member 2115 to move laterally. Thus, by moving each first clamping member 2113 and the second clamping member 2115 to different positions, multiple clamping positions for clamping the puncture needle can be combined. The upper guide plate 2102 and the lower guide plate 2103 are provided with guide parts corresponding to the multiple clamping positions through which the puncture needle can pass. In this embodiment, the guide parts adopt one or more combinations of through holes, through grooves, sliding grooves, guide rods, and guide blocks. In this way, the upper guide plate 2102 and the lower guide plate 2103 form a guide template (i.e., puncture guide template or needle removal template) for guiding and setting multiple puncture needles. Multiple through holes are arranged in an array on the guide template. A first clamping member and a second clamping member cooperate with each other to clamp the puncture needle passing through any one of the through holes. The structure is simple and easy to control. The use of two guide plates to guide the puncture needle ensures that the needle clamping action is stable and reliable.

[0052] In this embodiment, the multiple clamping positions are preferably arranged in an array. More preferably, they are in the form of an M×M square matrix, where M is a positive integer greater than or equal to 5.

[0053] In this preferred embodiment, multiple clamping positions are all close to the overlapping positions of the first clamping member 2113 and the second clamping member 2115.

[0054] In this preferred embodiment, such as Figure 5 As shown, the first clamping part is a first protrusion 21131 integrally formed on the first clamping member 2113, and the second clamping part is a second protrusion 21151 integrally formed on the second clamping member 2115. The first clamping part and the second clamping part are inclined surfaces that cooperate to clamp the needle tube of the puncture needle. In this way, the puncture needle is clamped by two protrusions with inclined surfaces, which has a simple structure and low manufacturing cost.

[0055] In a further preferred embodiment, the first clamping member 2113 and the second clamping member 2115 are stacked and staggered, and the first protrusion 21131 and the second protrusion 21151 extend upward or downward respectively to increase the clamping mating surface of the two.

[0056] Further preferably, the inclined surface of the clamping engagement refers to an inclined surface that forms an angle of 45°±5° with the longitudinal or transverse direction.

[0057] In a further preferred embodiment, an elastic material layer is fixed on the clamping and engaging inclined surface of the first protrusion 21131 and the second protrusion 21151 to more firmly clamp the needle tube of the puncture needle.

[0058] In other embodiments, the clamping part is a separate component provided on the clamping member, such as a gripper.

[0059] In other embodiments, the clamping portion is a groove structure provided on the clamping member.

[0060] In another preferred embodiment, such as Figure 7 As shown, the first clamping part and the second clamping part are a pair of clamping blocks—first clamping block 2138 and second clamping block 2139—that are movably disposed on the first clamping member 2113 and the second clamping member 2115, respectively, for relative cooperation in clamping the puncture needle. The upper guide plate 2102 and / or the lower guide plate 2103 are provided with sliding grooves 21031 for accommodating the upper and / or lower parts of the first clamping block 2138 and the second clamping block 2139. When the first clamping member 2113 and the second clamping member 2115 move, the first clamping block 2138 and the second clamping block 2139 move relative to each other along the sliding grooves 21031, thereby clamping or releasing the puncture needle. In this way, the two clamping members, arranged in an alternating manner, move together to push the two clamping blocks closer or further apart, thereby clamping or releasing the puncture needle. The structure is reasonable, and the clamping is stable and reliable.

[0061] Further preferred, the clamping surfaces of the puncture needle tube clamped by the first clamping block 2138 and the second clamping block 2139 are arc surfaces, which facilitates more reliable clamping of the puncture needle.

[0062] Further preferably, the first clamping member 2113 is provided with multiple vertically penetrating first sliding holes 21133 with an oblong cross-section. The first clamping block 2138 is movably connected to the first clamping member 2113 via a pin 2137 passing through the first sliding holes 21133. When the first clamping member 2113 moves longitudinally, it moves the pin 2137 and the fixedly connected first clamping block 2138 through the first sliding holes 21133. The second clamping member 2115 is provided with multiple vertically penetrating second sliding holes 21153 with an oblong cross-section. The second clamping block 2139 is movably connected to the second clamping member 2115 via a pin 2137 passing through the second sliding holes 21153. When the second clamping member 2115 moves laterally, it moves the pin 2137 and the fixedly connected second clamping block 2139 through the second sliding holes 21153. In this way, the structure is more flexible and reasonable, the clamping position is more accurate, and it is convenient for assembly, manufacturing, and adjustment.

[0063] Further preferably, the reciprocating movement direction of the first clamping block 2138 and the second clamping block 2139 along the slide groove 21031 forms an angle of 45°±5° with the longitudinal or lateral movement direction of the first clamping member 2113 and the second clamping member 2115. In this way, the clamping members drive the clamping blocks to move faster, and the clamping force is greater and more stable.

[0064] Further preferably, it also includes a clamping guide mechanism for guiding the movement of the clamping component, wherein the clamping guide mechanism is a hinge, a slide, or a guide rail. In this embodiment, it is preferred that... Figure 4 As shown, the upper guide plate 2102 and / or the lower guide plate 2103 are provided with guide grooves 21021 for guiding the movement of the first clamping member 2113 and / or the second clamping member 2115. More preferably, the first clamping member 2113 and the second clamping member 2115 are provided with limiting portions 21132 and 21152 for cooperating with the guide grooves 21021 to limit the range of movement.

[0065] Preferably, this embodiment further includes a clamping detection sensor for detecting the position of the clamping member or the drive module; the clamping detection sensor is one or more combinations of a rotary encoder, displacement sensor, limit switch, proximity switch, photoelectric sensor, or Hall switch. That is, the guide template and / or the drive module are provided with clamping detection sensors for detecting the clamping state of the clamping part and / or the current position of the clamping drive mechanism and / or the current position of the clamping power source. In this embodiment, the upper guide plate 2102 and / or the lower guide plate 2103 are provided with a first clamping detection sensor 2112 for detecting the moving position of the first clamping member 2113 and a second clamping detection sensor 2108 for detecting the moving position of the second clamping member 2115. Multiple first clamping detection sensors 2112 are configured one-to-one with multiple first clamping members 2113, and multiple second clamping detection sensors 2108 are configured one-to-one with multiple second clamping members 2115.

[0066] More preferably, the clamping detection sensor includes a rotary encoder or displacement sensor on the power source that drives the clamping drive mechanism.

[0067] Further preferably, the clamping detection sensor is one or more combinations of a limit switch, proximity switch, photoelectric sensor, or Hall switch. A position signal is triggered when the driving member of the clamping component moves laterally / longitudinally to a specific position by pushing and / or pulling. In this preferred embodiment, as shown... Figure 5 As shown, the first clamping drive mechanism includes a first drive member 2110 for pushing and / or pulling the first clamping member 2113 longitudinally and a first drive member transmission structure for driving the first drive member 2110 laterally. When the first drive member 2110 moves laterally, it can push and / or pull one of the multiple first clamping members 2113 respectively. The second clamping drive mechanism includes a second drive member 2107 for pushing and / or pulling the second clamping member 2115 laterally and a second drive member transmission structure for driving the second drive member 2107 longitudinally. When the second drive member 2107 moves longitudinally, it can push and / or pull one of the multiple second clamping members 2115 respectively.

[0068] In a preferred embodiment, both the first and second drive component transmission structures are belt drive mechanisms; in other embodiments, chain drive mechanisms, rope drive mechanisms, screw drive mechanisms, hydraulic drive mechanisms, or gear and rack mechanisms are used. In this embodiment, a transmission belt 2111 is used to drive the drive component to move; the upper guide plate 2102 and / or the lower guide plate 2103 are rotatably provided with a first pulley for mounting the first drive component transmission belt and a second pulley for mounting the second drive component transmission belt. The first pulley is sleeved on the first clamping drive shaft 2109 in a circumferentially fixed but axially unfixed manner, and the second pulley is sleeved on the second clamping drive shaft 2106 in a circumferentially fixed but axially unfixed manner. In this way, the pulleys and the clamping drive shaft can transmit power and the pulleys can move up and down on the clamping drive shaft.

[0069] Further preferably, the clamping part and / or the clamping drive mechanism and / or the clamping power source are provided with an elastic buffer structure to prevent the clamping of the puncture needle from being squeezed and deformed.

[0070] In this preferred embodiment, an elastic portion is provided on one side of the first or second driving member to apply pressure to the first or second driving member and provide a rebound space to prevent the first or second driving member from jamming and to prevent the puncture needle from being squeezed and deformed. Alternatively, the first or second driving member itself is an elastic structure. Or the clamping member itself is an elastic structure.

[0071] In this embodiment, the outer side of the first driving member 2110 is provided with a first support body for elastically supporting the first driving member 2110. When the inner side of the first driving member 2110 abuts against the first clamping member 2113, the outer side of the first driving member 2110 abuts against the first support body. The outer side of the second driving member 2107 is provided with a second support body for elastically supporting the second driving member 2107. When the inner side of the second driving member 2107 abuts against the second clamping member 2115, the outer side of the second driving member 2107 abuts against the second support body. The purpose of providing the support body is to provide a certain elastic support for the driving member, to prevent it from being jammed by the clamping member when moving, and also to prevent the clamping member from completely flattening the puncture needle and damaging the puncture needle.

[0072] Further preferably, the first and second supports adopt a sandwich panel structure, including an outer support plate, a middle elastic plate, and an inner sliding plate. The outer support plate provides overall fixed support, the middle elastic plate provides elasticity, and the inner sliding plate is smooth and wear-resistant to reduce the friction of the moving drive component. In this embodiment, the outer support plate is preferably made of aluminum, the middle elastic plate is made of foamed silicone, and the inner sliding plate is made of polytetrafluoroethylene (PTFE). The three plates are glued together and reinforced with screws. When the PTFE plate is compressed, the foamed silicone plate is compressed and rebounds when the external force is removed. In other embodiments, the three plates can also be made of other materials with similar properties. In other embodiments, since the support surface of the drive component itself has upper and lower guide plates for support, the outer support plate in the three-layer sandwich panel can be omitted, becoming two layers. If the elastic plate itself has good wear resistance and friction reduction properties, the inner sliding plate can also be omitted, becoming one layer. However, the elastic plate cannot be omitted.

[0073] In another preferred embodiment, such as Figure 7 As shown, the first clamping drive mechanism includes a first camshaft rotatably mounted on the upper guide plate 2102 and / or the lower guide plate 2103, and a plurality of first cams 2140 on the first camshaft for pushing and / or pulling a plurality of first clamping members 2113 longitudinally; the second clamping drive mechanism includes a second camshaft rotatably mounted on the upper guide plate 2102 and / or the lower guide plate 2103, and a plurality of second cams on the second camshaft for pushing and / or pulling a plurality of second clamping members 2115 laterally. 2136; The upper guide plate 2102 and / or the lower guide plate 2103 are also rotatably provided with a first bevel gear for transmission connection with the first camshaft and a second bevel gear for transmission connection with the second camshaft. The first bevel gear is sleeved on the first clamping transmission shaft 2109 in a circumferentially fixed but axially unfixed manner, and the second bevel gear is sleeved on the second clamping transmission shaft 2106 in a circumferentially fixed but axially unfixed manner. In this way, the bevel gear and the clamping transmission shaft can transmit power and the bevel gear can move up and down on the clamping transmission shaft.

[0074] In this preferred embodiment, the first clamping drive shaft 2109 is connected to the first clamping motor 2403 via a first clamping gear set 2117 and a first clamping input shaft 2121, and the second clamping drive shaft 2106 is connected to the second clamping motor 2404 via a second clamping gear set 2116 and a second clamping input shaft 2119. In other embodiments, the clamping drive shaft may also be directly connected to the clamping motor, or connected to the clamping motor via a synchronous belt or the like.

[0075] In other preferred embodiments, a first elastic reset member for pushing or pulling the first clamping member 2113 to reset can be provided on the other outer side of the first clamping member 2113. Similarly, a second elastic reset member for pushing or pulling the second clamping member 2115 to reset can be provided on the other outer side of the second clamping member 2115. Thus, a clamping drive mechanism and an elastic reset member are respectively provided on both sides of the clamping member. The clamping drive mechanism actively pushes the clamping member to move and performs a clamping action, while the elastic reset member causes the clamping member to passively reset and perform a releasing action. This makes the structural action more reasonable and avoids unnecessary interference with the puncture needle. The elastic reset member is an elastic structure or elastic component, etc., and multiple clamping members can share an elastic reset member, such as using the above-mentioned elastic plate structure.

[0076] The lifting power source of the lifting mechanism is one or a combination of an electric motor, electromagnet, cylinder, hydraulic cylinder, pneumatic motor, and hydraulic motor. The lifting mechanism employs a screw-nut transmission structure, a synchronous belt transmission structure, a rope drive structure, or a gear and rack transmission structure. This embodiment is preferred, as shown below. Figure 2 As shown, the lifting mechanism adopts a screw-driven lifting structure, including several guide rods and several lifting screws 2114 disposed between the first mounting plate 2101 and the second mounting plate 2104. Guide sleeves are fitted onto the guide rods, and screw nuts are threaded onto the lifting screws 2114. The guide sleeves and screw nuts are mounted on the upper guide plate 2102 and / or the lower guide plate 2103. The lifting motor 2402 is driven by the lifting screws 2114, thereby driving the screw nuts and the needle clamping mechanism to move up and down. In a preferred embodiment, multiple lifting screws 2114 are provided, and the multiple lifting screws 2114 are synchronously connected by a lifting belt drive group 2124. The lifting screws 2114 are driven by the lifting belt drive group 2124, the lifting gear group 2123, and the lifting input shaft 2122 to the lifting motor 2402. In this preferred embodiment, the guide rod function is achieved by a first clamping drive shaft 2109 and a second clamping drive shaft 2106 (both shafts are hexagonal drive guide shafts), and the guide sleeve function is achieved by a bevel gear or pulley sleeved on the clamping drive shaft and capable of moving up and down. In other embodiments, the lifting mechanism uses a gear and rack structure, a wire rope / drive belt traction structure, etc., to achieve lifting; or, the lifting motor can directly drive the lifting screw. In other embodiments, the lifting mechanism uses a rope drive mechanism, which can achieve synchronous pulling and lifting of at least three points of the clamping needle mechanism through a single cable.

[0077] The lifting mechanism employs a rope-driven mechanism. One or more cables or elastic wires are installed inside the sleeve and can be pulled relative to the sleeve. One end of the sleeve is engaged with the upper or lower guide plate. One or more cables or elastic wires extend downward perpendicular to the upper and lower guide plates and connect to the needle clamping mechanism. The up-and-down movement of the needle clamping mechanism is achieved by pulling the cables. Alternatively, a single cable can be used to synchronously pull and lift at least three points of the needle clamping mechanism. The cables are reversed by guide wheels and shuttle between the upper and lower guide plates. The shuttle path includes several cable segments perpendicular to the upper and lower guide plates. The needle clamping mechanism is connected and fixed to these cable segments. When the cables are pulled, these cable segments perpendicular to the upper and lower guide plates will pull the needle clamping mechanism up and down. Alternatively, the lifting mechanism employs at least three screw-nut pairs. The needle clamping mechanism is equipped with at least three screw nuts, each screw nut containing a screw. Multiple screws are arranged parallel to each other in the vertical direction. A synchronous transmission mechanism drives each screw to rotate synchronously, thereby controlling the up-and-down movement of the needle clamping mechanism.

[0078] In this way, a puncture needle is clamped by the movement of a first clamping member 2113 and a second clamping member 2115 in the needle clamping mechanism, and the lifting mechanism drives the needle clamping mechanism to rise and fall so as to achieve the depth adjustment of the puncture needle.

[0079] Further preferably, a lifting position sensor is also provided to detect the displacement of the needle clamping mechanism. The lifting position sensor is a rotary encoder or displacement sensor on the power source of the lifting mechanism. Alternatively, the lifting position sensor can be one or more combinations of a limit switch, proximity switch, photoelectric sensor, or Hall effect switch provided on the lifting mechanism. A position signal is triggered when the needle clamping mechanism moves to a specific position.

[0080] Because human tissues have a certain degree of elasticity, the skin is pulled upwards during needle removal and then bounces back a short distance when released. Currently, manual needle removal is determined by visually observing the tangent point between the graduations on the needle shaft and the skin, which is relatively accurate. However, if an automatic needle removal device doesn't handle this issue properly, errors will accumulate after each removal.

[0081] Therefore, in this preferred embodiment, the needle removal module 21 further includes a needle clamping mechanism for preventing the needle from rebounding after adjusting the insertion depth. The needle clamping mechanism is located at the bottom of the needle removal module 21. After the needle passes through the needle clamping mechanism, it is inserted into the human body. The needle clamping mechanism can achieve partial clamping of the needle. Specifically, a certain pushing force is required to overcome the friction of the needle clamping mechanism to remove or insert the needle. At the same time, it can stay at any depth, thus overcoming the elasticity of human tissue and accurately stopping the needle at the position where it has just been removed.

[0082] Further preferably, the needle clamping mechanism includes two friction plates stacked one on top of the other, each friction plate having an array of through holes. The puncture needle penetrating the two friction plates is clamped by the shearing misalignment of the two friction plates. At least one of the two friction plates is elastic. Preferably, a shearing force adjustment mechanism is provided to adjust the shearing force applied to at least one of the two friction plates. The shearing force adjustment mechanism is a screw adjustment.

[0083] like Figure 2 and Figure 6 As shown in the preferred embodiment, the needle clamping mechanism includes a needle clamping plate 2125 and a friction plate 2127 stacked on the third mounting plate 2105. Both the needle clamping plate 2125 and the friction plate 2127 have multiple through holes corresponding to multiple clamping positions in the needle clamping mechanism, through which the puncture needle 20 can pass. Adjusting members 2133 and elastic strips 2134 are respectively provided on opposite sides of the needle clamping plate 2125. The adjusting members 2133 can move the needle clamping plate 2125 so that the through holes on the needle clamping plate 2125 are misaligned with the corresponding through holes on the friction plate 2127, so that the friction plate 2127 abuts against the puncture needle 20 and generates frictional resistance to prevent the puncture needle from rebounding. The elastic strips 2134 can cause the needle clamping plate 2125 to return to its original position, so that the friction plate 2127 releases the puncture needle 20.

[0084] In this preferred embodiment, the friction plate 2127 is made of a material capable of generating sufficient friction, preferably polyurethane, silicone, rubber, latex, etc.; the elastic strip 2134 is made of an elastic material, preferably silicone, rubber, latex, polyurethane, etc.

[0085] In this preferred embodiment, a partition 2126 is provided between the pin plate 2125 and the friction plate 2127. The partition 2126 is made of a smooth material to reduce the friction between the pin plate 2125 and the friction plate 2127, preventing the friction plate from sticking to the pin plate and making it impossible to push and adjust, thus ensuring the reliable movement and reset of the pin plate 2125. Preferably, the partition 2126 is made of PTFE. In other embodiments, if the surface of the friction plate 2127 is sufficiently smooth, the partition 2126 may not be provided.

[0086] In this embodiment, as Figure 6As shown, the pin plate 2125 is made of a material with a certain rigidity to facilitate movement and adjustment. The pin plate 2125 is mounted on the third mounting plate 2105 by two limiting members 2131 at the front and rear to restrict its vertical movement. The adjusting member 2133 is mounted on the third mounting plate 2105 by adjusting member seat 2132. The adjusting member 2133 is a hand-tightening screw that is threadedly connected to the adjusting member seat 2132. The elastic strip 2134 is mounted on the third mounting plate 2105 by elastic strip seat 2135. The friction plate 2127 is embedded in the third mounting plate 2105. The third mounting plate 2105 is fixedly mounted below the second mounting plate 2104.

[0087] In order to prevent the puncture needle from springing back when it is intermittently withdrawn from the skin, the adjusting member 2133 presses against the needle retaining plate 2125, so that the puncture needle 20 and the friction plate 2127 generate sufficient friction to prevent the puncture needle 20 from springing back. When the adjusting member 2133 is loosened by hand-tightening the screw, the needle retaining plate 2125 is springed back to its original position, thereby loosening the puncture needle 20.

[0088] In other embodiments, the aforementioned clamping mechanism can also be replaced by a friction plate with a smaller aperture (the friction plate is made of a material with a certain degree of elasticity, such as polyurethane, TPU, silicone, rubber, latex, elastomer materials, etc.), and a semi-clamping state is achieved by the puncture needle tightly engaging with the hole.

[0089] However, when the needle removal module guides percutaneous puncture, if it is necessary to puncture through the ribs, it may be necessary to first use a bone drill to drill through the needle removal module. If a small hole is used, it may be damaged by the bone drill bit.

[0090] In addition, keeping the puncture needle in a semi-locked state also poses certain risks. If the tip of the puncture needle is close to a blood vessel or other vital organ, even a slight tremor of the body could cause danger. However, if the puncture needle is in a floating state, it can ensure safety.

[0091] Therefore, the preferred solution for the clamping mechanism is to achieve clamping through the shearing action of two plates. At this time, the clamping force can be adjusted at any time, and the clamping mechanism can be adjusted to an unclamped state when drilling or piercing dangerous areas.

[0092] The drive module 24 includes a lifting motor 2402 for providing power to the lifting mechanism, a first clamping motor 2403 for providing power to the first clamping drive mechanism, and a second clamping motor 2404 for providing power to the second clamping drive mechanism.

[0093] To ensure a safe surgical environment and reduce the cost of surgical instruments, it is preferable to make the needle removal module 21 a passive device, while the active device (drive module 24) is independently isolated. All passive devices (including the needle removal module 21 and its sensors, etc.) are designed to be washable and sterilizable, and have good waterproof or high-temperature resistance. Therefore, in this embodiment, the multi-channel needle removal device is preferably a passive needle removal device: such as... Figure 1 As shown, the drive module 24 is set independently relative to the needle removal module 21, and also includes a drive bracket 2401. The lifting motor 2402, the first clamping motor 2403 and the second clamping motor 2404 are all mounted on the drive bracket 2401. The drive bracket 2401 is also provided with a control board, control buttons and display devices. The needle removal module 21 and the drive module 24 are connected by a connection module 22. The connection module 22 is provided with an isolation membrane 23, which can isolate the drive module 24 from the needle removal module 21 to prevent blood from contaminating the drive module 24 and the operating components.

[0094] Alternatively, when the lifting mechanism and / or needle clamping mechanism are rope-driven or hydraulically driven, a sleeve is provided between the drive module 24 and the needle removal module 21. The sleeve contains a pull rope, elastic wire, or hydraulic oil. The drive module 24 can drive the pull rope, elastic wire, or hydraulic oil in the sleeve to move back and forth relative to the sleeve, thus transmitting power. Because the distance between the needle removal module 21 and the drive module 24 is relatively large, mutual contamination is unlikely. Therefore, the needle removal module 21 and the drive module 24 no longer need to be isolated from the isolation membrane 23 by the connecting module 22. The sleeve is longer than 500mm and transmits electrical signals via a cable, elastic wire, or metal pull rope.

[0095] In this preferred embodiment, the connecting module 22 includes a first clamping plate 2201, a second clamping plate 2202, and a reinforcing plate 2203. The first clamping plate 2201, the second clamping plate 2202, and the reinforcing plate 2203 clamp the isolation membrane 23 in the middle and are reinforced by the reinforcing plate 2203. The first clamping plate 2201, the second clamping plate 2202, and the reinforcing plate 2203 are fixedly connected to the needle removal module 21 and the drive module 24 respectively by fasteners. An intermediate transmission shaft is also provided between the first clamping plate 2201 and the second clamping plate 2202. The first clamping input shaft 2121 and the second clamping input shaft 2119 are respectively connected to the first clamping motor 2403 and the second clamping motor 2404 through two intermediate transmission shafts, thereby realizing isolated transmission and needle clamping control at different matrix points. The lifting input shaft 2122 is connected to the lifting motor 2402 through an intermediate transmission shaft, thereby realizing isolated transmission and lifting of the needle clamping mechanism. An electrical connector is also provided between the first clamping plate 2201 and the second clamping plate 2202. The electrical connector 2120 on the needle removal module 21 is connected to the control board on the drive module 24 through the electrical connector.

[0096] This invention creatively proposes a novel automated and unmanned method for particle implantation surgery. It involves independently setting up an automated particle implantation machine and an automated needle removal device, connected by a flexible tubing. The surgeon first performs a puncture under the guidance of the needle removal device (similar to a commonly used puncture guide template in clinical practice). Then, the surgeon connects the tubing to the tail of the puncture needle, and the other end of the tubing to the particle implantation machine. The particle implantation machine can select different channels and pushes the particles forward along these channels, eventually reaching the tumor through the tubing and puncture needle. Simultaneously, the automated needle removal device withdraws the puncture needle a short distance, then re-implants and withdraws it, repeating this cycle multiple times to implant particles at designated locations. This ensures that the radioactive particles are evenly distributed within the tumor, achieving a better tumor-killing effect. The entire surgical process can be completely unmanned, avoiding radiation damage to the surgeon from the radioactive particles.

[0097] In the description of this specification, the terms "one embodiment," "some embodiments," "one implementation," "specific implementation," "other implementation," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment, implementation, or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described above can also be combined in any suitable manner in one or more embodiments, implementations, or examples. The technical solutions described in this invention also include technical solutions formed by any one or more specific features, structures, materials, or characteristics described above, either individually or in combination.

[0098] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, alterations, deletions of some features, additions of features, or recombinations of features to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the innovative principles of the present invention shall still fall within the scope of the technical solutions of the present invention.

Claims

1. A passive needle removal device, comprising a guide template for guiding and positioning a puncture needle, characterized in that, The guide template is equipped with a needle removal module for adjusting the insertion depth of the puncture needle and a drive module for driving the action of the needle removal module; the needle removal module and the drive module are connected by a connecting module, which is provided with an isolation membrane to isolate the drive module from the needle removal module.

2. The passive needle removal device according to claim 1, characterized in that, The connection module includes a first clamping plate and a second clamping plate. The first clamping plate and the second clamping plate clamp the isolation membrane in the middle and are respectively fixedly connected to the needle removal module and the drive module by fasteners. An intermediate transmission shaft for power transmission and an electrical connector for electrical connection are also provided between the first clamping plate and the second clamping plate. The electrical connector is a spring-loaded contact.

3. The passive needle removal device according to claim 1, characterized in that, The drive module includes a power source for providing power to the needle removal module. The needle removal module does not have a power source. The power source is one or a combination of an electric motor, an electromagnet, an air pump, a hydraulic pump, an air cylinder, a hydraulic cylinder, a pneumatic motor, and a hydraulic motor.

4. The passive needle removal device according to claim 1, characterized in that, The needle removal module includes a guide template and a needle clamping mechanism mounted on the guide template. The needle clamping mechanism includes multiple clamping members, which are driven by a clamping drive mechanism to form several clamping positions for clamping the puncture needle. The guide template is provided with a guide portion corresponding to the clamping positions for guiding the puncture needle through.

5. A passive needle removal device according to claim 4, characterized in that, The guide template and / or drive module are provided with a clamping detection sensor for detecting the clamping state of the clamping component and / or the current position of the clamping drive mechanism and / or the current position of the clamping power source; the clamping detection sensor is one or more combinations of a rotary encoder, displacement sensor, limit switch, proximity switch, photoelectric sensor or Hall switch; the sensor signal is transmitted to the drive module through an electrical connector.

6. The passive needle removal device according to claim 1, characterized in that, The needle removal module includes a needle clamping mechanism for holding the puncture needle and a lifting mechanism for driving the needle clamping mechanism to move up and down. The needle clamping mechanism includes a first clamping drive mechanism, a second clamping drive mechanism, a first clamping member, and a second clamping member mounted on a guide template. Multiple first clamping members and multiple second clamping members are arranged in a crisscross pattern. The first clamping member is provided with multiple first clamping parts, and the second clamping member is provided with multiple second clamping parts. A first clamping part and a second clamping part cooperate to clamp the puncture needle. The first clamping drive mechanism drives the first clamping member to move longitudinally, and the second clamping drive mechanism drives the second clamping member to move laterally. Thus, by moving each first clamping member and the second clamping member to different positions, multiple clamping positions for holding the puncture needle can be combined. The guide template is provided with guide parts corresponding to the multiple clamping positions for guiding the puncture needle through.

7. A passive needle removal device according to claim 6, characterized in that, The drive module includes a lifting motor for providing power to the lifting mechanism, a first clamping motor for providing power to the first clamping drive mechanism, and a second clamping motor for providing power to the second clamping drive mechanism; the lifting motor, the first clamping motor, and the second clamping motor in the drive module drive the needle removal module to move through an intermediate transmission shaft.

8. A passive needle removal device according to claim 6, characterized in that, The lifting mechanism adopts a screw and nut transmission mechanism, a synchronous belt transmission mechanism, a rope drive mechanism, a chain transmission mechanism, or a gear and rack transmission mechanism; the guide template is equipped with a lifting detection sensor for detecting the current position of the guide template and / or the lifting mechanism; the lifting detection sensor is one or more combinations of a rotary encoder, a displacement sensor, a limit switch, a proximity switch, a photoelectric sensor, or a Hall switch; the sensor signal is transmitted to the drive module through an electrical connector.

9. A passive needle removal device according to claim 4, characterized in that, The clamping drive mechanism includes a drive member for pushing and / or pulling the clamping member to switch it to a clamping state or a releasing state, and a drive member transmission structure for driving the drive member to switch between different clamping members; the drive member transmission structure is one or more combinations of a cam mechanism, a rope drive mechanism, a belt drive mechanism, a chain drive mechanism, a gear and rack mechanism, a lead screw and nut mechanism, and an inclined push mechanism.

10. A passive needle removal device according to claim 6, characterized in that, Both the first clamping drive mechanism and the second clamping drive mechanism are camshafts, and the camshafts are provided with multiple cams for pushing and / or pulling multiple first clamping members or second clamping members respectively.

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