Automatic needle feeding device for a puncture robot

Abstract

The application discloses a kind of automatic needle feeding devices of puncture robot, it includes: needle feeding connecting plate, needle insertion guide mechanism, needle feeding mechanism, needle feeding mechanism includes first clamping shaft and second clamping shaft, first needle feeding friction wheel rotatably connected on the first clamping shaft, second needle feeding friction wheel rotatably connected on the second clamping shaft, needle feeding motor for driving the first needle feeding friction wheel rotation, needle feeding transmission part connected between the needle feeding motor and first needle feeding friction wheel, for driving the first clamping shaft and second clamping shaft close or far apart so that the first needle feeding friction wheel and the second needle feeding friction wheel close or far apart clamping driving part, clamping transmission part is connected between the clamping driving part and second clamping shaft;Needle feeding mechanism is made of non-metal material except motor;Device structure is compact, can be automatically completed puncture operation under image guidance, control precision is high, needle insertion stability is good.

Description

Technical Field

[0001] This invention belongs to the field of interventional surgical equipment, and specifically relates to an automatic needle delivery device for a puncture robot. Background Technology

[0002] With the continuous development of modern clinical diagnostic and treatment technologies, puncture procedures have become one of the common diagnostic and treatment methods under medical image guidance. Puncture is widely used in various clinical procedures such as biopsy, drug infusion, body fluid sampling, local anesthesia, nerve blocks, and implantation of medical devices. Traditional puncture usually relies on the doctor's experience and manual operation, which has certain limitations in terms of accuracy, stability, and safety. Especially when involving deep tissues or areas surrounding vital organs, it requires extremely high levels of skill and hand-eye coordination from the doctor; even slight deviations can lead to injury or puncture failure.

[0003] To improve the accuracy and controllability of punctures, image-guided assisted puncture devices and robotic systems have been developed in recent years. These devices can operate under the real-time monitoring of imaging equipment (such as CT, MRI, or ultrasound), and assist doctors in positioning and controlling the insertion of the puncture needle through mechanical transmission mechanisms or motor drive systems, thereby reducing the burden on doctors and improving the consistency of clinical procedures.

[0004] However, existing puncture-assisted techniques mainly include manual puncture and needle insertion and traditional automated or semi-automated puncture devices, but both methods still have the following shortcomings.

[0005] I. Manual Puncture and Needle Insertion: This method relies on the physician holding the puncture needle or catheter, guided by imaging equipment (CT, ultrasound, etc.) for positioning and insertion. The physician must rely on experience to control the puncture angle, depth, and force, constantly adjusting the needle and repeatedly scanning for confirmation during the procedure. Manual operation demands extremely high hand-eye coordination from the physician, and is prone to problems such as needle tip trajectory deviation and inaccurate depth control. Especially in cases involving deep tissues or important blood vessels and nerves around the lesion, errors can lead to serious complications. Furthermore, prolonged high-intensity procedures can easily cause physician fatigue, increasing clinical risks.

[0006] II. Traditional Automated or Semi-Automatic Puncture Devices: Most devices are based on a mechanical support structure, connected to the puncture needle via a slide rail, lead screw drive, or motor drive module. The puncture needle is usually fixed on a needle clamp or needle holder, and the needle body is driven into the puncture via a rotating or linear transmission mechanism. The device is often connected to an image navigation system to perform the needle insertion operation after the doctor has determined the target location. After the doctor confirms the target location, the device pushes the puncture needle forward via a motor or lead screw drive mechanism. Some products can achieve segmented needle insertion and position holding. After the puncture is completed, the needle needs to be manually removed or released. The needle insertion and withdrawal processes are mostly unidirectional drives, lacking flexibility and usually unable to achieve automatic needle withdrawal; some structures rely on lead screw drives, are large in size, and cannot operate in confined spaces; some devices have insufficient coupling with the imaging system, cannot achieve full closed-loop control, and are difficult to adapt to real-time adjustment requirements; CN 109475384 B uses a perforated belt drive to drive the needle end to complete the needle insertion operation, which can only be adapted to a single type of puncture needle, and has trouble with compatibility with special needles such as ablation needles. CN210077814 U mostly uses metal structures, such as metal brackets, lead screws, and sliders, which are prone to artifacts under CT or MRI, affecting image clarity, and do not have an automatic release function. Summary of the Invention

[0007] The purpose of this invention is to provide an automated needle delivery device for a puncture robot, which can automatically complete the puncture operation under image guidance and has the advantages of compact structure, high control precision, and good needle insertion stability. It can realize automated and precise puncture, and can also improve surgical safety and treatment effect while reducing the workload of doctors.

[0008] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: an automatic needle delivery device for a puncture robot, comprising: A needle feeding connecting plate has a front side and a rear side, wherein the front side is located in front of the rear side; A pin guide mechanism is provided with a first guide channel, and the pin guide mechanism is located on the front side of the pin feeding connecting plate; The needle feeding mechanism includes a first clamping shaft and a second clamping shaft rotatably connected to the needle feeding connecting plate, a first needle feeding friction wheel rotatably connected to the first clamping shaft, a second needle feeding friction wheel rotatably connected to the second clamping shaft, a needle feeding motor for driving the first needle feeding friction wheel to rotate, a needle feeding transmission part connected between the needle feeding motor and the first needle feeding friction wheel, a clamping drive for driving the first clamping shaft and the second clamping shaft to move closer or further away, thereby causing the first needle feeding friction wheel and the second needle feeding friction wheel to move closer or further away, and a clamping transmission part connected between the clamping drive and the first clamping shaft, or between the clamping drive and the second clamping shaft, or between the clamping drive and the first clamping shaft and the second clamping shaft; The first clamping shaft, the second clamping shaft, the first needle feeding friction wheel, the second needle feeding friction wheel, the needle feeding transmission part, the clamping transmission part, the needle feeding connecting plate, and the needle insertion guide mechanism are all made of non-metallic materials, and the outermost contours of the first clamping shaft, the second clamping shaft, the first needle feeding friction wheel, the second needle feeding friction wheel, the needle feeding transmission part, and the clamping transmission part form a space to form an artifact-free area; the clamping drive and the needle feeding motor are located outside the artifact-free area. The first clamping shaft, the second clamping shaft, the first needle feeding friction wheel, the second needle feeding friction wheel, the needle feeding transmission part, the clamping transmission part, the needle feeding connecting plate, and the needle insertion guide mechanism are centrally arranged and all made of non-metallic materials. The needle feeding motor and clamping drive, which necessarily contain metallic materials, are placed outside the artifact-free area. This makes the needle feeding device compact and meets the size requirements for use within the CT scanning range. Furthermore, the components that cause artifacts are all placed outside the artifact-free area, eliminating the artifact effects of the needle feeding device on CT real-time guided surgery and enabling CT real-time guided surgery.

[0009] In another embodiment, the needle feeding transmission unit includes a first needle feeding transmission gear connected to the needle feeding motor, a third needle feeding transmission gear coaxially connected to the first needle feeding friction wheel, and a double gear connected between the first needle feeding transmission gear and the third needle feeding transmission gear; the first needle feeding transmission gear and the double gear cooperate to reduce the speed output by the needle feeding motor to the first needle feeding friction wheel, so that the first needle feeding friction wheel runs more smoothly.

[0010] In another embodiment, the double gear includes a second needle feeding drive gear that meshes with the first needle feeding drive gear, and a fourth needle feeding drive gear that is coaxially arranged with the second needle feeding drive gear and meshes with the third needle feeding drive gear.

[0011] In another embodiment, the first clamping shaft includes a first main shaft section and a first auxiliary shaft section parallel to the first main shaft section. The first main shaft section is rotatably configured relative to the needle feeding connecting plate and its rotation axis is its own axis. The first needle feeding friction wheel is rotatably connected to the first auxiliary shaft section. The relative position of the first needle feeding friction wheel and the second needle feeding friction wheel can be adjusted by utilizing the rotation of the first clamping shaft.

[0012] In another embodiment, the second clamping shaft includes a second main shaft section and a second auxiliary shaft section parallel to the second main shaft section. The second main shaft section is rotatably configured relative to the needle feeding connecting plate and its rotation axis is its own axis. The second needle feeding friction wheel is rotatably connected to the second auxiliary shaft section. The relative position of the second needle feeding friction wheel and the first needle feeding friction wheel can be adjusted by rotating the second clamping shaft.

[0013] In another embodiment, the clamping drive is a motor, and the clamping transmission part includes a first clamping gear fixed coaxially with the clamping drive and a first incomplete clamping gear meshing with the first clamping gear and fixedly connected coaxially with the second main shaft section. The first incomplete clamping gear includes a first tooth segment meshing with the first clamping gear. The first incomplete clamping gear removes some teeth that do not mesh with the first clamping gear, reducing its own weight, making the driving force requirement for the surgical robot to operate the needle delivery device lower and the movement more flexible.

[0014] In another embodiment, the clamping transmission unit includes a first clamping gear coaxially fixed to the clamping drive member, and a second incomplete clamping gear meshing with the first clamping gear and coaxially fixedly connected to the first main shaft segment of the first clamping shaft. The second incomplete clamping gear has a third tooth segment, and the first incomplete clamping gear includes a second tooth segment meshing with the third tooth segment. The second incomplete clamping gear and the first incomplete clamping gear make the clamping or releasing actions of the first clamping shaft and the second clamping shaft more synchronized and rapid. The first incomplete clamping gear removes teeth on the first incomplete clamping gear and the second incomplete clamping gear that do not mesh, further reducing its own weight. This makes the driving force requirement for the surgical robot to operate the needle delivery device lower and the action more flexible. Furthermore, the first tooth segment is located between the second main shaft segment and the first clamping gear, and the second tooth segment and the third tooth segment are located between the first main shaft segment and the second main shaft segment. This can reduce the size of the device in the vertical and horizontal directions, enabling it to meet the size requirements of CT real-time guided surgery.

[0015] In another embodiment, the needle delivery device further includes a gear mounting box connected between the needle delivery connecting plate and the needle insertion guide mechanism for protecting the needle delivery mechanism. The gear mounting box contains a first transmission bearing, a second transmission bearing, a third transmission bearing, a first clamping bearing, and a second clamping bearing, all flush in their front-to-back positions. The second needle delivery transmission gear is mounted on the first transmission bearing and located behind it. The second transmission bearing is located between the second needle delivery transmission gear and the second transmission bearing. The first clamping bearing is fixedly sleeved on the first clamping shaft, and the second clamping bearing is fixedly sleeved on the second clamping shaft. The first clamping gear is mounted on the third clamping bearing and located behind the third transmission bearing. The first, second, and third clamping bearings are located above the first and second clamping bearings. By arranging the relative positions of the bearings, the layout of the clamping transmission unit and the needle delivery transmission unit can be made more compact, thereby reducing the weight of the device and its dimensions in the vertical and horizontal directions, enabling it to meet the size requirements of CT-guided surgery.

[0016] In another embodiment, the needle guide mechanism includes a needle guide base plate fixed in a position relative to the needle feeding connecting plate, a needle end fixing slider slidably connected to the needle feed guide base plate, and a needle guide fixed to the lower end of the needle feed guide base plate. The first guide channel is provided on the needle guide. The end of the puncture needle is mounted on the needle end fixing slider, and the needle is inserted into the needle guide.

[0017] In another embodiment, the upper and lower ends of the needle feeding connecting plate are fixed to the rear side of the gear mounting box, and the upper end is provided with a through mounting hole that runs through the front and rear. The needle feeding device also includes a guide rod fixing block fixed to the upper and lower ends of the through mounting hole, a guide rod fixed between the guide rod fixing blocks, an upper sliding connection assembly sleeved on the guide rod, and a lower rotating connection piece. The needle feeding device can achieve its own pitch and sway by connecting with a drive mechanism such as a robotic arm through the upper sliding connection assembly and the lower rotating connection piece.

[0018] The beneficial effects of this invention are as follows: The needle insertion mechanism of this patent uses a friction wheel clamping method to drive the needle body, and cooperates with the guide component to guide the needle body during the insertion process; the transmission part adopts a multi-gear transmission structure, which has high compatibility and can be adapted to various types of puncture needles, including ablation needles, significantly improving versatility; it effectively reduces the size of the device, making it easy to deploy flexibly in the surgical space. At the same time, the mechanism can achieve automatic clamping and release, and can automatically withdraw the needle by reversing, possessing good fault tolerance. Except for the motor, all components are made of non-metallic materials, and the relative positional relationship between the non-metallic material components and the motor is clearly defined to ensure that the motor will not enter the CT scanning range under CT guidance, allowing it to work under CT image guidance with almost no artifacts, better image compatibility, and automatic needle insertion, automatic needle withdrawal, automatic clamping, and automatic release functions, realizing automated control of the entire puncture process, reducing manual intervention, and improving operational efficiency and consistency. The first and second needle feeding friction wheels can automatically adjust the clamping force according to the needle diameter, compatible with different specifications and types of needles, including puncture needles, ablation needles, etc., significantly expanding the clinical applicability of the device. The device features an automatic needle withdrawal function during puncture. When the needle tip deviates from the target point and cannot be directly corrected, it can automatically withdraw a certain distance before readjusting its direction and continuing the puncture, thus avoiding repeated needle insertion and reducing tissue trauma. After puncture, the device can quickly and automatically release the needle, preventing tissue damage caused by the needle tip due to patient breathing or changes in body position. Furthermore, combined with image guidance and automated control, it further ensures the accuracy and safety of the puncture process. It balances accuracy, automation, and image compatibility, meeting the clinical needs for high-precision punctures while reducing the burden on doctors, improving surgical efficiency, and enhancing patient safety, thus possessing broad prospects for widespread application. Attached Figure Description

[0019] Figure 1 This is a perspective view of the needle feeding device of the present invention; Figure 2 This is a perspective view of the needle feeding device of the present invention from another angle; Figure 3 This is a perspective view of the needle feeding mechanism of the present invention; Figure 4 This is a perspective view of the needle feeding mechanism of the present invention from another angle; The components are as follows: 1-1 needle; 1-2 needle guide; 1-3 quick-release screw for friction wheel; 1-4 first needle feeding friction wheel, 1-4' second needle feeding friction wheel; 1-5 locking screw; 1-6 needle feeding guide base plate; 1-7 needle end fixing slider; 1-8 needle feeding fixing block; 1-9 gear mounting box; 1-10 needle feeding connecting plate; 1-11 guide rod fixing block; 1-12 guide rod; 1-13 upper sliding connection assembly; 1-14 needle feeding motor; 1-15 clamping drive component; 1-16 lower rotating connection component; 1-17 friction wheel fixing shaft; 1-18 first clamping shaft; 1-18' second clamping shaft; 1-181, First main shaft section; 1-182, First auxiliary shaft section; 1-181', Second main shaft section; 1-182', Second auxiliary shaft section; 1-19, First needle feed drive gear; 1-19', First clamping gear; 1-20, Second needle feed drive gear; 1-21, Third needle feed drive gear; 1-22, First incomplete clamping gear; 1-23, Second incomplete clamping gear; 1-24, Fourth needle feed drive gear; 1-21', Fifth needle feed drive gear; 1-25, First clamping bearing; 1-26, First transmission bearing; 1-27, Second transmission bearing; 1-28, Third clamping bearing; 1-29, Second clamping bearing; 1-221, First toothed section; 1-222, Second tooth segment. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings: like Figure 1-4 As shown, the automatic needle feeding device of the puncture robot includes: a needle feeding connecting plate 1-10, a needle insertion guide mechanism, a needle feeding mechanism, and a gear mounting box 1-9 connected between the needle feeding connecting plate 1-10 and the needle insertion guide mechanism for protecting the needle feeding mechanism; the needle feeding connecting plate 1-10 has a front side and a rear side, with the front side located in front of the rear side; the needle insertion guide mechanism is provided with a first guide channel, and the needle insertion guide mechanism is located in front of the needle feeding connecting plate 1-10.

[0021] Specifically, the needle feeding mechanism includes a first clamping shaft 1-18 and a second clamping shaft 1-18' rotatably connected to the needle feeding connecting plate 1-10; a first needle feeding friction wheel 1-4 rotatably connected to the first clamping shaft 1-18; a second needle feeding friction wheel 1-4' rotatably connected to the second clamping shaft 1-18'; a needle feeding motor 1-14 for driving the first needle feeding friction wheel 1-4 to rotate; a needle feeding transmission part connected between the needle feeding motor 1-14 and the first needle feeding friction wheel 1-4; and a mechanism for... A clamping drive unit 1-15 that drives the first clamping shaft 1-18 and the second clamping shaft 1-18' to move closer or further away, thereby moving the first needle feeding friction wheel 1-4 and the second needle feeding friction wheel 1-4' closer or further away; a clamping transmission unit connected between the clamping drive unit 1-15 and the first clamping shaft 1-18, or between the clamping drive unit 1-15 and the second clamping shaft 1-18', or between the clamping drive unit 1-15 and the first clamping shaft 1-18 and the second clamping shaft 1-18'; The first clamping shaft 1-18, the second clamping shaft 1-18', the first needle feeding friction wheel 1-4, the second needle feeding friction wheel 1-4', the needle feeding transmission part, the clamping transmission part, the needle feeding connecting plate 1-10, and the needle insertion guide mechanism are all made of non-metallic materials. The outermost contours of the first clamping shaft 1-18, the second clamping shaft 1-18', the first needle feeding friction wheel 1-4, the second needle feeding friction wheel 1-4', the needle feeding transmission part, and the clamping transmission part form a space to create an artifact-free area. The clamping drive 1-15 and the needle feeding motor 1-14 are located outside the artifact-free area. The needle feeding motor 1-14 and the clamping drive 1-15 are fixedly mounted on the needle feeding connecting plate 1-10. The first clamping shaft 1-18, the second clamping shaft 1-18', the first needle feeding friction wheel 1-4, the second needle feeding friction wheel 1-4', the needle feeding transmission part, the clamping transmission part, the needle feeding connecting plate 1-10, and the needle insertion guide mechanism are centrally arranged and are all made of non-metallic materials. The needle feeding motor 1-14 and the clamping drive 1-15, which inevitably contain metallic materials, are arranged outside the artifact-free area. This makes the needle feeding device compact and meets the size requirements for use within the CT scanning range. Furthermore, the components that cause artifacts are all located outside the artifact-free area, eliminating the artifact effects of the needle feeding device on CT real-time guided surgery and enabling CT real-time guided surgery.

[0022] The needle feed transmission unit includes a first needle feed drive gear 1-19 connected to the needle feed motor 1-14, a third needle feed drive gear 1-21 coaxially connected to the first needle feed friction wheel 1-4, and a double gear connecting the first needle feed drive gear 1-19 and the third needle feed drive gear 1-21. The first needle feed drive gear 1-19 cooperates with the double gear to reduce the speed output by the needle feed motor 1-14 to the first needle feed friction wheel 1-4, making the first needle feed friction wheel 1-4 run more smoothly. The double gear includes a second needle feed drive gear 1-20 meshing with the first needle feed drive gear 1-19, and a fourth needle feed drive gear 1-24 coaxially arranged with the second needle feed drive gear 1-20 and meshing with the third needle feed drive gear 1-21. The first clamping shaft 1-18 includes a first main shaft section 1-181 and a first auxiliary shaft section 1-182 parallel to the first main shaft section 1-181. The first main shaft section 1-181 is rotatably configured relative to the needle feeding connecting plate 1-10, and its rotation axis is its own axis. The first needle feeding friction wheel 1-4 is rotatably connected to the first auxiliary shaft section 1-182. The rotation of the first clamping shaft 1-18 can be used to adjust the relative position of the first needle feeding friction wheel 1-4 and the second needle feeding friction wheel 1-4'. The motor drives the first needle feeding friction wheel to rotate, and through gear transmission, it simultaneously drives the second needle feeding friction wheel to rotate in coordination. Under the action of friction, the puncture needle 1-1 achieves linear motion along the axial direction. When the rotation direction of the first and second needle feeding friction wheels changes, the puncture needle can be automatically withdrawn while maintaining stable clamping. The second clamping shaft 1-18' includes a second main shaft section 1-181' and a second auxiliary shaft section 1-182' parallel to the second main shaft section 1-181'. The second main shaft section 1-181' is rotatably configured relative to the needle feeding connecting plate 1-10, and its rotation axis is its own axis. The second needle feeding friction wheel 1-4' is rotatably connected to the second auxiliary shaft section 1-182'. The rotation of the second clamping shaft 1-18' can be used to adjust the relative position of the second needle feeding friction wheel 1-4' and the first needle feeding friction wheel 1-4. The first needle feeding friction wheel 1-4 and the second needle feeding friction wheel 1-4' are rotatably connected to the first main shaft section 1-181 and the second main shaft section 1-181' respectively via the friction wheel fixing shaft 1-17. The third needle feeding transmission gear 1-21 is provided on the friction wheel fixing shaft 1-17 of the second needle feeding friction wheel 1-4'. The friction wheel fixing shaft 1-17 of the second needle feeding friction wheel 1-4' is provided with a fifth needle feeding transmission gear 1-21' that meshes with the third needle feeding transmission gear 1-21. The fifth needle feeding gear improves the synchronization of the first needle feeding friction wheel 1-4 and the second needle feeding friction wheel 1-4'.The clamping drive unit 1-15 is a motor. The clamping transmission unit includes a first clamping gear 1-19' coaxially fixed to the clamping drive unit 1-15 and a first incomplete clamping gear 1-22 meshing with the first clamping gear 1-19' and coaxially fixedly connected to the second main shaft section 1-181'. The first incomplete clamping gear 1-22 includes a first tooth segment 1-221 meshing with the first clamping gear 1-19'. The first incomplete clamping gear 1-22 removes some teeth that do not mesh with the first clamping gear 1-19', reducing its own weight and making the driving force required for the surgical robot to operate the needle delivery device lower and the movement more flexible. After the puncture needle is placed, it is automatically clamped by a pair of friction wheels. The surface of the friction wheels is made of a high-friction material, which can automatically adjust the clamping force according to the needle diameter, thereby adapting to different specifications and types of needles (such as puncture needles and ablation needles) without the need for additional clamp replacement.

[0023] The clamping transmission unit includes a first clamping gear 1-19' coaxially fixed to the clamping drive member 1-15, and a second incomplete clamping gear 1-23 meshing with the first clamping gear 1-19' and coaxially fixedly connected to the first main shaft section 1-181 of the first clamping shaft 1-18. The second incomplete clamping gear 1-23 has a third tooth segment, and the first incomplete clamping gear 1-22 includes a second tooth segment 1-222 meshing with the third tooth segment. The second incomplete clamping gear 1-23 and the first incomplete clamping gear 1-22 make the clamping or releasing actions of the first clamping shaft 1-18 and the second clamping shaft 1-18' more synchronized. The first incomplete clamping gear 1-22 removes teeth that do not mesh with the second incomplete clamping gear, further reducing its weight. This makes the driving force required for the surgical robot to operate the needle delivery device lower and the movement more flexible. Furthermore, the first tooth segment is located between the second spindle segment 1-181' and the first clamping gear 1-19', while the second and third tooth segments are located between the first spindle segment 1-181 and the second spindle segment 1-181'. This reduces the size of the device in the vertical and horizontal directions, enabling it to meet the size requirements of CT-guided surgery.

[0024] The gear mounting box 1-9 contains a first transmission bearing 1-26, a second transmission bearing 1-27, a third transmission bearing, a first clamping bearing 1-25, and a second clamping bearing 1-29, all flush with each other in the front and rear positions. The second needle feeding transmission gear 1-20 is mounted on the first transmission bearing 1-26 and located behind it. The second transmission bearing 1-27 is located between the second needle feeding transmission gear 1-20 and the second transmission bearing 1-27. The first clamping bearing 1-25 is fixedly sleeved on the first clamping shaft 1-18. The second clamping bearing 1-29 is fixedly sleeved on the second clamping shaft 1-18'. The first clamping gear 1-19' is mounted on the third clamping bearing 1-28 and located behind it. The first transmission bearing 1-26, the second transmission bearing 1-27, and the third clamping bearing 1-28 are located above the first clamping bearing 1-25 and the second clamping bearing 1-29. By setting the relative positions of the bearings as described above, the layout of the clamping transmission unit and the needle delivery transmission unit can be made more compact, thereby reducing the weight of the device and its size in the vertical and horizontal directions, so that it can meet the size requirements of CT real-time guided surgery.

[0025] The needle insertion guide mechanism includes a needle feeding guide base plate 1-6 fixed in a position relative to the needle feeding connecting plate 1-10, a needle end fixing slider 1-7 slidably connected to the needle feeding guide base plate 1-6, and a needle insertion guide 1-2 fixed to the lower end of the needle feeding guide base plate 1-6. A first guide channel is provided on the needle insertion guide 1-2. The end of the puncture needle is installed on the needle end fixing slider 1-7, and the needle is inserted into the needle insertion guide 1-2. The upper and lower ends of the needle feeding connecting plate 1-10 are fixed to the rear side of the gear mounting box 1-9. The upper end of the plate has a through mounting hole that runs from front to back. The needle feeding device also includes a guide rod fixing block 1-11 fixed to the upper and lower ends of the mounting hole, a guide rod 1-12 fixed between the guide rod fixing blocks 1-11, an upper sliding connection assembly 1-13 sleeved on the guide rod 1-12, and a lower rotating connection piece 1-16. The needle feeding device can connect with the mechanical arm and other drive mechanisms through the upper sliding connection assembly 1-13 and the lower rotating connection piece 1-16 to achieve its own pitch and sway.

[0026] The operating principle of this invention is as follows: The needle feed guide base plate 1-6 is provided with a sliding groove, and the needle end fixing slider 1-7 is slidably connected in the sliding groove. The needle is symmetrically clamped by the first needle feed friction wheel 1-4 and the second needle feed friction wheel 1-4', and the needle is fed by the rotation of the first needle feed friction wheel 1-4 and the second needle feed friction wheel 1-4'. The needle end is installed in the sliding groove of the needle feed guide base plate 1-6 through the needle end fixing slider 1-7, realizing end constraint and sliding support. The needle insertion guide 1-2 is used to guide the needle insertion and ensure the straightness accuracy during the needle feeding process. The needle feed guide base plate 1-6 is reliably fixed to the needle feeding fixing block 1-8 by locking screws 1-5, and the needle feeding fixing block 1-8 is fixedly connected to the front side of the gear mounting box 1-9.

[0027] Needle feed drive: The first needle feed friction wheel 1-4 and the second needle feed friction wheel 1-4' are mounted on the friction wheel fixed shaft 1-17 via friction wheel quick-release screws 1-3. The needle feed motor 1-14 drives the first needle feed friction wheel 1-4 and the second needle feed friction wheel 1-4' on both sides to rotate synchronously through a transmission chain consisting of the first needle feed transmission gear 1-19, the second needle feed transmission gear 1-20, the third needle feed transmission gear 1-21, the fourth needle feed transmission gear 1-24, and the fifth needle feed transmission gear 1-21', thereby achieving smooth needle advance or retraction. The gear mounting box 1-9 is used to install and protect the transmission gears to ensure transmission stability.

[0028] The clamping drive component 1-15 drives the first clamping shaft 1-18, which in turn drives the friction wheel fixing shaft 1-17 to achieve eccentric rotation, enabling the friction wheel to clamp or release the needle 1-1. The first clamping shaft 1-18 and the second clamping shaft 1-18' are symmetrically arranged, as are the first incomplete clamping gear 1-22 and the second incomplete clamping gear 1-23. Automatic clamping and release are achieved through eccentric rotation. This structure ensures stable needle insertion under the drive of the friction wheel.

[0029] Except for the motor, all components of the device are made of plastic, and the motor is located far from the needle insertion point. This prevents metal artifacts during punctures under real-time guidance such as CT scans, ensuring image quality. Doctors can observe the needle's advance and retreat in real time under image monitoring, and combined with the device's automatic control, achieve closed-loop precision puncture.

[0030] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be covered within the scope of protection of the present invention.

Claims

1. An automatic needle delivery device for a puncture robot, characterized in that, It includes: A needle feeding connecting plate has a front side and a rear side, wherein the front side is located in front of the rear side; A pin guide mechanism is provided with a first guide channel, and the pin guide mechanism is located on the front side of the pin feeding connecting plate; The needle feeding mechanism includes a first clamping shaft and a second clamping shaft rotatably connected to the needle feeding connecting plate, a first needle feeding friction wheel rotatably connected to the first clamping shaft, a second needle feeding friction wheel rotatably connected to the second clamping shaft, a needle feeding motor for driving the first needle feeding friction wheel to rotate, a needle feeding transmission part connected between the needle feeding motor and the first needle feeding friction wheel, a clamping drive for driving the first clamping shaft and the second clamping shaft to move closer or further away, thereby causing the first needle feeding friction wheel and the second needle feeding friction wheel to move closer or further away, and a clamping transmission part connected between the clamping drive and the first clamping shaft, or between the clamping drive and the second clamping shaft, or between the clamping drive and the first clamping shaft and the second clamping shaft; The first clamping shaft, the second clamping shaft, the first needle feeding friction wheel, the second needle feeding friction wheel, the needle feeding transmission part, the clamping transmission part, the needle feeding connecting plate, and the needle insertion guide mechanism are all made of non-metallic materials, and the outermost contours of the first clamping shaft, the second clamping shaft, the first needle feeding friction wheel, the second needle feeding friction wheel, the needle feeding transmission part, and the clamping transmission part form a space to form an artifact-free area; the clamping drive and the needle feeding motor are located outside the artifact-free area.

2. The automatic needle feeding device for the puncture robot according to claim 1, characterized in that: The needle feeding transmission unit includes a first needle feeding transmission gear that is driven by the needle feeding motor, a third needle feeding transmission gear that is coaxially connected to the first needle feeding friction wheel, and a double gear connected between the first needle feeding transmission gear and the third needle feeding transmission gear.

3. The automatic needle feeding device for the puncture robot according to claim 2, characterized in that: The double gear includes a second needle feeding drive gear that meshes with the first needle feeding drive gear, and a fourth needle feeding drive gear that is coaxially arranged with the second needle feeding drive gear and meshes with the third needle feeding drive gear.

4. The automatic needle feeding device for the puncture robot according to claim 1, characterized in that: The first clamping shaft includes a first main shaft section and a first auxiliary shaft section parallel to the first main shaft section. The first main shaft section is rotatably configured relative to the needle feeding connecting plate and its rotation axis is its own axis. The first needle feeding friction wheel is rotatably connected to the first auxiliary shaft section.

5. The automatic needle feeding device for the puncture robot according to claim 3, characterized in that: The second clamping shaft includes a second main shaft section and a second auxiliary shaft section parallel to the second main shaft section. The second main shaft section is rotatably configured relative to the needle feeding connecting plate and its rotation axis is its own axis. The second needle feeding friction wheel is rotatably connected to the second auxiliary shaft section.

6. The automatic needle feeding device for the puncture robot according to claim 5, characterized in that: The clamping drive is a motor, and the clamping transmission part includes a first clamping gear fixed coaxially with the clamping drive and a first incomplete clamping gear meshing with the first clamping gear and fixedly connected coaxially with the second spindle section. The first incomplete clamping gear includes a first tooth segment meshing with the first clamping gear.

7. The automatic needle feeding device for the puncture robot according to claim 6, characterized in that: The clamping transmission unit includes a first clamping gear fixed coaxially with the clamping drive member, and a second incomplete clamping gear meshing with the first clamping gear and fixedly connected coaxially with the first main shaft section of the first clamping shaft. The second incomplete clamping gear has a third tooth segment, and the first incomplete clamping gear includes a second tooth segment meshing with the third tooth segment.

8. The automatic needle feeding device for the puncture robot according to claim 6 or 7, characterized in that: The needle feeding device further includes a gear mounting box connected between the needle feeding connecting plate and the needle insertion guide mechanism for protecting the needle feeding mechanism. The gear mounting box contains a first transmission bearing, a second transmission bearing, a third transmission bearing, a first clamping bearing, and a second clamping bearing that are flush with each other in the front and rear positions. The second needle feeding transmission gear is mounted on the first transmission bearing and located behind the first transmission bearing. The second transmission bearing is located between the second needle feeding transmission gear and the second transmission bearing. The first clamping bearing is fixedly sleeved on the first clamping shaft. The second clamping bearing is fixedly sleeved on the second clamping shaft. The first clamping gear is mounted on the third clamping bearing and located behind the third transmission bearing. The first transmission bearing, the second transmission bearing, and the third clamping bearing are located above the first clamping bearing and the second clamping bearing.

9. The automatic needle feeding device for the puncture robot according to claim 1, characterized in that: The needle guide mechanism includes a needle feeding guide base plate fixed in a position relative to the needle feeding connecting plate, a needle end fixing slider slidably connected to the needle feeding guide base plate, and a needle guide fixed to the lower end of the needle feeding guide base plate. The first guide channel is provided on the needle guide.

10. The automatic needle feeding device for the puncture robot according to claim 1, characterized in that: The upper and lower ends of the needle feeding connecting plate are fixed on the rear side of the gear mounting box. The upper end of the plate is provided with a through mounting hole that runs through the front and rear. The needle feeding device also includes a guide rod fixing block fixed to the upper and lower ends of the through mounting hole, a guide rod fixed between the guide rod fixing blocks, an upper sliding connection assembly sleeved on the guide rod, and a lower rotating connection piece.

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