Puncture needle delivery device and puncture needle delivery device for ct real-time guided puncture procedure

Abstract

The application discloses a puncture needle feeding device and a puncture needle feeding device for CT real-time guided puncture operation. The puncture needle feeding device comprises a transmission wheel module, a driving module and a clamping part. The transmission wheel module comprises a transmission wheel mounting seat, a first transmission wheel and a second transmission wheel mounted on the transmission wheel mounting seat, and the clamping part is used for enabling the second transmission wheel to always have a moving trend in the direction towards the first transmission wheel. The driving module comprises a motor, a first mounting seat, a first transmission part connected between the motor and the first transmission wheel, and a second transmission part connected between the motor and the second transmission wheel. When the motor drives the first transmission wheel to rotate, the motor does not drive the second transmission wheel to move. When the motor drives the second transmission wheel to move, the motor does not drive the first transmission wheel to rotate. The driving module only needs a single motor to realize the actions of releasing the needle and feeding the needle, so that the overall structure is more compact, and the needle feeding device can be more flexibly adjusted in the posture in a limited operation area.

Description

Technical Field

[0001] This invention belongs to the field of interventional surgical equipment, and specifically relates to a puncture needle delivery device and a puncture needle delivery device for CT-guided real-time puncture surgery. Background Technology

[0002] Interventional puncture surgery robots are an organic combination of interventional puncture technology and robotics. They assist medical staff in locating target points, controlling the puncture path, and driving the puncture needle to its destination during interventional puncture procedures, effectively improving the stability and accuracy of the procedure. Among these, puncture interventional surgery robots guided by intraoperative CT images have become one of the main development trends due to their ability to provide real-time feedback on the patient's physiological structure and the position of the puncture needle, as well as their low cost. The needle delivery device is a core component of CT-guided interventional puncture surgery robots, responsible for forming the puncture path and driving the puncture needle to the target point.

[0003] Traditional technical route 1: Using optical tracking equipment to guide puncture surgery. This method is only suitable for external navigation and positioning. The puncture needle delivery device and the puncture interventional surgery robot cannot provide feedback on the puncture status of the puncture needle in human tissue, resulting in a high puncture risk.

[0004] Traditional technical approach 2: This approach integrates an ultrasound imaging system, which can provide real-time feedback on the physiological structure of the target area and the position of the puncture needle during surgery. However, the quality of ultrasound imaging is inferior to that of CT images, the feedback effect is not as good as that of real-time CT images, and the introduction of an ultrasound module significantly increases the system complexity and equipment cost.

[0005] Traditional technical route 3: This mainly uses manual needle delivery, where the operator directly controls the puncture needle by hand. This method has low automation and operational stability. Some solutions employ automatic needle delivery, but their design cannot avoid metal artifacts under CT scans, making them unsuitable for CT guidance.

[0006] Currently, conventional needle delivery devices and interventional surgical robots use optical tracking equipment to guide puncture procedures. This method is only suitable for external navigation and positioning and cannot provide feedback on the puncture status of the needle within the human tissue, resulting in a high puncture risk. CN118141521A and CN 221712146U introduce ultrasound detection, which can provide real-time feedback on the patient's physiological structure and the position of the needle during the puncture procedure, effectively reducing the risk of dangerous punctures. However, ultrasound imaging quality is inferior to CT images, and the feedback effect is not as good as real-time CT images. Furthermore, the introduction of an ultrasound module significantly increases system complexity and equipment cost. Regarding needle delivery mechanisms, conventional needle delivery devices use a manual method, where the operator directly controls the needle by hand, resulting in low automation and operational stability. CN219184027U and others use an automatic needle delivery method, but its design cannot avoid metal artifacts under CT scans and is not suitable for CT guidance. Summary of the Invention

[0007] The purpose of this invention is to provide a puncture needle delivery device with a compact structure, a size that allows it to enter the CT aperture, and the ability to flexibly adjust the position of the puncture needle.

[0008] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A needle delivery device for puncture needles, characterized in that it comprises: A transmission wheel module includes a transmission wheel mounting base, a first transmission wheel and a second transmission wheel mounted on the transmission wheel mounting base, and a clamping part for ensuring that the second transmission wheel always has a tendency to move toward the first transmission wheel; A drive module includes a motor, a first mounting base, a first transmission part mounted in the first mounting base and drively connected between the motor and the first transmission wheel for rotating the first transmission wheel, a second transmission part connected between the motor and the second transmission wheel for moving the second transmission wheel in a direction away from the first transmission wheel, and a reset part for resetting the second transmission part after the second transmission part has moved in a direction away from the first transmission wheel. When the motor drives the first transmission wheel to rotate, the motor does not drive the second transmission wheel to move; when the motor drives the second transmission wheel to move, the motor does not drive the first transmission wheel to rotate. A quick-connect module for detachably connecting the transmission wheel mounting base and the drive module; The drive module requires only a single motor to achieve two degrees of freedom in needle release and needle delivery, making the overall structure more compact and allowing the needle delivery device to adjust its posture more flexibly within a limited operating area. Furthermore, the needle delivery device is divided into two main parts: a transmission wheel module at the front end that holds the puncture needle and a drive module at the rear end that drives the transmission wheel module to perform needle release and delivery actions. The drive module is located away from the puncture needle, and all parts except the motor are made of non-metallic materials. This eliminates the artifact phenomenon that occurs in existing needle delivery devices during CT-guided puncture surgery, making the needle delivery device suitable for CT-guided puncture surgery.

[0009] In another embodiment, the drive module includes a worm gear driven by the motor. The first transmission part includes a rotary drive shaft rotatably connected to the first mounting base, a first one-way clutch coaxially disposed with the rotary drive shaft, and a first worm wheel coaxially connected with the first one-way clutch. The second transmission part includes a tensioning drive shaft rotatably connected to the first mounting base, a second one-way clutch coaxially disposed with the tensioning drive shaft, and a second worm wheel coaxially connected with the second one-way clutch. The worm gear meshes with the first worm wheel and the second worm wheel respectively, and the first one-way clutch only... The first motor can drive the rotary drive shaft to rotate in one direction of rotation, but does not drive the rotary drive shaft to rotate when it rotates in another direction of rotation. The second one-way clutch can only drive the opening and closing drive shaft to rotate in one direction of rotation, but does not drive the opening and closing drive shaft to rotate when it rotates in another direction of rotation. When the worm rotates, it only drives the rotary drive shaft to rotate or only drives the opening and closing drive shaft to rotate. The single motor realizes the two degrees of freedom of needle release and needle feeding through the meshing of the worm with the first worm wheel and the second worm wheel, respectively. This satisfies the requirement of needle feeding motion freedom and makes the structure more compact.

[0010] In another embodiment, the rotary drive shaft and the opening / closing drive shaft are arranged in parallel, and the motor and the worm gear are arranged in parallel and perpendicular to the rotary drive shaft; this arrangement can reduce the length of the needle feeding device in the front-to-back direction.

[0011] In another embodiment, the clamping part includes a spring baffle fixedly mounted on the front end face of the transmission wheel mounting base, a second wheel mounting base slidably connected to the front end face of the transmission wheel mounting base in a direction toward or away from the first transmission wheel, and a compression spring connected between the spring baffle and the second wheel mounting base so that the second wheel mounting base always has a tendency to move toward the first transmission wheel. The second transmission wheel is mounted on the second wheel mounting base, and the second wheel mounting base is provided with a slider. The clamping part, in conjunction with the motor and the second transmission part, completes the clamping and opening actions of the second transmission wheel and the first transmission wheel.

[0012] In another embodiment, a crank is formed on the front end of the opening and closing drive shaft, and the slider is on the path of rotation of the crank. When the opening and closing drive shaft rotates, the crank rotates around the rotation axis of the opening and closing drive shaft and pushes the slider to move, thereby driving the second transmission wheel to move in a direction away from the first transmission wheel.

[0013] In another embodiment, the drive module further includes a rack assembly movable in a direction away from or toward the first transmission wheel, and a fixed gear coaxially connected to the opening and closing drive shaft and meshing with the rack assembly. The rack assembly is provided with a turning hole, and the slider passes through the first mounting base and is disposed in the turning hole. When the opening and closing drive shaft rotates, the fixed gear drives the rack assembly to move in a direction away from the first transmission wheel, thereby driving the second transmission wheel to move in a direction away from the first transmission wheel.

[0014] In another embodiment, the rack assembly includes a rack mounting block, a rack fixed to the rack mounting block, a guide shaft passing through the rack mounting block and slidably connected to the rack mounting block, and a compression spring sleeved on the guide shaft and located between the rack mounting block and the inner sidewall of the first mounting seat. The actuating hole is provided on the rack mounting block, and the compression spring causes the rack mounting block to reset, thereby driving the second wheel mounting seat to reset. The rack assembly is the reset part.

[0015] In another embodiment, the clamping part further includes a guide rod formed on the second wheel mounting seat and arranged in the left-right direction, the guide rod being slidably connected to the spring baffle, and the compression spring being sleeved on the guide rod and located between the second wheel mounting seat and the spring baffle.

[0016] In another embodiment, the conveyor wheel module further includes a first wheel mounting base mounted on the front end face of the second mounting base, a first wheel rotating shaft rotatably connected to the first wheel mounting base, and a first conveyor wheel coaxially and fixedly connected to the first wheel rotating shaft.

[0017] In another embodiment, the transmission wheel module further includes a lower half guide provided on the second wheel mounting base and the first wheel mounting base. When the second wheel mounting base and the first wheel mounting base are brought together and spliced, the lower half guide provided on the second wheel mounting base and the first wheel mounting base are spliced ​​together to form a second guide. A lower guide channel is formed on the splicing surface of the lower half guide in the vertical direction. The lower guide channel is located on the needle delivery path of the puncture needle.

[0018] In another embodiment, the transfer wheel module further includes an upper guide provided on the second wheel mounting base and the first wheel mounting base. When the second wheel mounting base and the first wheel mounting base are brought together, the upper guide provided on the second wheel mounting base and the first wheel mounting base are assembled to form a first guide. An upper guide channel is formed on the assembly surface of the upper guide. The lower guide channel and the upper guide channel constitute a guide channel, which is located on the needle delivery path of the puncture needle.

[0019] In another implementation, there are multiple sets of the first guide and the second guide, each corresponding to a puncture needle of a different specification.

[0020] In another embodiment, the quick-connect module includes a lever rotatably connected to the second mounting base, a latch formed on the lever, and a latch hole formed on the first mounting base. The lever and the latch have at least a first position and a second position. When the lever and the latch are in the first position, the latch can pass through the latch hole. When the lever and the latch are in the second position, the latch and the second mounting base clamp the front end sidewall of the first mounting base between them and fix the transmission wheel module and the drive module together.

[0021] In another embodiment, the reset part includes a third mounting base fixed in the first mounting base and a spiral spring sleeved on the opening and closing drive shaft with its inner end fixedly connected to the opening and closing drive shaft and its outer end fixedly connected to the third mounting base. The spiral spring resets the second transmission part.

[0022] The present invention also provides a needle delivery device for CT-guided real-time puncture surgery. The needle delivery device is the aforementioned needle delivery device, and all parts of the transmission wheel module, quick-connect module, and drive module except for the motor are made of non-metallic materials.

[0023] In another embodiment, the first and second conveyor wheels are made of a highly elastic non-metallic material that meets biocompatibility requirements.

[0024] In another embodiment, the second guide and the first guide are made of non-metallic materials with CT values ​​greater than those of other non-metallic materials and that meet biocompatibility requirements, so that the second guide and the first guide can provide marker points for real-time CT guidance.

[0025] The beneficial effects of this invention are as follows: (1) The puncture intervention robot of this patent has a high degree of integration and can enter the CT aperture to adjust the position of the puncture needle, thus avoiding the influence of metal artifacts under CT scanning.

[0026] (2) This patent can be guided and positioned in real time by CT images and dynamically guide the puncture process, which can achieve higher puncture accuracy.

[0027] (3) This patent has a remote-operated needle release function, which can avoid the cutting motion of the puncture needle in the tissue and reduce safety risks.

[0028] (4) This patent uses one motor to realize two degrees of freedom of remote operation of the push needle and the release needle. The mechanical and electrical systems are simple and the cost is lower.

[0029] (5) This patent can be adapted to puncture needles of various diameters, lengths and types, and has wide clinical applicability.

[0030] (6) The active and passive parts of this patent can be quickly connected / separated, which facilitates aseptic protection. Attached Figure Description

[0031] Figure 1 This is a side view of the needle feeding device in Embodiment 1; Figure 2 This is a cross-sectional view of the needle feeding device in Embodiment 1; Figure 3 This is a perspective view of the needle feeding device in Embodiment 1; Figure 4 This is a cross-sectional view of the drive module in Embodiment 1; Figure 5 This is a cross-sectional view of another location of the drive module in Embodiment 1; Figure 6 This is a perspective view of the conveyor wheel module in Embodiment 1; Figure 7 This is a schematic diagram of the installation structure of the first transmission wheel in Embodiment 1; Figure 8 This is a schematic diagram of the installation structure of the second transmission wheel in Embodiment 1; Figure 9 This is a cross-sectional view of the installation structure of the first transmission wheel in Embodiment 1; Figure 10 This is a perspective view of the needle feeding device in Embodiment 2; Figure 11 This is a cross-sectional view of the needle feeding device in Embodiment 2; Figure 12 This is a perspective view of the drive module in Embodiment 2; Figure 13 This is a schematic diagram of the internal structure of the drive module in Embodiment 2; Figure 14 This is a cross-sectional view of the drive module in Embodiment 2; Figure 15 This is a perspective view of the rack mounting bracket in Embodiment 2; Figure 16This is a cross-sectional view of the rack mounting base in Embodiment 2; Figure 17 This is a perspective view of the needle feeding device in Embodiment 3; Figure 18 This is a cross-sectional view of the needle feeding device in Embodiment 3; Figure 19 This is a perspective view of the drive module in Embodiment 3; Figure 20 A schematic diagram of the internal structure of the drive module in Embodiment 3; Figure 21 This is a perspective view of the conveyor wheel module in Embodiment 3; Figure 22 This is a schematic diagram of the puncture needle delivery device of the present invention when it is installed on a puncture intervention robot. Detailed Implementation

[0032] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings: Example 1 like Figure 1 As shown, the puncture needle delivery device includes a drive module 1, a transmission wheel module 2, and a puncture needle 3. The drive module 1 is the active part of the puncture needle delivery device, responsible for driving the rotation of the transmission wheel of the transmission wheel module 2 to push the puncture needle, and for driving the opening and closing of the first and second wheel components of the transmission wheel module 2 to release the puncture needle. The transmission wheel module 2 clamps the puncture needle, directly pushing and releasing it. The puncture needle 3 can be a coaxial positioning needle, an ablation needle, or other surgical needles used in puncture procedures.

[0033] like Figure 2-3As shown, the drive module 1 of the present invention includes a first mounting base 1-1, a mounting top cover 1-2, a rotary drive shaft 1-3, a tensioning drive shaft 1-4, a mounting bottom cover 1-5, a mounting block 1-7, a motor 1-6, a motor connecting shaft 1-8, a driving gear 1-9, a rolling bearing 1-10, a driven gear 1-11, a main drive shaft 1-12, a worm gear 1-13, a first worm wheel 1-14, a first one-way clutch 1-15, a second one-way clutch 1-15', a sliding bearing 1-16, a second worm wheel 1-17, a third mounting base 1-18, a spiral spring 1-19, and a spiral spring mounting cover 1-20. The first mounting base 1-1 serves as the mounting reference for the drive module 1. The mounting top cover 1-2 and the mounting bottom cover 1-5 are respectively installed on the top and bottom of the first mounting base 1-1 by fasteners. After other internal parts are installed, a closed space is formed. The mounting block 1-6 is installed inside the first mounting base 1-1 by fasteners and is used to install other parts. Rotary drive shaft 1-3 and opening / closing drive shaft 1-4 are respectively mounted on the first mounting base 1-1 at one end via rolling bearing 1-10 and on the mounting block 1-6 at the other end via sliding bearing 1-16. Motor 1-7 is the actuator of the module, providing suitable torque and speed to the transmission mechanism; it is mounted inside the first mounting base by fasteners. One end of motor connecting shaft 1-8 is fixed to the rotating shaft of motor 1-7 by fasteners, and the other end is fixed to the mounting top cover 1-2 via rolling bearing 1-10. Motor connecting shaft 1-8 rotates with the rotating shaft of motor 1-7, transmitting motor power. The driving gear 1-9 is locked to the motor connecting shaft 1-8 by a set screw or other means; the driven gear 1-11 is fixed to the main drive shaft 1-12 and meshes with the driving gear 1-9 for transmission. In some embodiments, the gear transmission mechanism can be replaced by a synchronous belt mechanism or other rotating mechanisms; in some embodiments, the gear transmission mechanism can be omitted, and the motor can be directly connected to the main drive shaft 1-12. The main drive shaft 1-12 is mounted on the top cover 1-2 and the bottom cover 1-5 via rolling bearings 1-10 at both ends, and can rotate with the driven gear 1-11. The worm gear 1-13 is fixed to the main drive shaft 1-12 and rotates after it. The worm gear 1-13 meshes with the first worm wheel 1-14 and the second worm wheel 1-17 respectively, forming two sets of worm gear mechanisms. In some embodiments, the worm gear mechanism can be replaced by a threaded gear mechanism, a bevel gear mechanism, or other orthogonally arranged rotating mechanisms. The first worm wheel 1-14 is fixed to the rotary drive shaft 1-3 via a first one-way clutch 1-15, and the second worm wheel 1-17 is fixed to the tension drive shaft 1-4 via a second one-way clutch 1-15', so that the worm gear mechanism can only transmit power to one of the rotary drive shafts 1-3 and 1-4 at a time; that is, the motor rotates forward to drive the rotary drive shaft 1-3 to rotate, and the motor rotates in reverse to drive the tension drive shaft 1-4 to rotate.The third mounting base 1-18, the scroll spring 1-19, and the scroll spring mounting cover 1-20 constitute a reset assembly for restoring the initial position of the tension-opening drive shaft 1-4. The assembly has a coaxial through hole at its center through which the tension-opening drive shaft 1-4 passes. The third mounting base 1-18 is fastened to one side of the first mounting base 1-1, on the same side as the motor and close to the rear side of the first mounting base 1-1. The scroll spring 1-19 is located inside the third mounting base 1-18, with one end secured to the scroll spring mounting base and the other end secured to the mounting hole 1-4-2 of the tension-opening drive shaft 1-4. The scroll spring mounting cover 1-20 is fastened to the end face of the scroll spring mounting base 1-18 to restrict the axial movement of the scroll spring.

[0034] Since part of the drive module 1 enters the X-ray tube scanning space of the CT scanner, and the X-ray tube scanning width of mainstream CT scanners is about 40mm, all other parts of the drive module of this invention, except for the motor and the spiral spring, are made of non-metallic materials such as engineering plastics. The spiral spring can also be made of non-metallic materials, or all parts within 40mm on both sides of the puncture needle can be made of non-metallic materials such as engineering plastics to avoid the generation of metal artifacts under CT scanning and thus affecting image quality.

[0035] like Figure 6 As shown, the transmission wheel module 2 of the present invention includes a first wheel assembly 2-1, a second wheel assembly 2-2, a second mounting base 2-3, a spring baffle 2-4, a linear bearing 2-5, a compression spring 2-6, a lever 2-7, a latch 2-8, and an O-ring 2-9. The first wheel assembly 2-1 and the second wheel assembly 2-2 clamp the puncture needle, and the puncture needle is driven to be delivered by rotation. The second mounting base 2-3 serves as the mounting reference for the module and is provided with a positioning shaft 2-3-1, which can be inserted into the positioning hole 1-1-4 of the first mounting base 1-1 to realize the positioning 1 between the transmission wheel module 2 and the drive module. The first wheel assembly 2-1 and the spring baffle 2-4 are respectively mounted on the second mounting base 2-3 by fasteners; the linear bearing 2-5 is installed in the round hole of the spring baffle 2-4, and the guide rod 2-2-1-2 of the second wheel assembly 2-2 slides linearly on the linear bearing 2-5; in some embodiments, the linear bearing can be replaced by a sliding bearing. A compression spring 2-6 is installed between the second wheel assembly 2-2 and the spring baffle 2-4 to reset the second wheel assembly 2-2 and provide clamping force. The quick-connect module includes a lever 2-7, a latch 2-8, and an O-ring 2-9; the lever 2-7 and the latch 2-8 can be glued together or fixed by fasteners; when the transmission wheel module 2 is installed, the latch 2-8 passes through the latch hole 1-1-3 of the first mounting base 1-1. The operator can rotate the lever 2-7 to rotate the latch 2-8 90° to the slot position of the first mounting base 1-1. After the operator releases the lever 2-7, the latch 2-8 is inserted into the slot under the elastic force of the O-ring 2-9, thus locking the transmission wheel module 2 and the drive module 1.

[0036] like Figure 7As shown, the first wheel assembly 2-1 of the present invention includes a first wheel mounting base 2-1-1, a first wheel rotating shaft 2-1-2, a first transmission wheel 2-1-0, a pin 2-1-4, an upper guide and a lower guide, and a sliding bearing 2-1-7. The first wheel mounting base 2-1-1 serves as the mounting reference for the assembly. The first wheel rotating shaft 2-1-2 is mounted on the first wheel mounting base 2-1-1 via sliding bearings 2-1-7 at both ends. The mating structure between the first wheel rotating shaft 2-1-2 and the rotating drive shaft 1-3 is designed as a mechanical joint that allows for quick positioning and connection. When the transmission wheel module 2 is aligned with the drive module 1, the mechanical joint automatically engages, and the power of the rotating drive shaft can be transmitted to the first wheel rotating shaft 2-1-2. The first transmission wheel 2-1-0 and the second transmission wheel 2-1-3 are in direct contact with the puncture needle 3 and are made of highly elastic materials such as silicone rubber that meet biocompatibility requirements. The first transmission wheel 2-1-0 is interference-fitted with the first wheel rotation shaft 2-1-2 and is fixed by the pin 2-1-4 to ensure torque transmission.

[0037] like Figure 8-9 As shown, the second wheel assembly 2-2 of the present invention includes a second wheel mounting base 2-2-1, a second wheel rotating shaft 2-2-2, a second transmission wheel 2-1-3, a pin 2-1-4, an upper guide and a lower guide, and a sliding bearing 2-1-7. The second wheel mounting base 2-2-1 serves as the mounting reference for the assembly; the second wheel rotating shaft 2-2-2 is mounted on the second wheel mounting base 2-2-1 via sliding bearings 2-1-7 at both ends. The remaining parts and connection methods are the same as those of the first wheel assembly 2-1; the upper guide on the first wheel mounting base 2-1-1 and the upper guide on the second wheel mounting base 2-2-1 are combined to form a first guide 2-1-6, and the lower guide on the first wheel mounting base 2-1-1 and the lower guide on the second wheel mounting base 2-2-1 are combined to form a second guide 2-1-5. The upper guide and the lower guide are snapped onto the first wheel mounting base 2-1-1 and the second wheel mounting base 2-2-1, respectively. 6 and the central through hole of the second guide 2-1-5 are coaxial and the axis passes through the first transmission wheel 2-1-0 and the second transmission wheel 2-1-3 for the center of the needle delivery point. The second guide 2-1-5 and the first guide 2-1-6 are in direct contact with the puncture needle. They are made of non-metallic materials with high CT values ​​such as PTFE and ceramics to meet biocompatibility requirements. The CT values ​​are greater than those of other parts, and the contrast is high under CT images. They can be used as CT markers for the puncture needle delivery device and puncture intervention robot of the present invention to guide the robot positioning.

[0038] When the first wheel assembly 2-1 and the second wheel assembly 2-2 are closed and pressed together, the central through holes of their pair of second guides 2-1-5 and pair of first guides 2-1-6 combine to form a guide channel 3', through which the puncture needle is inserted or withdrawn. When the system controls the first wheel assembly 2-1 and the second wheel assembly 2-2 to open, the guide channel 3' separates, and the puncture needle is released by the transfer wheel module 2. For puncture needles of different diameters, the transfer wheel module 2 can be adapted to the corresponding specification of puncture needle by replacing the guide with the guide of the corresponding inner diameter.

[0039] The second wheel mounting base 2-2-1 is designed with a slider 2-2-1-1, and the opening and closing drive shaft 1-4 is designed with a crank 1-4-1. The two together form a crank-slider mechanism. The rotation of the opening and closing drive shaft 1-4 can make the second wheel mounting base 2-2-1 and the entire second wheel assembly slide laterally in the y direction, so that the second wheel assembly and the first wheel assembly are in an open state.

[0040] Example 2 like Figure 10-12 As shown, in Embodiment 2, the structure of the second wheel mounting base 2-2-1 of the transmission wheel module 2 differs from that in Embodiment 1. The main difference is that the slider 2-2-1-1 is a slider that can be inserted into the square hole of the rack assembly 1-20; after the slider 2-2-1-1 is inserted into the rack assembly 1-20, the second wheel assembly 2-2 can slide laterally with the rack assembly 1-20. The other parts of the second wheel assembly 2-2 are the same as in Embodiment 1.

[0041] like Figure 13 As shown, in Embodiment 2, the structure of the drive module 1 is largely the same as in Embodiment 1, with 1-1 to 1-3 and 1-5 to 1-17 being identical to those in Embodiment 1. The opening / closing drive shaft 1-4 does not have a crank structure; one end is mounted on the first mounting base 1-1 via a bearing, the middle is mounted on the opening / closing drive shaft mounting base 1-18 via a bearing, and then fixed to the first mounting base 1-1; the other end is fitted with a fixed gear 1-19. Gear 1-19 meshes with rack 1-20-3 in the rack assembly 1-20, forming a rack and pinion mechanism. Guide shaft 1-22 passes through the guide hole of rack assembly 1-20, and the two guide shafts are arranged in parallel and fixed between the first mounting base 1-1 and the mounting block 1-6. A compression spring 1-21 is provided between rack assembly 1-20 and the first mounting base 1-1, allowing the rack assembly to reset; therefore, the spiral spring mounting base, spiral spring, and spiral spring mounting cover required in Embodiment 1 do not need to form a reset assembly.

[0042] like Figure 14-16As shown in Embodiment 2, the rack assembly 1-20 comprises a rack mounting base 1-20-1, a rack mounting cover 1-20-2, a rack 1-20-3, and a sliding bushing 1-20-4. The rack assembly 1-20 can slide along the guide shaft 1-22; after the transmission wheel module 2 is installed onto the drive module 1, the slider 2-2-1-1 is inserted into the rack assembly 1-20, and the transmission wheel module can move laterally with the rack assembly.

[0043] Example 3 like Figure 17-21 As shown, in Embodiment 3, the structural composition of the drive module 1 is mostly the same as that in Embodiment 2, with 1-1 to 1-2 and 1-4 to 1-22 being identical to those in Embodiment 2. Rotary drive shaft 1-3 has a first upper fixed gear 1-28; second rotary drive shaft 1-24 has a second upper fixed gear 1-25; third rotary drive shaft 1-27 has a third upper fixed gear 1-26. The first upper fixed gear meshes with the third upper fixed gear, and the third upper fixed gear meshes with the second upper fixed gear, forming a gear train. This allows the rotary drive shaft 1-3 and the second rotary drive shaft 1-24 to rotate synchronously, thereby synchronously driving the two sets of transmission wheel rotating shafts 2-1-2 and the first transmission wheel 2-1-0 and the second transmission wheel 2-1-3 on the first wheel assembly 2-1.

[0044] In Example 3, the first wheel component 2-1 and the second wheel component 2-2 in the transmission wheel module 2 both use multiple pairs of transmission wheels (number ≥ 2), and the rest of the structure is the same as in Example 2.

[0045] The puncture needle delivery device of the present invention has two degrees of freedom of operation, which are realized by the following two sets of transmission mechanisms: ① Motor – Motor connecting shaft – Gear transmission mechanism – Drive shaft – Worm gear mechanism 1 – First one-way clutch – Rotary drive shaft – First wheel rotation shaft – First transmission wheel – Second transmission wheel. This transmission mechanism drives the transmission wheel to rotate, using the friction between the transmission wheel and the puncture needle to push the puncture needle insertion. The encoder integrated into the motor can record the number of rotations of the transmission wheel, thus providing feedback on the pushing distance of the puncture needle; simultaneously, under the guidance of the CT Fluoro mode, the insertion depth of the puncture needle can be adjusted in real time through the first transmission mechanism. Furthermore, under the guidance of the CT Fluoro mode, the puncture needle angle can also be adjusted in real time through the pose adjustment module.

[0046] ② Motor – Motor connecting shaft – Gear transmission mechanism – Drive shaft – Worm gear mechanism 2 – Second one-way clutch – Opening / closing drive shaft – Crank-slider mechanism – Second wheel mounting seat (second wheel assembly). This transmission mechanism drives the second wheel assembly to slide laterally, so that the second wheel assembly is in an open state with the first wheel assembly. The system controls the puncture needle delivery device to move away, thereby releasing the puncture needle.

[0047] The puncture needle delivery device of the present invention has a reset function: when the needle release action is performed, the opening and closing drive shaft drives the spiral spring to deform and accumulate elastic potential energy; after the needle release action is completed, the second group of transmission mechanisms stops working, the spiral spring restores its shape under the action of elastic potential energy, drives the opening and closing drive shaft to rotate in the opposite direction to the initial position, realizes the reset of the drive module, and facilitates the installation of a new transmission wheel module in the next operation.

[0048] The puncture needle delivery device of the present invention has a puncture needle self-adaptive function: under the elastic force of the compression springs 2-6, the second wheel assembly automatically presses the first wheel assembly, and the transmission wheel pair can automatically press the puncture needle. It is only necessary to select the corresponding specifications of the second guide and the first guide and quickly snap them onto the transmission wheel module before the operation to adapt to puncture needles of different diameters.

[0049] The puncture needle delivery device of this invention has a CT marker function: the CT values ​​of a pair of second guides and a pair of first guides on the delivery wheel module are greater than those of other engineering plastic parts. In the Fluoro mode of CT, they can mark the position and orientation of the puncture needle delivery device. The posture adjustment device adjusts the posture of the puncture needle delivery device in real time based on CT image guidance, achieving precise navigation and positioning. During needle insertion, the second and first guides can mark the puncture path in real time in the Fluoro mode of CT. The puncture needle is usually made of metal and can also serve as a CT marker, providing real-time feedback on the bending degree and tip position of the puncture needle under CT images, guiding the puncture interventional surgery. When performing the needle release action, the guides separate, and the puncture needle release effect can also be fed back based on CT images.

[0050] The puncture needle delivery device of this invention enters the CT tube scanning space during surgery, with the delivery wheel module fully inserted and the drive module partially inserted. All parts of the delivery wheel module are made of non-metallic materials, and all parts of the drive module, except for the motor and the spiral spring, are made of non-metallic materials (or all parts within 40mm on both sides of the puncture needle are made of non-metallic materials), avoiding metal artifacts under CT scanning that could affect image quality.

[0051] The drive module of the puncture needle delivery device of this invention is an active component, used for long-term equipment operation; the transmission wheel module is a passive component, sterilizable and used as a disposable consumable, indirectly contacting the patient via the puncture needle. Because the transmission wheel module is entirely made of non-metallic material, the patient is safely isolated from the live parts of the puncture needle delivery device and the interventional puncture robot, preventing injury from leakage current. The transmission wheel module is quickly installed onto the drive module by medical personnel, with a sterile cover between them, achieving sterile isolation between the puncture needle delivery device and the interventional puncture robot and the patient.

[0052] The puncture intervention robot of the present invention, if used Figure 22In this form, the height (Z direction) of the puncture needle delivery device K can be adjusted using a multi-joint collaborative robotic arm H, enabling remote needle withdrawal.

[0053] Example 2 of puncture needle delivery device In Embodiment 2 of the puncture needle delivery device, the puncture needle delivery device also has two degrees of freedom of operation (remotely operated needle pushing and remotely operated needle releasing), which are realized by the following two sets of transmission mechanisms: The ① group mechanism has the same transmission method and function as the "① group of Example 1".

[0054] ② Motor – Motor connecting shaft – Gear transmission mechanism – Drive shaft – Worm gear mechanism 2 – Second one-way clutch – Opening / closing drive shaft – Gear and rack mechanism – Second wheel mounting seat (second wheel assembly). This transmission mechanism drives the second wheel assembly to slide laterally, so that the second wheel assembly is in an open state with the first wheel assembly. The system controls the puncture needle delivery device to move away, thereby releasing the puncture needle.

[0055] In embodiment 2 of the puncture needle delivery device, the reset function of the puncture needle delivery device is as follows: when the needle release action is performed, the opening and closing drive shaft drives the rack assembly to compress the compression spring so that it accumulates elastic potential energy; after the needle release action is completed, the second group of transmission mechanisms stops working, and the compression spring restores its shape under the action of elastic potential energy, driving the rack assembly to slide back to the initial position in the opposite direction, thereby realizing the reset of the drive module, which facilitates the installation of a new transmission wheel module in the next operation.

[0056] The other functions of Example 2 are the same as those of Example 1.

[0057] Example 3 of puncture needle delivery device In Embodiment 3 of the puncture needle delivery device, the puncture needle delivery device also has two degrees of freedom of operation (remotely operated needle pushing and remotely operated needle releasing), which are realized by the following two sets of transmission mechanisms: ①(a) Motor — Motor connecting shaft — Gear transmission mechanism — Drive shaft — Worm gear mechanism 1 — First one-way clutch — Rotary drive shaft — First wheel rotating shaft (bottom) — Transmission wheel (bottom).

[0058] (b) Motor - Motor connecting shaft - Gear transmission mechanism - Drive shaft - Worm gear mechanism 1 - Second one-way clutch - Rotary drive shaft - Gear system - First wheel rotating shaft (upper) - Transmission wheel (upper).

[0059] This transmission mechanism drives multiple pairs of transmission wheels to rotate, using the friction between these wheels and the puncture needle to push the needle in place. The encoder integrated into the motor records the number of rotations of the transmission wheels, thus providing feedback on the pushing distance of the puncture needle. Simultaneously, guided by the Fluoro mode of CT, the insertion depth of the puncture needle is adjusted in real time via the first transmission mechanism. Furthermore, under the guidance of the Fluoro mode of CT, the pose adjustment module can also adjust the angle of the puncture needle in real time (the Fluoro mode of CT is a scanning method that enables real-time dynamic observation of CT images through rapid scanning, rapid reconstruction, and real-time display technology).

[0060] The ② group mechanism has the same transmission method and function as the "② group of Example 1".

[0061] In Embodiment 3 of the puncture needle delivery device, the reset component and function of the puncture needle delivery device are the same as those in Embodiment 2.

[0062] The other functions of Example 3 are the same as those of Example 1 and Example 2.

[0063] 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. A needle delivery device for puncture needles, characterized in that it include: The transmission wheel module (2) includes a second mounting base (2-3), a first transmission wheel (2-1-0) and a second transmission wheel (2-1-3) mounted on the second mounting base (2-3), and a clamping part for making the second transmission wheel (2-1-3) always have a tendency to move toward the first transmission wheel (2-1-0); The drive module (1) includes a motor (1-7) and a worm gear (1-13) drivenly connected to the motor (1-7), a first mounting base (1-1), a first transmission part installed in the first mounting base (1-1) and drivenly connected between the motor (1-7) and the first transmission wheel (2-1-0) for rotating the first transmission wheel (2-1-0), a second transmission part connected between the motor (1-7) and the second transmission wheel (2-1-3) for moving the second transmission wheel (2-1-3) in a direction away from the first transmission wheel (2-1-0), and a reset part for resetting the second transmission part after completing the movement of the second transmission part in a direction away from the first transmission wheel (2-1-0). The first transmission unit includes a rotary drive shaft (1-3) rotatably connected to the first mounting base (1-1), a first one-way clutch (1-15) coaxially arranged with the rotary drive shaft (1-3), and a first worm gear (1-14) coaxially connected with the first one-way clutch (1-15); the second transmission unit includes a tensioning drive shaft (1-4) rotatably connected to the first mounting base (1-1), a second one-way clutch (1-15') coaxially arranged with the tensioning drive shaft (1-4), and a second worm gear (1-17) coaxially connected with the second one-way clutch (1-15'). The worm (1-13) meshes with the first worm gear (1-14) and the second worm gear (1-17) respectively. When the worm (1-13) rotates, it only drives the rotary drive shaft (1-3) to rotate or only drives the tensioning drive shaft (1-4) to rotate. The reset part includes a third mounting base (1-18) fixed inside the first mounting base (1-1) and a spiral spring (1-19) sleeved on the opening and closing drive shaft (1-4) with its inner end fixedly connected to the opening and closing drive shaft (1-4) and its outer end fixedly connected to the third mounting base (1-18); when the motor (1-7) drives the first transmission wheel (2-1-0) to rotate, the motor (1-7) does not drive the second transmission wheel (2-1-3) to move; when the motor (1-7) drives the second transmission wheel (2-1-3) to move, the motor (1-7) does not drive the first transmission wheel (2-1-0) to rotate. The clamping part includes a spring baffle (2-4) fixedly installed on the front end face of the second mounting base (2-3), a second wheel mounting base (2-2-1) slidably connected to the front end face of the second mounting base (2-3) in the direction toward or away from the first transmission wheel, and a compression spring (2-6) connected between the spring baffle (2-4) and the second wheel mounting base (2-2-1) to make the second wheel mounting base (2-2-1) always have a tendency to move toward the first transmission wheel (2-1-0). The second transmission wheel (2-1-3) is mounted on the second wheel mounting base (2-2-1), and the second wheel mounting base (2-2-1) is provided with a slider (2-2-1-1). A crank (1-4-1) is formed on the front end of the opening and closing drive shaft (1-4). The slider (2-2-1-1) is on the path of rotation of the crank (1-4-1). When the opening and closing drive shaft (1-4) rotates, the crank (1-4-1) rotates around the rotation axis of the opening and closing drive shaft (1-4) and pushes the slider (2-2-1-1) to move, thereby driving the second transmission wheel (2-1-3) to move in a direction away from the first transmission wheel (2-1-0). The clamping part further includes a guide rod (2-2-1-2) formed on the second wheel mounting seat (2-2-1) and arranged in the left-right direction. The guide rod (2-2-1-2) is slidably connected to the spring baffle (2-4). The compression spring (2-6) is sleeved on the guide rod (2-2-1-2) and located between the second wheel mounting seat (2-2-1) and the spring baffle (2-4). A quick-connect module is used to detachably connect the second mounting base (2-3) and the drive module.

2. The puncture needle delivery device according to claim 1, characterized in that: The rotary drive shaft (1-3) and the opening and closing drive shaft (1-4) are arranged in parallel. The motor (1-7) and the worm gear (1-13) are arranged in parallel and both are perpendicular to the rotary drive shaft (1-3).

3. The puncture needle delivery device according to claim 1, characterized in that: The transmission wheel module (2) also includes a first wheel mounting seat (2-1-1) mounted on the front end face of the second mounting seat (2-3), a first wheel rotating shaft (2-1-2) rotatably connected to the first wheel mounting seat (2-1-1), and a first transmission wheel (2-1-0) coaxially and fixedly connected to the first wheel rotating shaft (2-1-2).

4. The puncture needle delivery device according to claim 3, characterized in that: The transmission wheel module (2) also includes a lower half guide provided on the second wheel mounting seat (2-2-1) and the first wheel mounting seat (2-1-1). When the second wheel mounting seat (2-2-1) and the first wheel mounting seat (2-1-1) are brought together, the lower half guide provided on the second wheel mounting seat (2-2-1) and the first wheel mounting seat (2-1-1) are assembled to form a second guide (2-1-5). A lower guide channel is formed on the splicing surface of the lower half guide in the vertical direction. The lower guide channel is located on the needle feeding path of the puncture needle.

5. The puncture needle delivery device according to claim 4, characterized in that: The transmission wheel module (2) also includes an upper guide provided on the second wheel mounting seat (2-2-1) and the first wheel mounting seat (2-1-1). When the second wheel mounting seat (2-2-1) and the first wheel mounting seat (2-1-1) are brought together, the upper guide provided on the second wheel mounting seat (2-2-1) and the first wheel mounting seat (2-1-1) are assembled to form a first guide (2-1-6). An upper guide channel is formed on the splicing surface of the upper guide. The lower guide channel and the upper guide channel constitute a guide channel, and the guide channel is located on the needle feeding path of the puncture needle.

6. The puncture needle delivery device according to claim 5, characterized in that: There are multiple sets of the first guide (2-1-6) and the second guide (2-1-5), each corresponding to a puncture needle of a different specification.

7. The puncture needle delivery device according to claim 1, characterized in that: The quick-connect module includes a lever (2-7) rotatably connected to the second mounting base (2-3), a latch (2-8) formed on the lever (2-7), and a latch hole (1-1-3) formed on the first mounting base (1-1). The lever (2-7) and the latch (2-8) have at least a first position and a second position. When the lever (2-7) and the latch (2-8) are in the first position, the latch (2-8) can pass through the latch hole (1-1-3). When the lever (2-7) and the latch (2-8) are in the second position, the latch (2-8) and the second mounting base (2-3) clamp the front end sidewall of the first mounting base (1-1) between them and fix the transmission wheel module (2) and the drive module (1) together.

8. A needle delivery device for CT-guided real-time puncture surgery, characterized in that: The needle feeding device is any of the puncture needle feeding devices described in claims 1-7. All parts of the transmission wheel module (2), quick-connect module, and drive module (1) except for the motors (1-7) are made of non-metallic materials.

9. The needle delivery device for CT-guided real-time puncture surgery according to claim 8, characterized in that: The first transmission wheel (2-1-0) and the second transmission wheel (2-1-3) are made of a highly elastic non-metallic material that meets biocompatibility requirements.

10. The needle delivery device for CT-guided real-time puncture surgery according to claim 9, characterized in that: The second guide (2-1-5) and the first guide (2-1-6) are made of non-metallic materials with a CT value greater than that of other non-metallic materials and meet biocompatibility requirements.

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