Rotary drum type flexible needle puncture device capable of automatically changing needles

Abstract

The invention discloses a rotary drum type flexible needle puncture device capable of automatically changing needles, which belongs to the field of medical instruments and comprises a base, a lead screw sliding table mechanism, a support frame, a support tube, a first bearing seat, a second bearing seat, a needle storage mechanism, a first motor seat, a first motor, an elastic swing switching mechanism, a clamping jaw, a needle handle clamping mechanism, a second motor frame, a second motor and a flexible shaft. The needle storage mechanism is used for ensuring that the flexible needle is stored at a correct position, feeding and retreating actions of the flexible needle move in the needle bin direction, a needle position groove is replaced under the rotation of a first motor in the operation process, and the needle replacement action is subsequently achieved, and the elastic swing switching mechanism is used for ensuring that the flexible needle has an accurate position in the needle bin. According to the rotary drum type flexible needle puncture device capable of automatically replacing the needles, the needle handle clamping mechanism and the lead screw sliding table mechanism move in a combined mode and are used for controlling feeding and retreating of the flexible needles in the needle bin, the six flexible needles can be carried, the flexible needles can be automatically replaced in the operation process, and the operation efficiency is improved. The time consumed for replacing and fixing the flexible needle through manual intervention during the operation period is obviously shortened, and the operation efficiency and safety are improved.

Description

Technical Field

[0001] This invention relates to a medical device, and more particularly to a rotary, automatically changeable flexible needle puncture device. Background Technology

[0002] Minimally invasive interventional medicine, serving as a bridge between surgery and internal medicine, has made significant progress in recent years. Flexible needles, by controlling the rotation of the needle tip to flexibly adjust the puncture path, effectively avoid obstacles such as bones and blood vessels, achieving more precise and safer target puncture than traditional rigid needles, becoming a key innovation in the field of minimally invasive surgery.

[0003] In clinical practice, complex procedures such as puncture biopsy and drug delivery are often required for multiple target points of the lesion. This necessitates doctors to frequently change and clamp the flexible needle during the operation, which not only consumes a lot of time for needle changing, but also makes it difficult to guarantee the rotational accuracy of the needle after manual clamping.

[0004] Based on the above problems, the present invention aims to design a rotary tube-type flexible needle puncture device with automatic needle changing. This device can carry multiple flexible needles and achieve automatic needle changing and clamping during surgery, thereby significantly reducing the time required for manual needle core changing and clamping in traditional surgery, significantly improving surgical efficiency and operational accuracy, effectively reducing the workload of doctors, and avoiding fatigue and potential errors caused by frequent manual operation. Summary of the Invention

[0005] To address the aforementioned problems, the technical problem to be solved by the present invention is to provide a rotary tube-type flexible needle puncture device with automatic needle changing. The overall operation of the device can realize the automatic replacement and clamping of flexible needles, improve surgical efficiency, reduce surgical time, and promote the development of minimally invasive medical technology.

[0006] The technical solution of this invention is as follows:

[0007] A rotary drum-type flexible needle puncture device with automatic needle changing includes a base, a screw slide mechanism, a support frame, a support tube, a first bearing seat, a second bearing seat, a needle storage mechanism, a first motor seat, a first motor, an elastic swing switching mechanism, grippers, a needle handle clamping mechanism, a second motor frame, a second motor, and a flexible shaft. The base is rectangular in shape, with a boss on the right side of the front end and a slide rail on the boss. The grippers consist of gripper one and gripper two, both rectangular in shape, with a keyway at the front end of gripper two. The screw slide mechanism is fixed to the right end of the base with screws, and the grippers are mounted on the slide of the screw slide mechanism with screws. The support frame is fixed to the front end of the boss with screws, and the support tube is fixedly connected to the support frame. Bearing seat one is fixed to the left side of the front end of the base with screws, located to the left of the boss. Bearing seat two is fixed to the left side of the rear end of the base with screws. The bearing hole of bearing seat 1 and the bearing hole of bearing seat 2 are located on the same axis. The needle storage mechanism is fixedly installed between bearing seat 1 and bearing seat 2 through bearings. Motor seat 1 is generally L-shaped and is fixed to the rear left side of the base with screws, located at the rear end of bearing seat 2. Motor 1 is installed on motor seat 1 with bolts. The needle handle clamping mechanism is installed on the clamping jaws with a flat key and is located in the needle storage mechanism. Motor seat 2 is generally L-shaped and is fixed above the slide of the screw slide mechanism with screws. Motor 2 is installed on motor seat 2 with bolts. One end of the flexible shaft is fixedly connected to the drive shaft of motor 2 through a coupling, and the other end is fixedly connected to the needle handle clamping mechanism. The slide of the screw slide mechanism slides along the slide rail, driving the clamping jaws installed on the slide to move. The clamping jaws drive the needle handle clamping mechanism to move. The needle handle clamping mechanism drives the needle feed and retraction. Motor 2 drives the needle to rotate through the flexible shaft.

[0008] Preferably, the needle storage mechanism includes a needle magazine, a flexible needle, a needle clamp, a needle handle, a conical slider, a conical nut, a needle magazine cover, and a tension spring. The needle magazine is cylindrical in shape, with six needle slots evenly distributed in a circular array around its axis. The rear end of the needle magazine has six mounting slots, pin holes, and square slots evenly distributed in a circular array around its axis. The pin holes are located on the rear side of the mounting slots, and the square slots are located at the rear end of the mounting slots. A step is provided at the rear end of the needle magazine, and a drive shaft is located at the rear end of the needle magazine. The front end of the needle handle has a disc and a sloping disc, with a groove between the disc and the sloping disc. The rear end has a needle handle rod. The conical slider has a through hole at its center, and two conical truncated cones, one and two, are respectively located at their ends. The bottoms of the two conical truncated cones are connected (after connection, the needle handle clamp disengages), and the first conical truncated cone is slightly larger than the second conical truncated cone. The outer surface of the needle chamber is provided with a truncated cone three; the needle chamber cover has six needle holes evenly distributed in a circular array around the axis, and a drive shaft two is provided at one end of the needle chamber cover; the drive shaft one is mounted on the bearing seat two through a bearing, and the drive shaft one is fixedly connected to the drive shaft of the motor one through a coupling; the rear end of the flexible needle is mounted on the needle handle through a needle clamp, the flexible needle is slidably connected to the needle hole, the through hole is slidably connected to the needle handle rod, a tension spring one is installed between the needle handle and the tapered slider, the tapered nut is fixed to the end of the needle handle rod through a threaded hole, the needle handle is installed in the needle position groove, the needle handle and the needle position groove are located on the same axis, the disc is slidably connected to the needle position groove, the needle chamber cover is fixed to the front end of the needle chamber with screws, and the drive shaft two is mounted on the bearing seat one through a bearing; the motor one drives the needle chamber to rotate through the coupling, switching the rotation position of the needle position groove to realize the flexible needle replacement.

[0009] Preferably, the elastic swing switching mechanism comprises a first connecting rod, a second connecting rod, a second tension spring, a rubber rod, a first limiting post, and a second limiting post. Both ends of the first and second connecting rods have pin holes. One end of the first connecting rod is fixedly connected to the rubber rod. The ends of the first and second connecting rods are connected by pins and installed in mounting grooves. Pins are installed in the pin holes at the other ends of the first and second connecting rods. Both ends of the second tension spring are respectively installed on the pins of the first and second connecting rods. One end of the rubber rod rests against the end face of the inclined disc. To ensure the needle handle has a defined position in the needle slot, limiting posts one and two are installed in the mounting slot, symmetrically arranged with the center plane of the mounting slot as the symmetrical plane. Limiting post one is located behind the pin hole, and limiting post two is located in front of the pin hole. The slide of the screw-slide mechanism moves along the slide rail, driving the gripper mounted on the slide to move. The gripper drives the needle handle clamping mechanism to move, and the needle handle clamping mechanism drives the needle handle to slide forward along the needle slot. The rubber rod pressing against the end face of the inclined disc rotates clockwise along the pin shaft as the needle handle moves. The rotation causes connecting rod one to rotate, which in turn stretches tension spring two. After stretching, tension spring two needs to return to its original position due to its elasticity, thus causing connecting rod two to rotate counterclockwise along the pin. Limiting post one restricts the rotation angle of connecting rod one and connecting rod two to the rearward side, and limiting post two restricts the rotation angle of connecting rod one and connecting rod two to the frontward side, preventing the included angle between connecting rod one and connecting rod two from being too small. The needle handle clamping mechanism causes the needle handle to slide backward along the needle position groove, and the inclined disc causes the rubber rod to rotate counterclockwise along the pin. The rotation of the rubber rod causes the first connecting rod to rotate, which in turn causes the second tension spring to stretch. After stretching, the second tension spring needs to return to its original position due to the elastic force. Therefore, it causes the second connecting rod to rotate clockwise along the pin. As the inclined disc on the needle handle slides backward along the needle position groove through the square groove, the first limiting post restricts the angle between the first and second connecting rods. When the inclined disc passes through, it presses the end of the rubber rod into the square groove. After the inclined disc moves to the end of the square groove, the rubber rod returns to its original position along the inclined surface of the inclined disc.

[0010] Preferably, the needle holder clamping mechanism comprises a jaw magazine, a jaw magazine end cap, jaws, and a return spring. The jaw magazine has disc-shaped ends and a guide plate at the front end. The front end of the jaw magazine has two jaw limiting grooves symmetrically arranged with the central plane of the jaw magazine as the plane of symmetry. The guide plate has two jaw limiting holes symmetrically arranged with the central plane of the jaw magazine as the plane of symmetry. One end of the jaw has a jaw handle, and the other end has a jaw head. The jaw magazine is mounted on the jaws via a key. The jaw magazine is coaxially mounted with the needle slot. The jaw magazine end cap is fixed to the rear end of the jaw magazine with screws. The two jaws are symmetrically arranged about the central plane of the jaw magazine. The jaw heads are slidably connected to the limiting grooves. The return spring is mounted on the jaw handle and located between the jaw magazine and the jaw head. The slide of the screw-slide mechanism slides along the slide rail, driving the jaws mounted on the slide to move. The jaws drive the guide plate on the jaw magazine to move forward, and the jaw magazine drives the jaws along the truncated cone. As the clevis moves along the inclined plane, the return spring is compressed. When the clevis leaves the third cone, the return spring resets. The clevis head reaches the needle handle rod and continues to move forward a short distance. The clevis head then contacts the conical slider and pushes it forward. The conical slider pushes the needle handle forward. After the clevis compartment enters the needle position groove, the structure of the needle position groove prevents the clevis head from sliding along the second cone, and the clevis handle from extending out of the clevis compartment. This ensures that the clevis head can push the conical slider forward. The clevis drives the guide plate to move backward. After reaching the initial position, the rubber rod returns to its original position via the inclined plane of the inclined disc and rests on the end face of the inclined disc. Then, the clevis compartment continues to move forward a short distance. The clevis compartment drives the clevis to move along the inclined plane of the second cone. After reaching the inclined plane of the first cone, the clevis drives the conical slider to move backward until the bottoms of the first and third cones contact each other. The clevis moves from the first cone to the third cone and disengages along the third cone.

[0011] The beneficial effects of this invention are:

[0012] 1. The aforementioned rotary drum-type flexible needle puncture device with automatic needle changing employs a needle handle clamping mechanism to hold or detach the needle handle, and in conjunction with the rotation of the needle chamber, achieves the function of automatic needle changing. The slide of the screw slide mechanism slides along the slide rail, driving the needle handle clamping mechanism to move. The needle handle clamping mechanism pushes the needle handle to achieve the function of pushing the needle. After puncturing a lesion target point, the device automatically replaces the flexible needle chamber to perform puncture on the next site, avoiding the surgical contamination problem caused by forgetting to change and using the same flexible needle for puncture, reducing the burden on doctors, and improving the safety of surgery.

[0013] 2. The needle storage mechanism can simultaneously carry 6 universal flexible needle cartridges, reducing the replacement time during surgery, meeting the needs of doctors during surgery, and improving surgical efficiency.

[0014] 3. The elastic swing switching mechanism is used to ensure that the flexible needle has a fixed position in the needle chamber, avoid changes in the position of the flexible needle during the movement of the device, and ensure the smooth progress of the needle changing process, thus ensuring the safety of the operation.

[0015] 4. Once all the flexible needles in the needle storage mechanism have been used up, the needle chamber can be easily disassembled and replaced, making installation simple and improving surgical safety. Attached Figure Description

[0016] Appendix Figure 1 A schematic diagram of the overall assembly of the present invention;

[0017] Appendix Figure 2 A schematic diagram of the base mechanism of the present invention;

[0018] Appendix Figure 3 An exploded view of the internal structure of the needle chamber of the present invention;

[0019] Appendix Figure 4 A schematic diagram of the needle chamber structure of the present invention;

[0020] Appendix Figure 5 A schematic diagram of the needle handle structure of the present invention;

[0021] Appendix Figure 6 A schematic diagram of the conical slider structure of the present invention;

[0022] Appendix Figure 7 A schematic diagram of the conical nut structure of the present invention;

[0023] Appendix Figure 8 A schematic diagram of the needle chamber cover structure of the present invention;

[0024] Appendix Figure 9 A schematic diagram of the assembly of the elastic swing switching mechanism of the present invention;

[0025] Appendix Figure 10 A schematic diagram of the square groove structure of the present invention;

[0026] Appendix Figure 11 A schematic diagram of the assembly of the needle holder clamping mechanism of the present invention;

[0027] Appendix Figure 12 A schematic diagram of the gripper structure of the present invention;

[0028] Appendix Figure 13 A schematic diagram of the claw magazine structure of the present invention;

[0029] Appendix Figure 14 A schematic diagram of the claw structure of the present invention;

[0030] In the diagram: 1. Base; 1-1. Boss; 1-2. Slide rail; 2. Screw slide mechanism; 3. Support frame; 4. Support tube; 5. Bearing seat one; 6. Bearing seat two; 7. Needle storage mechanism; 7-1. Needle chamber; 7-1-1. Needle slot; 7-1-2. Mounting slot; 7-1-3. Pin hole; 7-1-4. Square slot; 7-1-5. Step; 7-1-6. Drive shaft one; 7-2. Flexible needle; 7-3. Needle clamp; 7-4. Needle handle; 7-4-1. Disc; 7-4-2. Inclined disc; 7-4-3. Needle handle rod; 7-5. Conical slider; 7-5-1. Frustum one; 7-5-2. Frustum two; 7-5-3. Through hole; 7-6. Conical nut; 7-6-1. Frustum three; 7-7. Needle chamber cover. 7-7-1. Pinhole; 7-7-2. Drive shaft II; 7-8. Tension spring I; 8. Motor base I; 9. Motor I; 10. Elastic swing switching mechanism; 10-1. Linkage I; 10-2. Linkage II; 10-3. Tension spring II; 10-4. Rubber rod; 10-5. Limiting post I; 10-6. Limiting post II; 11. Gripper; 12. Needle handle clamping mechanism; 12-1. Gripper compartment; 12-1-1. Guide plate; 12-1-2. Gripper limiting groove; 12-1-3. Gripper limiting hole; 12-2. Gripper compartment end cover; 12-3. Gripper; 12-3-1. Gripper handle; 12-3-2. Gripper head; 12-4. Return spring; 13. Motor frame II; 14. Motor II; 15. Flexible shaft. Detailed Implementation

[0031] The specific structure and implementation of the present invention will be further described below with reference to the accompanying drawings.

[0032] Preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will facilitate the implementation of these embodiments by those skilled in the art. However, the invention can be implemented in various different forms, and therefore is not limited to the embodiments described below. Furthermore, for clarity, components not connected to the invention will be omitted from the drawings.

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

[0034] like Figure 1 , Figure 2 and Figure 12As shown, the rotary drum type flexible needle puncture device with automatic needle changing includes a base 1, a screw slide mechanism 2, a support frame 3, a support tube 4, a bearing seat 5, a bearing seat 6, a needle storage mechanism 7, a motor seat 8, a motor 9, an elastic swing switching mechanism 10, a gripper 11, a needle handle clamping mechanism 12, a motor frame 13, a motor 14, and a flexible shaft 15. The base 1 is generally rectangular, with a boss 1-1 on the front right side, and a slide rail 1-2 on the boss 1-1; the gripper 11... Composed of gripper 11-1 and gripper 11-2, both grippers 11-1 and 11-2 are rectangular in shape, with gripper 11-2 having a keyway 11-3 at its front end; the lead screw slide mechanism 2 is fixed to the right end of the base 1 by screws, and gripper 11 is mounted on the slide of the lead screw slide mechanism 2 by screws; the support frame 3 is fixed to the front end of the boss 1-1 by screws, and the support tube 4 is fixedly connected to the support frame 3; bearing seat 1 5 is fixed to the left side of the front end of the base 1 by screws, located to the left of the boss 1-1; bearing seat 2... 6 is fixed to the left rear end of the base 1 with screws. The bearing holes of bearing seat 5 and bearing seat 6 are on the same axis. The needle storage mechanism 7 is fixed between bearing seat 5 and bearing seat 6 by bearings. The motor seat 8 is L-shaped and fixed to the left rear end of the base 1 with screws, located at the rear end of bearing seat 6. The motor 9 is bolted to the motor seat 8. The needle holder clamping mechanism 12 is mounted on the clamp 11 by a flat key and is located in the needle storage mechanism. The motor seat 13 is L-shaped. The screw slide mechanism 2 is fixed above the slide of the lead screw slide mechanism 2 by screws. The second motor 14 is mounted on the second motor base 13 by bolts. One end of the flexible shaft 15 is fixedly connected to the transmission shaft of the second motor 14 by a coupling, and the other end is fixedly connected to the needle holder clamping mechanism 12. The slide of the lead screw slide mechanism 2 slides along the slide rail 1-2, which drives the gripper 11 mounted on the slide to move. The gripper 11 drives the needle holder clamping mechanism 12 to move. The needle holder clamping mechanism 12 drives the needle to feed and retract. The second motor 14 drives the needle to rotate through the flexible shaft 15.

[0035] like Figure 3 , Figure 4 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 and Figure 12As shown, the needle storage mechanism 7 in this example includes a needle magazine 7-1, a flexible needle 7-2, a needle clamp 7-3, a needle handle 7-4, a conical slider 7-5, a conical nut 7-6, a needle magazine cover 7-7, and a tension spring 7-8. The needle magazine 7-1 is cylindrical in shape. It has six needle slots 7-1-1 evenly distributed in a circular array around its axis. At the rear end of the needle magazine 7-1, there are six mounting slots 7-1-2, pin holes 7-1-3, and square slots 7-1-4 evenly distributed in a circular array around the axis of the needle magazine 7-1. The pin holes 7-1-3 are located inside the rear side of the mounting slots 7-1-2, and the square slots 7-1-4 are... The groove 7-1-4 is located at the rear end of the mounting groove 7-1-2. The rear end of the needle chamber 7-1 has a step 7-1-5, and a drive shaft 7-1-6 is located at the rear end of the needle chamber 7-1. The front end of the needle handle 7-4 has a disc 7-4-1 and a sloping disc 7-4-2, with a groove between the disc 7-4-1 and the sloping disc 7-4-2. The rear end has a needle handle rod 7-4-3. The conical slider 7-5 has a through hole 7-5-3 in the center, and two truncated cones 7-5-1 and 7-5-2 are respectively located at both ends. The bottoms of the truncated cones 7-5-1 and 7-5-2 are connected, and the truncated cone 7-5-1 is slightly larger than the truncated cone 7-5-2. 7-5-2; The outer surface of the tapered nut 7-6 is provided with a truncated cone 7-6-1; The needle magazine cover 7-7 has six needle holes 7-7-1 evenly distributed in a circular array around the axis; One end of the needle magazine cover 7-7 is provided with a drive shaft 7-7-2; The drive shaft 7-1-7 is mounted on the bearing seat 6 through a bearing; The drive shaft 7-1-7 is fixedly connected to the drive shaft of the motor 9 through a coupling; The rear end of the flexible needle 7-2 is mounted on the needle handle 7-4 through a needle clamp 7-3; The flexible needle 7-2 is slidably connected to the needle hole 7-7-1; The through hole 7-5-3 is slidably connected to the needle handle rod 7-4-3; The needle handle 7 A tension spring 7-8 is installed between -4 and the conical slider 7-5. A conical nut 7-6 is fixed to the end of the needle handle rod 7-4-3 through a threaded hole. The needle handle 7-4 is installed in the needle position groove 7-1-1. The needle handle 7-4 and the needle position groove 7-1-1 are located on the same axis. The disc 7-4-1 is slidably connected to the needle position groove 7-1-1. The needle chamber cover 7-7 is fixed to the front end of the needle chamber 7-1 by screws. The transmission shaft 7-7-2 is mounted on the bearing seat 5 through a bearing. The motor 9 drives the needle chamber 7-1 to rotate through a coupling, switching the rotation position of the needle position groove 7-1-1 to realize the needle replacement of the flexible needle 7-2.

[0036] like Figure 9As shown, the elastic swing switching mechanism 10 in this example includes a first connecting rod 10-1, a second connecting rod 10-2, a second tension spring 10-3, a rubber rod 10-4, a first limiting post 10-5, and a second limiting post 10-6. Both ends of the first connecting rod 10-1 and the second connecting rod 10-2 are provided with pin holes. One end of the first connecting rod 10-1 is fixedly connected to the rubber rod 10-4. The ends of the first connecting rod 10-1 and the second connecting rod 10-2 are connected by pins and installed in the mounting groove 7-1-2. Pins are installed in the pin holes at the other ends of the first connecting rod 10-1 and the second connecting rod 10-2. Both ends of the second tension spring 10-3 are respectively installed on the pins of the first connecting rod 10-1 and the second connecting rod 10-2. One end of the rubber rod 10-4 rests against the end of the inclined disc 7-4-2. On the surface, to ensure that the needle handle 7-4 has a defined position in the needle position groove, limiting post one 10-5 and limiting post two are installed in the mounting groove 7-1-2, symmetrically arranged with the center plane of the mounting groove 7-1-2 as the symmetrical plane. Limiting post one 10-5 is located behind the pin hole 7-1-3, and limiting post two 10-6 is located in front of the pin hole 7-1-3. The slide of the screw slide mechanism 2 moves along the slide rail 1-2, driving the gripper 11 installed on the slide to move. The gripper 11 drives the needle handle clamping mechanism 12 to move. The needle handle clamping mechanism 12 drives the needle handle 7-4 to slide forward along the needle position groove 7-1-1. The rubber rod 10-4, which is pressed against the end face of the inclined disc 7-4-2, rotates clockwise along the pin shaft as the needle handle 7-4 moves. The rotation of the rubber rod 10-4 drives the connecting rod. When link 10-1 rotates, it causes the tension spring 10-3 to stretch. After stretching, the tension spring 10-3 needs to return to its original position due to its elasticity, which causes link 10-2 to rotate counterclockwise along the pin. Limiting post 10-5 limits the rotation angle of link 10-1 and link 10-2 when they swing to the rear, and limiting post 10-6 limits the rotation angle of link 10-1 and link 10-2 when they swing to the front, preventing the included angle between link 10-1 and link 10-2 from being too small. The needle handle clamping mechanism 12 causes the needle handle 7-4 to slide backward along the needle position groove 7-1-1. The inclined disc 7-4-2 causes the rubber rod 10-4 to rotate counterclockwise along the pin. The rotation of the rubber rod 10-4 causes... When connecting rod 10-1 rotates, it causes tension spring 10-3 to stretch. After stretching, tension spring 10-3 needs to return to its original position due to the elastic force. Therefore, it causes connecting rod 10-2 to rotate clockwise along the pin. As the inclined disc 7-4-2 on the needle handle 7-4 slides backward along the needle position groove 7-1-1 through the square groove 7-1-4, the limiting post 10-5 restricts the angle between connecting rod 10-1 and connecting rod 10-2. When the inclined disc 7-4-2 passes through, it presses the end of rubber rod 10-4 into the square groove 7-1-4. After the inclined disc 7-4-2 moves to the end of the square groove 7-1-4, the rubber rod 10-4 returns to its original position along the inclined surface of the inclined disc 7-4-2.

[0037] like Figure 11 As shown, the needle holder clamping mechanism 12 in this example includes a jaw magazine 12-1, a jaw magazine end cover 12-2, jaws 12-3, and a return spring 12-4. The jaw magazine 12-1 has disc-shaped ends and a guide plate 12-1-1 at the front end. The front end of the jaw magazine 12-1 has two jaw limiting grooves 12-1-2 symmetrically arranged with the central plane of the jaw magazine 12-1 as the plane of symmetry. The side of the guide plate 12-1-1 has two jaw limiting holes 12-1-3 symmetrically arranged with the central plane of the jaw magazine 12-1 as the plane of symmetry. One end of the jaw 12-3 has a jaw handle 12-3-1, and the other end has a jaw head 12-3-2. The jaw magazine 12-1 is mounted on the gripper 12-4 via a key. On the 1st, the chuck compartment 12-1 and the needle slot 7-1-1 are coaxially mounted. The chuck compartment end cover 12-2 is fixed to the rear end of the chuck compartment 12-1 with screws. The two chucks 12-3 are symmetrically arranged about the central plane of the chuck compartment 12-1. The chuck head 12-3-2 is slidably connected to the limiting slot 12-1-2. The return spring 12-4 is mounted on the chuck handle 12-3-1, located between the chuck compartment 12-1 and the chuck head 12-3-2. The slide of the lead screw slide mechanism 2 slides along the slide rail 1-2, driving the gripper 11 mounted on the slide to move. The gripper 11 drives the guide plate 12-1-1 to move forward. The chuck compartment 12-1 drives the chuck 12-3 to move along the inclined surface of the frustum 7-6-1. When the return spring 12-4 is compressed, it returns to its original position when the chuck 12-3 leaves the frustum 7-6-1. The chuck head 12-3-2 then reaches the needle handle 7-4-3 and moves forward a short distance before contacting the conical slider 7-5 and pushing it forward. The conical slider 7-5 then moves the needle handle 7-4 forward. After the chuck magazine 12-1 enters the needle position groove 7-1-1, the structure of the needle position groove 7-1-1 prevents the chuck head 12-3-2 from sliding along the frustum 7-5-2, and the chuck handle 12-3-1 from extending out of the chuck magazine 12-1. This ensures that the chuck head 12-3-2 can push the conical slider 7-5 forward. Forward movement; the gripper 11 drives the guide disk 12-1-1 to move backward. After reaching the initial position, the rubber rod 10-4 returns to its original position via the inclined surface of the inclined disk 7-4-2 and rests on the end face of the inclined disk 7-4-2. Then, the gripper magazine 12-1 continues to move forward a short distance. The gripper magazine 12-1 drives the gripper 12-3 to move along the inclined surface of the second cone 7-5-2. After reaching the inclined surface of the first cone 7-5-1, the gripper 12-3 drives the conical slider 7-5 to move backward until the bottoms of the first cone 7-5-1 and the third cone 7-6-1 come into contact with each other. The gripper 12-3 moves from the first cone 7-5-1 to the third cone 7-6-1 and disengages along the third cone 7-6-1.

[0038] The working principle of the specific embodiments of the present invention is as follows:

[0039] When using this invention, the above-mentioned device should be reset so that the claw compartment (12-1), needle slot (7-1-1) and support tube (4) are on the same axis, and the invention should be fixed on the corresponding position on the operating table with the front end aligned with the target point.

[0040] Needle insertion action: The slide of the screw slide mechanism (2) slides forward along the slide rail (1-2), which drives the gripper (11) installed on the slide to move forward. The gripper (11) drives the needle handle clamping mechanism (12) to move forward. The needle handle clamping mechanism (12) drives the needle handle (7-4) to move forward. The needle handle (7-4) pushes the rubber rod (10-4) to rotate. The rubber rod (10-4) rotates around the pin to the other side. The needle handle (7-4) that was originally fixed on the needle position groove (7-1-1) is disengaged. After being disengaged, the needle handle (7-4) drives the flexible needle (7-2) installed on it to perform puncture.

[0041] Needle retraction action: The slide of the lead screw slide mechanism (2) slides backward along the slide rail (1-2), which drives the gripper (11) installed on the slide to move backward. The gripper (11) drives the needle holder clamping mechanism (12) to move backward. The needle holder clamping mechanism (12) drives the flexible needle (7-2) installed on the needle holder (7-4) to retract the needle.

[0042] Needle changing action: After the flexible needle (7-2) is completely retracted, the rubber rod (10-4) rotates back to its initial position, with one end pressing against the end face of the inclined disc (7-4-2), ensuring that the needle shank (7-4) is fixed in the needle position groove (7-1-1). The chuck magazine (12-1) continues to move forward a short distance, and the chuck magazine (12-1) drives the chuck (12-3) along the inclined plane of the second cone (7-5-2). After the surface moves to the inclined plane of frustum one (7-5-1), the chuck (12-3) drives the conical slider (7-5) to move backward until the bottoms of frustum one (7-5-1) and frustum three (7-6-1) contact each other. The chuck (12-3) then moves from frustum one (7-5-1) to frustum three (7-6-1), disengaging along frustum three (7-6-1). The chuck (12-3) then returns to the return spring (12... -4) resets the position. After the reset, there is still a certain distance between the two jaws (12-3). After the jaw chamber (12-1) leaves the step (7-1-5) on the needle chamber (7-1), the motor (9) drives the needle chamber (7-1) to rotate through the coupling and switches to the next needle position slot (7-1-1). The slide of the screw slide mechanism (2) slides forward along the slide rail (1-2), driving the jaw (11) installed on the slide to move forward. The jaw (11) drives the jaw chamber (12-1) to move forward. The jaw (12-3) installed in the jaw chamber (12-1) slides along the inclined surface of the third cone (7-6-1). When the jaw (12-3) leaves the third cone (7-6-1), the reset spring (12-4) resets. When the jaw head (12-3-2) reaches the needle handle rod (7-4-3), the needle changing action is completed.

[0043] Rotation control of flexible needle: Motor 2 (14) drives flexible needle (7-2) to rotate via flexible shaft (15).

[0044] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A rotary drum-type flexible needle puncture device with automatic needle changing, comprising: The base (1), lead screw slide mechanism (2), support frame (3), support tube (4), bearing seat one (5), bearing seat two (6), needle storage mechanism (7), motor seat one (8), motor one (9), elastic swing switching mechanism (10), gripper (11), needle handle clamping mechanism (12), motor frame two (13), motor two (14), flexible shaft (15) are characterized in that: the base (1) is generally rectangular, and a boss (1-1) is provided on the right side of the front end of the base (1), and a slide rail (1-2) is provided on the boss (1-1); the gripper (11) is composed of gripper one (11-1) The system consists of a first gripper (11-1) and a second gripper (11-2). The first gripper (11-1) and the second gripper (11-2) are rectangular in shape. The second gripper (11-2) has a keyway (11-3) at its front end. The screw slide mechanism (2) is fixed to the right end of the base (1) with screws. The gripper (11) is installed on the slide of the screw slide mechanism (2) with screws. The support frame (3) is fixed to the front end of the boss (1-1) with screws. The support tube (4) is fixedly connected to the support frame (3). The bearing seat (5) is fixed to the left side of the front end of the base (1) with screws. It is located to the left of the boss (1-1). The second (6) is fixed to the left rear end of the base (1) with screws. The bearing hole of bearing seat one (5) and the bearing hole of bearing seat two (6) are on the same axis. The needle storage mechanism (7) is fixed between bearing seat one (5) and bearing seat two (6) by bearings. The motor seat one (8) is L-shaped and is fixed to the left rear end of the base (1) with screws. It is located at the rear end of bearing seat two (6). The motor one (9) is installed on the motor seat one (8) with bolts. The needle holder clamping mechanism (12) is installed on the clamp (11) by a flat key. The motor seat two (13) is L-shaped and is installed on the clamp (11) by a flat key. The screw is fixed above the slide of the screw slide mechanism (2). The second motor (14) is mounted on the second motor base (13) by bolts. One end of the flexible shaft (15) is fixedly connected to the transmission shaft of the second motor (14) through a coupling, and the other end is fixedly connected to the needle holder clamping mechanism (12). The slide of the screw slide mechanism (2) slides along the slide rail (1-2), which drives the cleaver (11) mounted on the slide to move. The cleaver (11) drives the needle holder clamping mechanism (12) to move. The needle holder clamping mechanism (12) drives the needle to feed and retract. The second motor (14) drives the needle to rotate through the flexible shaft (15).

2. The rotary drum type flexible needle puncture device with automatic needle changing according to claim 1, characterized in that: The needle storage mechanism (7) includes a needle chamber (7-1), a flexible needle (7-2), a needle clamp (7-3), a needle handle (7-4), a conical slider (7-5), a conical nut (7-6), a needle chamber cover (7-7), and a tension spring (7-8). The needle chamber (7-1) is cylindrical in shape. The needle chamber (7-1) has six needle slots (7-1-1) evenly distributed in a circular array around its axis. At the rear end of the needle chamber (7-1), there are six mounting slots (7-1-2), pin holes (7-1-3), and square slots (7-1-4) evenly distributed in a circular array around the axis of the needle chamber (7-1). The pin holes (7-1-3) are located inside the rear side of the mounting slots (7-1-2), and the square slots (7-1-4) are... 1-4) Located at the rear end of the mounting groove (7-1-2), the needle chamber (7-1) has a step (7-1-5) at its rear end, and a drive shaft (7-1-6) is located at the rear end of the needle chamber (7-1); the needle handle (7-4) has a disc (7-4-1) and an inclined disc (7-4-2) at its front end, with a groove in the middle between the disc (7-4-1) and the inclined disc (7-4-2), and a needle handle rod (7-4-3) at its rear end; the conical slider (7-5) has a through hole (7-5-3) at its center, and two truncated cones (7-5-1 and 7-5-2) are located at its two ends respectively, with the bottoms of the truncated cones (7-5-1) and 7-5-2 connected, and the truncated cone (7-5-1) being slightly larger than the truncated cone (7-5-2). -5-2); the outer surface of the conical nut (7-6) is provided with a three-cone truncated cone (7-6-1); the needle chamber cover (7-7) is provided with six needle holes (7-7-1) evenly distributed in a circular array with the axis as the center, and one end of the needle chamber cover (7-7) is provided with a second drive shaft (7-7-2); the first drive shaft (7-1-7) is mounted on the second bearing seat (6) through a bearing, and the first drive shaft (7-1-7) is fixedly connected to the drive shaft of the first motor (9) through a coupling, the rear end of the flexible needle (7-2) is installed on the needle handle (7-4) through a needle clamp (7-3), the flexible needle (7-2) is slidably connected to the needle hole (7-7-1), the through hole (7-5-3) is slidably connected to the needle handle rod (7-4-3), and the needle handle (7- 4) A tension spring (7-8) is installed between the conical slider (7-5). A conical nut (7-6) is fixed to the end of the needle handle rod (7-4-3) through a threaded hole. The needle handle (7-4) is installed in the needle position groove (7-1-1). The needle handle (7-4) and the needle position groove (7-1-1) are located on the same axis. The disc (7-4-1) is slidably connected to the needle position groove (7-1-1). The needle chamber cover (7-7) is fixed to the front end of the needle chamber (7-1) by screws. The transmission shaft (7-7-2) is installed on the bearing seat (5) through a bearing. The motor (9) drives the needle chamber (7-1) to rotate through the coupling, and switches the rotation position of the needle position groove (7-1-1) to realize the needle replacement of the flexible needle (7-2).

3. The rotary drum type flexible needle puncture device with automatic needle changing according to claim 1, characterized in that: The elastic swing switching mechanism (10) comprises a first connecting rod (10-1), a second connecting rod (10-2), a second tension spring (10-3), a rubber rod (10-4), a first limiting post (10-5), and a second limiting post (10-6). Both ends of the first connecting rod (10-1) and the second connecting rod (10-2) are provided with pin holes. One end of the first connecting rod (10-1) is fixedly connected to the rubber rod (10-4). The ends of the first connecting rod (10-1) and the second connecting rod (10-2) are connected by a pin and installed in the mounting groove (7). In -1-2), the other ends of connecting rod 1 (10-1) and connecting rod 2 (10-2) are connected to tension spring 2 (10-3) via pins. Limiting post 1 (10-5) and limiting post 2 are installed in the mounting groove (7-1-2). Limiting post 1 (10-5) is located behind the pin hole (7-1-3), and limiting post 2 (10-6) is located in front of the pin hole (7-1-3). The slide of the screw slide mechanism (2) moves along the slide rail (1-2) to drive the needle handle clamping mechanism (12) to move. The needle handle clamping mechanism (12) drives the needle handle (7-4) Slide forward along the needle groove (7-1-1). The inclined disc (7-4-2) drives the rubber rod (10-4) to rotate clockwise along the pin shaft. The rubber rod (10-4) pulls the tension spring two (10-3). The tension spring two (10-3) drives the connecting rod two (10-2) to rotate counterclockwise along the pin shaft. The limiting post one (10-5) limits the rotation angle of connecting rod one (10-1) and connecting rod two (10-2) to the rear. The limiting post two (10-6) limits the rotation angle of connecting rod one (10-1) and connecting rod two (10-2). The rotation angle of the swing to the front side; the needle handle clamping mechanism (12) drives the needle handle (7-4) to slide backward along the needle position groove (7-1-1), the inclined disc (7-4-2) drives the rubber rod (10-4) to rotate counterclockwise along the pin shaft, the rubber rod (10-4) pulls the tension spring two (10-3), the tension spring two (10-3) drives the connecting rod two (10-2) to rotate clockwise along the pin shaft, the end of the rubber rod (10-4) is pressed into the square groove (7-1-4), and then reset along the inclined surface of the inclined disc (7-4-2).

4. The rotary drum type flexible needle puncture device with automatic needle changing according to claim 1, characterized in that: The needle holder clamping mechanism (12) comprises a jaw compartment (12-1), a jaw compartment end cap (12-2), jaws (12-3), and a return spring (12-4). The jaw compartment (12-1) has disc-shaped ends and a guide plate (12-1-1) at the front end. The front end of the jaw compartment (12-1) has two jaw limiting grooves (12-1-2) symmetrically arranged with the central plane of the jaw compartment (12-1) as the plane of symmetry. The side of the guide plate (12-1-1) has two jaw limiting grooves symmetrically arranged with the central plane of the jaw compartment (12-1) as the plane of symmetry. The center plane is a symmetrically arranged plane with symmetrically arranged jaw limiting holes (12-1-3); one end of the jaw (12-3) is provided with a jaw handle (12-3-1), and the other end is provided with a jaw head (12-3-2); the jaw magazine (12-1) is mounted on the jaw (11) by a key, and the jaw magazine (12-1) is coaxially mounted with the needle position groove (7-1-1). The jaw magazine end cover (12-2) is fixed to the rear end of the jaw magazine (12-1) by screws. The two jaws (12-3) are symmetrical about the center plane of the jaw magazine (12-1). Arrangement: The chuck head (12-3-2) is slidably connected to the limiting groove (12-1-2), and the return spring (12-4) is installed on the chuck handle (12-3-1); the slide of the screw slide mechanism (2) slides along the slide rail (1-2), driving the chuck (11) installed on the slide to move, the chuck (11) drives the guide plate (12-1-1) to move forward, the chuck compartment (12-1) drives the chuck (12-3) to move along the inclined surface of the three cones (7-6-1), and the chuck (12-3) drives the conical slider ( 7-5) Move forward, the conical slider (7-5) drives the needle handle (7-4) to move forward; the gripper (11) drives the guide plate (12-1-1) to move backward, reaching the initial position, and continues to move forward a short distance. The gripper compartment (12-1) drives the gripper (12-3) to move along the inclined surface of the second cone (7-5-2). After reaching the inclined surface of the first cone (7-5-1), the gripper (12-3) drives the conical slider (7-5) to move backward, and the gripper (12-3) disengages along the third cone (7-6-1).

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