Transmission wire clamping type needle pulling driving device

Abstract

The invention discloses a transmission wire clamping type needle withdrawing driving device which comprises a driving assembly and at least one clamping assembly, the driving assembly is used for providing pushing driving force, each clamping assembly corresponds to one transmission wire, and the tail end of each transmission wire is connected with a function execution assembly capable of regulating and controlling the depth of a puncture instrument in organism tissue. The function execution assembly drives the puncture instrument to move unidirectionally or reciprocate, so that the depth of the puncture instrument in the organism tissue is regulated and controlled. The clamping assembly is directly connected with the driving assembly or is in indirect transmission connection with the driving assembly through the transmission assembly. Under the driving of the driving assembly, the clamping assembly can clamp the transmission wire and move along the linear track, so that the front-back movement of the transmission wire is realized, and the function execution assembly is driven to act. The clamping piece can accurately drive the transmission wire, so that the function execution assembly is accurately controlled, the needle withdrawing or puncturing action is achieved, and the operation efficiency is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and in particular to a wire-clamping needle removal drive device. Background Technology

[0002] Puncture therapy techniques are now widely used in clinical practice. For example, radioactive particles can be implanted into a patient's body through puncture, requiring the needle to be withdrawn during the implantation process to treat certain tumors. Taking the implantation of radioactive particles through puncture as an example, because the number of implanted particles is generally large and they are radioactive, and each particle needs to be withdrawn a certain distance after implantation, there is an urgent need for an automated instrument to replace manual puncture and needle withdrawal operations. Summary of the Invention

[0003] The purpose of this invention is to provide solutions to existing technical deficiencies and unmet technical requirements.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A wire clamping needle pull-out drive device includes:

[0006] Drive components: used to provide the jacking force;

[0007] Clamping components: At least one clamping component is provided, and each clamping component corresponds to a transmission wire. The end of the transmission wire is connected to a functional execution component that can adjust the depth of the puncture instrument in the biological tissue.

[0008] The clamping component is directly connected to the drive component or indirectly connected through the transmission component. Driven by the drive component, the clamping component can clamp the transmission wire and move along a linear trajectory, thereby realizing the forward and backward movement of the transmission wire and driving the function execution component to perform the action.

[0009] Preferably, the clamping assembly includes a housing and a first channel and a second channel formed within the housing. A clamping member is disposed in the first channel. The end of the clamping member has a fixing groove for accommodating the end of the transmission wire. One end of the transmission wire is located in the fixing groove. While the transmission assembly drives the clamping member to move, it can clamp the transmission wire in the fixing groove. A flexible sleeve is sleeved on the outside of the transmission wire. One end of the flexible sleeve abuts or is connected to the function execution component, and the other end of the flexible sleeve is connected to or abuts the clamping assembly. When the transmission wire and the flexible sleeve move relative to each other, the power of the clamping assembly is transmitted to the function execution component through the transmission wire.

[0010] Preferably, the device also includes a spring, which is a spring that controls the clamping member to return to its original position through its own elasticity. The spring is held between the first channel and the clamping member.

[0011] Alternatively, the spring-loaded component may be at least one of a U-shaped hook, a suction nozzle, or an electromagnet, and the clamping component may be reset by actively hooking or suctioning the clamping component.

[0012] Preferably, the transmission assembly further includes a pulley and a first pull rope. The first end of the first pull rope is connected to a slider, and the slider is slidably engaged in the second channel. The second end of the first pull rope passes around the pulley and is connected to the clamping member. The slider slides along the second channel under the pushing action of the drive assembly, thereby pulling the clamping member through the first pull rope.

[0013] Preferably, the end of the clamping member is provided with a plurality of elastic claws that form the fixing groove. The elastic claws expand outward in the free state, and when the plurality of elastic claws enter the first channel where the clamping member is located, they retract and clamp the transmission wire. When they extend out of the first channel where the clamping member is located, they return to the free state and release the transmission wire.

[0014] Preferably, the first channel for the multiple elastic claws to enter and exit is a flared structure with a chamfered structure. A first inner sleeve is provided inside the first channel. Multiple rollers are provided on the inner wall of the first inner sleeve or the outer wall of the clamping member. The first inner sleeve can squeeze the elastic claws and make them retract, and the rollers can reduce the friction between the elastic claws and the inner wall of the first inner sleeve.

[0015] Preferably, the clamping member is provided with a clamping block, which clamps the transmission wire by side pressing or rotation clamping.

[0016] When the clamping block is clamped by side pressing, one end of the clamping block passes through the clamping member and extends into the fixing groove. When the clamping member extends into the first channel, the clamping block moves into the fixing groove to clamp the transmission wire. When the clamping member extends out of the first channel, the clamping block returns to the free state and releases the transmission wire.

[0017] Preferably, a second inner sleeve is provided in the first channel. The side wall of the end of the second inner sleeve is inclined. The clamping member is placed inside the second inner sleeve, and the clamping block is elastically disposed between the clamping member and the second inner sleeve. The movement of the clamping member causes the clamping block to move into the fixing groove under the squeezing action of the side wall of the second inner sleeve, so as to clamp the transmission wire. When resetting, the clamping block loses the squeezing action of the side wall of the second inner sleeve, so that the clamping block returns to the free state and releases the transmission wire.

[0018] Preferably, the function execution component drives the puncture instrument to move unidirectionally or reciprocally through the cooperation of a clamping component and a moving mechanism, the cooperation of an abutting component and a moving mechanism, or at least one of a friction wheel or a friction belt, thereby controlling the depth of the puncture instrument in the biological tissue.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] 1. The present invention can clamp the transmission wire and move it along a straight trajectory through the clamping component, thereby realizing the forward and backward movement of the transmission wire, thereby driving the function execution component to act; the function execution component can also adjust the depth of the puncture instrument in the biological tissue, effectively improving the surgical efficiency.

[0021] 2. The clamping component of the present invention has multiple elastic claws at its end. In a free state, the elastic claws expand outwards. When the multiple elastic claws enter the first channel where the clamping component is located, they simultaneously retract and clamp the transmission wire. When they extend out of the first channel, they return to a free state and release the transmission wire. Alternatively, the clamping component has clamping blocks that clamp the transmission wire by side pressing or rotational clamping. Or, the clamping component reciprocates along the first channel inside the housing under the drive of the drive component. This allows the clamping component to reset after releasing the transmission wire, expanding the drive stroke, rather than remaining in place after clamping. This enables the clamping component of the present invention to accurately drive the transmission wire, thereby precisely controlling the functional execution component, realizing needle removal or puncture actions, achieving automated operation, and facilitating quick disassembly. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the internal structure of the transmission wire clamping needle pulling drive device in Example 1.

[0023] Figure 2 This is a schematic diagram of the transmission wire clamping needle pulling drive device of Embodiment 1 without the first outer shell;

[0024] Figure 3 This is a schematic diagram of the structure of the transmission wire connection function execution component of the transmission wire clamping needle pulling drive device in Embodiment 1;

[0025] Figure 4 This is a schematic diagram of the transmission wire clamping needle pulling drive device of Example 2;

[0026] Figure 5 This is a schematic diagram of the structure of the transmission wire connection function execution component of the transmission wire clamping needle pulling drive device in Example 2. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Example 1

[0029] A wire clamping needle pull-out drive device includes:

[0030] Drive components: used to provide the jacking force;

[0031] Clamping components: At least one clamping component is provided, and each clamping component corresponds to a transmission wire. The end of the transmission wire is connected to a functional execution component that can adjust the depth of the puncture instrument in the biological tissue.

[0032] The clamping component is directly connected to the drive component or indirectly connected through the transmission component. Driven by the drive component, the clamping component can clamp the transmission wire and move along a linear trajectory, thereby realizing the forward and backward movement of the transmission wire and driving the function execution component to perform the action.

[0033] The clamping assembly includes a housing and a first channel and a second channel formed within the housing. A clamping member (such as the first clamping member in this embodiment) is disposed in the first channel. The end of the clamping member has a fixing groove for accommodating the end of the transmission wire. One end of the transmission wire is located in the fixing groove. While the transmission assembly drives the clamping member to move, it can clamp the transmission wire in the fixing groove. A flexible sleeve is sleeved on the outside of the transmission wire. One end of the flexible sleeve abuts or is connected to the function execution component, and the other end of the flexible sleeve is connected to or abuts the clamping assembly. When the transmission wire and the flexible sleeve move relative to each other, the power of the clamping assembly is transmitted to the function execution component through the transmission wire.

[0034] It also includes a spring, which is a spring (such as spring 44323207 in this embodiment). The spring controls the clamping component to return to its original position through its own elasticity. The spring is held between the first channel and the clamping component. Of course, the spring can also be at least one of a U-shaped hook, a suction nozzle, or an electromagnet, which realizes the return of the clamping component by actively hooking or attracting the clamping component.

[0035] The transmission assembly further includes a pulley (such as the first pulley 44323208 in this embodiment) and a first pull rope (such as the first pull rope 44323201 in this embodiment). The first end of the first pull rope is connected to a slider (such as the first slider 44323209 in this embodiment), and the slider slides within the second channel. The second end of the first pull rope passes around the pulley and is connected to the clamping member. The slider slides along the second channel under the pushing action of the drive assembly, thereby pulling the clamping member through the first pull rope.

[0036] The end of the clamping member is provided with a plurality of elastic claws (such as elastic claw 44323204 in this embodiment) that form the fixing groove. The elastic claws expand outward in the free state. When the plurality of elastic claws enter the first channel where the clamping member is located, they retract and clamp the transmission wire. When they extend out of the first channel where the clamping member is located, they return to the free state and release the transmission wire.

[0037] The first channel, through which the plurality of elastic claws enter and exit, has a flared structure with a chamfered shape. A first inner sleeve (such as the first inner sleeve 44323202 in this embodiment) is provided inside the first channel. A plurality of rollers (such as rollers 44323203 in this embodiment) are provided on the inner wall of the first inner sleeve or the outer wall of the clamping member. The first inner sleeve can squeeze the elastic claws and make them retract, and the rollers can reduce the friction between the elastic claws and the inner wall of the first inner sleeve.

[0038] See attached document Figures 1-2 As shown, the first channel, through which multiple elastic claws 44323204 enter and exit, has a flared opening with a chamfered structure. One end of the first clamping member has a fixing groove for accommodating the end of the first transmission wire. The end of the first clamping member has multiple elastic claws 44323204 surrounding the fixing groove. The elastic claws 44323204 expand outward in the free state. When the multiple elastic claws 44323204 enter the first channel where the first clamping member is located, they retract and clamp the first drive wire 44323210. When they extend out of the first channel where the first clamping member is located, they return to the free state and release the first transmission wire 44323210. Alternatively, the first clamping member reciprocates along the first channel inside the first housing under the drive of the drive mechanism. In this way, the first clamping member can reset after releasing the first transmission wire, thus expanding the drive stroke, instead of remaining in place after clamping.

[0039] The clamping assembly also includes a first housing 44323206, and a first clamping member is disposed within a first channel inside the first housing 44323206. A spring 44323207 for resetting the first clamping member is also disposed within the first channel. A first inner sleeve 44323202 is disposed within the first channel. Connectors 44323205 are disposed on the inner walls of both sides of the first inner sleeve 44323202. Each connector 44323205 has multiple rollers 44323203. The rollers 44323203 roll in cooperation with the outer wall of the first clamping member, and two opposing rollers 44323203 can compress the elastic claw 44323204 and retract it. The first clamping member is connected to a first slider 44323209 disposed within a second channel via a first pull rope 44323201 and a first pulley 44323208.

[0040] The first transmission wire 44323210 is covered with a first flexible sleeve 44323211. One end of the first flexible sleeve is abutted or connected to the first functional execution component 44323212, and the other end of the first flexible sleeve is connected or abutted to the clamping component. When the first transmission wire and the first flexible sleeve move relative to each other, the power of the clamping component is transmitted to the first functional execution component through the first transmission wire.

[0041] The first functional execution component drives the puncture instrument to move unidirectionally or reciprocally through the cooperation of a clamping component and a moving mechanism, the cooperation of an abutting component and a moving mechanism, and at least one of a friction wheel or a friction belt, thereby controlling the depth of the puncture instrument in biological tissue.

[0042] See attached document Figure 3 As shown, the first functional execution component in this embodiment is a first needle control module. One end of the first transmission wire is connected to the transmission component, and the other end is connected to the first needle control module. The transmission component drives the first transmission wire to move the first needle control module back and forth. The first transmission wire is elastic and will automatically return to a straight state when not subjected to external force. Therefore, it can transmit thrust and pull within a small stroke range. The first needle control module can adjust the depth of the puncture needle in the biological tissue to realize the actions of needle withdrawal and insertion.

[0043] Example 2

[0044] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows:

[0045] The clamping member is provided with a clamping block (such as the cylindrical pin 4632408 in this embodiment), and the clamping block clamps the transmission wire by side pressing or rotation clamping.

[0046] When the clamping block is clamped by side pressing, one end of the clamping block passes through the clamping member and extends into the fixing groove. When the clamping member extends into the first channel, the clamping block moves into the fixing groove to clamp the transmission wire. When the clamping member extends out of the first channel, the clamping block returns to the free state and releases the transmission wire.

[0047] A second inner sleeve (such as the second inner sleeve 4632405 in this embodiment) is provided in the first channel. The end side wall of the second inner sleeve is inclined. The clamping member is placed in the second inner sleeve, and the clamping block is elastically disposed between the clamping member (such as the second clamping member 4632406 in this embodiment) and the second inner sleeve. The movement of the clamping member causes the clamping block to move into the fixing groove under the squeezing action of the side wall of the second inner sleeve, so as to clamp the transmission wire. When resetting, the clamping block loses the squeezing action of the side wall of the second inner sleeve, so that the clamping block returns to the free state and releases the transmission wire.

[0048] The functional execution component controls the depth of the puncture instrument in biological tissue by cooperating with a clamping component and a moving mechanism, cooperating with a contact component and a moving mechanism, or driving the puncture instrument to move unidirectionally or reciprocally through at least one of a friction wheel or a friction belt.

[0049] For details, please refer to the attached document. Figures 4-5 As shown, a second slider 4632401 is provided in the second channel at the bottom of the second outer shell 4632404, a second pulley 4632402 is provided on the left side, and a second inner bushing 4632405 is provided in the first channel at the upper right. The front end of the second inner bushing 4632405 is provided with a bevel. The second clamping member 4632406 is placed in the first channel where the second inner bushing 4632405 is located. The front end of the second clamping member 4632406 is provided with two cylindrical pins 463240. 8. The cylindrical pin 4632408 presses down on the pad 4632407. A second spring 4632403 is provided on the rear side of the second clamping member 4632406. The cylindrical pin 4632408 is positioned at the inclined surface of the second inner bushing 4632405 and is tangent to the inclined surface. The two ends of the second pull rope 4632409 are respectively fixed to the second clamping member 4632406 and the second slider 4632401. The second pull rope 4632409 passes around the second pulley 4632402. The second pulley can also be set as a reversing roller.

[0050] During operation, the drive assembly pushes the second slider 4632401 inward, pulling the second clamping member 4632406, connected by the second pull rope 4632409, inward. The cylindrical pins 4632408 on both sides of the front end of the second clamping member 4632406 are pressed radially inward by the inclined surfaces of the second inner bushing 4632405, thus pulling the second transmission wire 4632410 inward. When operation ends, the thrust on the second slider 4632401 disappears, and the second spring 4632403 pushes the second clamping member 4632406 back to its original position. The pad 4632407 at the front end of the second clamping member 4632406 and the cylindrical pins 4632408 move radially outward under the elastic action of the pad 4632407, thereby releasing the second transmission wire 4632410.

[0051] The second transmission wire 4632410 is covered with a second flexible sleeve 4632411. One end of the second flexible sleeve 4632411 is abutted or connected to the second functional execution component, and the other end of the second flexible sleeve is connected or abutted to the clamping component. When the second transmission wire and the second flexible sleeve move relative to each other, the power of the clamping component is transmitted to the second functional execution component through the second transmission wire.

[0052] The second function execution component controls the depth of the puncture instrument in biological tissue by cooperating with the clamping component and the moving mechanism, cooperating with the abutting component and the moving mechanism, and driving the puncture instrument to move unidirectionally or reciprocally through at least one of the friction wheel or friction belt.

[0053] For details, please refer to the attached document. Figure 5 As shown, the second function execution component in this embodiment is the second needle control module 4632412. The second needle control module is provided in at least one set, and one set of second needle control modules corresponds to one set of clamping components. One end of the second transmission wire 4632410 is connected to the clamping component, and the other end is connected to the second needle control module. The clamping component drives the second transmission wire 4632410 to drive the second needle control module to reciprocate. The second transmission wire 4632410 is elastic and will automatically return to a straight state when not subjected to external force. Therefore, it can transmit pushing and pulling forces within a small stroke range. The second needle control module can adjust the depth of the puncture needle in the biological tissue to realize the actions of needle withdrawal and insertion.

[0054] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the scope of the invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0055] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A wire clamping type needle pulling drive device, characterized in that, include: Drive components: used to provide the jacking force; Clamping components: At least one clamping component is provided, and each clamping component corresponds to a transmission wire. The end of the transmission wire is connected to a functional execution component that can adjust the depth of the puncture instrument in the biological tissue. The clamping component is directly connected to the drive component or indirectly connected through the transmission component. Driven by the drive component, the clamping component can clamp the transmission wire and move along a linear trajectory, thereby realizing the forward and backward movement of the transmission wire and driving the function execution component to perform the action.

2. The transmission wire clamping needle pulling drive device according to claim 1, characterized in that, The clamping assembly includes a housing and a first channel and a second channel formed within the housing. A clamping member is provided in the first channel. The end of the clamping member has a fixing groove for accommodating the end of the transmission wire. One end of the transmission wire is located in the fixing groove. The transmission assembly drives the clamping member to move while the clamping member clamps the transmission wire in the fixing groove.

3. The transmission wire clamping needle pulling drive device according to claim 1, characterized in that, The transmission wire is covered with a flexible sleeve. One end of the flexible sleeve is abutted or connected to the functional execution component, and the other end of the flexible sleeve is connected or abutted to the clamping component. When the transmission wire and the flexible sleeve move relative to each other, the power of the clamping component is transmitted to the functional execution component through the transmission wire.

4. The transmission wire clamping needle pulling drive device according to claim 2, characterized in that, The device also includes a spring, which is a spring that controls the clamping member to return to its original position through its own elasticity. The spring is held between the first channel and the clamping member. Alternatively, the spring-loaded component may be at least one of a U-shaped hook, a suction nozzle, or an electromagnet, and the clamping component may be reset by actively hooking or suctioning the clamping component.

5. The transmission wire clamping needle pulling drive device according to claim 2, characterized in that, The transmission assembly further includes a pulley and a first pull rope. The first end of the first pull rope is connected to a slider, and the slider slides within the second channel. The second end of the first pull rope passes around the pulley and is connected to the clamping member. The slider slides along the second channel under the pushing action of the drive assembly, thereby pulling the clamping member through the first pull rope.

6. The transmission wire clamping needle pulling drive device according to claim 2, characterized in that, The end of the clamping member is provided with multiple elastic claws that form the fixing groove. The elastic claws expand outward in the free state. When the multiple elastic claws enter the first channel where the clamping member is located, they retract and clamp the transmission wire. When they extend out of the first channel where the clamping member is located, they return to the free state and release the transmission wire.

7. The transmission wire clamping type needle pulling drive device according to claim 6, characterized in that, The first channel, through which the multiple elastic claws enter and exit, has a flared structure with a chamfered shape. A first inner sleeve is provided inside the first channel. Multiple rollers are provided on the inner wall of the first inner sleeve or the outer wall of the clamping member. The first inner sleeve can squeeze the elastic claws and make them retract, and the rollers can reduce the friction between the elastic claws and the inner wall of the first inner sleeve.

8. The transmission wire clamping type needle pulling drive device according to claim 2, characterized in that, The clamping member is provided with a clamping block, which clamps the transmission wire by side pressing or rotation clamping. When the clamping block is clamped by side pressing, one end of the clamping block passes through the clamping member and extends into the fixing groove. When the clamping member extends into the first channel, the clamping block moves into the fixing groove to clamp the transmission wire. When the clamping member extends out of the first channel, the clamping block returns to the free state and releases the transmission wire.

9. A wire clamping needle-pulling drive device according to claim 8, characterized in that, A second inner sleeve is provided in the first channel. The side wall of the end of the second inner sleeve is inclined. The clamping member is placed in the second inner sleeve, and the clamping block is elastically disposed between the clamping member and the second inner sleeve. The movement of the clamping member causes the clamping block to move into the fixed groove under the squeezing action of the side wall of the second inner sleeve, so as to clamp the transmission wire. When resetting, the clamping block loses the squeezing action of the side wall of the second inner sleeve, so that the clamping block returns to the free state and releases the transmission wire.

10. The transmission wire clamping type needle pulling drive device according to claim 1, characterized in that, The functional execution component controls the depth of the puncture instrument in biological tissue by cooperating with a clamping component and a moving mechanism, cooperating with a contact component and a moving mechanism, or driving the puncture instrument to move unidirectionally or reciprocally through at least one of a friction wheel or a friction belt.

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