Friction type needle pulling driving mechanism

Abstract

The invention discloses a friction type needle pulling driving mechanism which comprises a driving assembly used for providing rotation driving force and at least one friction transmission assembly, and each friction transmission assembly corresponds to one driving wire. The tail end of the driving wire is connected with a function execution assembly capable of regulating and controlling the depth of the puncture instrument in the organism tissue; the friction transmission assembly and the driving assembly are directly connected or indirectly in transmission connection through a transmission mechanism; the friction transmission assembly comprises at least one transmission wheel set, the driving wire is arranged between at least two oppositely-arranged friction wheels forming one transmission wheel set in a penetrating mode, and the multiple transmission wheel sets are sequentially arranged in the length direction of the driving wire. Forward and backward movement of the driving wire is achieved through the friction force, acting on the driving wire, of the friction transmission assembly, so that the function executing assembly is driven to act, meanwhile, the depth of the puncture instrument in organism tissue can be adjusted, 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 friction-type needle removal drive mechanism. 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. During the implantation process, the needle needs to be withdrawn while implantation is being performed, thus treating certain tumor diseases. 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because the number of implanted particles is generally large and they are radioactive, and each particle needs to be withdrawn a certain distance after implantation, there is an urgent need for an automated instrument to replace manual puncture and needle withdrawal operations.

[0003] Since multiple needles are inserted into the body simultaneously during implantation, the primary challenge for multi-channel puncture and needle removal instruments is the driving mechanism for this multi-channel structure, specifically the switching of driving power. Similarly, for other surgical instruments requiring the driving of multiple consumables, the switching of driving power for multi-channel structures also urgently needs to be addressed. Therefore, this invention proposes a friction-based needle removal driving mechanism. Summary of the Invention

[0004] The purpose of this invention is to provide solutions to existing technical deficiencies and unmet technical requirements.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A friction-type needle removal drive mechanism includes:

[0007] Drive component: Used to provide rotational driving force;

[0008] Friction transmission assembly: At least one friction transmission assembly is provided, and each friction transmission assembly corresponds to a drive wire. The end of the drive wire is connected to a functional execution component that can adjust the depth of the puncture instrument in the biological tissue.

[0009] The friction transmission assembly is directly connected to the drive assembly or indirectly connected through a transmission mechanism. The friction force applied by the friction transmission assembly to the drive wire enables the drive wire to move forward and backward, thereby driving the function execution assembly to perform its actions.

[0010] Preferably, the drive motor of the drive assembly is directly or indirectly connected to at least one friction wheel in the friction transmission assembly. The rotation of the friction wheel drives the drive wire to move forward and backward. The drive wire is covered with a flexible sleeve. One end of the flexible sleeve is abutted or connected to the function execution assembly, and the other end of the flexible sleeve is connected or abutted to the friction transmission assembly. When the drive wire and the flexible sleeve move relative to each other, the power of the friction transmission assembly is transmitted to the function execution assembly through the drive wire.

[0011] Preferably, the friction transmission assembly includes at least one transmission wheel set, the drive wire is passed between at least two oppositely arranged friction wheels constituting a transmission wheel set, and multiple transmission wheel sets are arranged sequentially along the length direction of the drive wire; the transmission wheel set has an active friction wheel connected to the drive assembly.

[0012] Preferably, the friction transmission assembly is a friction wheel or a friction belt. The circumferential surface of the friction wheel or the friction belt can press the drive wire under the action of the pressing mechanism and can drive the drive wire to move through the friction driving force. The pressing mechanism is an active pressing mechanism or a passive pressing mechanism. There is one or two friction wheels or friction belts. When there are two friction wheels or friction belts, the two friction wheels or friction belts press the drive wire together.

[0013] Preferably, when the clamping mechanism is a passive clamping mechanism, the passive clamping mechanism includes a passive clamping guide mechanism and an elastic element. The passive clamping guide mechanism is used to guide the friction wheel or friction belt to move along a fixed trajectory. The elastic element is an elastic block, spring, or sheet. The elastic element drives the friction wheel or friction belt to move closer to each other and jointly clamp the drive wire through its own elastic force. The passive clamping mechanism is also provided with a pressure regulating device, which adjusts the clamping force by adjusting the preload of the elastic element.

[0014] Alternatively, the friction wheel or friction belt itself may be an elastic structure, which clamps the drive wire by its own compression deformation;

[0015] When the clamping mechanism is an active clamping mechanism, the active clamping mechanism includes an active clamping guide mechanism and a driving element. The active clamping guide mechanism is used to guide the friction wheel or friction belt to move along a fixed trajectory, and the driving element is used to actively apply clamping force to the friction wheel or friction belt to clamp the drive wire.

[0016] Preferably, the system also includes a motion platform, which is used to adjust the relative position of the drive component or transmission mechanism and the friction transmission component, so that the drive component or transmission mechanism is aligned with any one of the transmission wheel sets in the friction transmission component, so as to drive one of the friction wheels in any transmission wheel set, thereby achieving selective driving.

[0017] Preferably, the selective drive is achieved through a clutch device, which selects one of the transmission mechanisms to establish a transmission connection by controlling the clutch relationship between the power shaft and the output shaft. The clutch device is one or a combination of a gear shift fork clutch, a friction wheel shift fork clutch, and a pressure-operated clutch.

[0018] When the clutch device is a gear fork clutch, the gear fork clutch is provided with multiple driven gears, each driven gear corresponding to a transmission mechanism. By shifting the drive gear with the fork, the position of the drive gear is adjusted, thereby engaging with different driven gears and selecting to drive different driven gears to rotate. The power is transmitted to the corresponding transmission mechanism through the driven gears, and the drive wire of the transmission mechanism drives it.

[0019] Preferably, when a gear fork clutch is used, the drive assembly includes a drive shaft connected to a drive motor, and the drive gear is sleeved on the drive shaft, which selectively drives different driven gears to rotate.

[0020] The motion platform also includes a linear motion module, on which the shift fork is fixed and engages with the drive gear and can move the drive gear to slide along the transmission shaft axially. The linear motion module is at least one of a belt drive mechanism, a chain drive mechanism, a gear and rack mechanism, and a lead screw and nut mechanism.

[0021] The output shaft of the drive assembly can be directly connected, directly meshed, or directly frictionally contacted with the transmission shaft of the friction transmission assembly through a docking structure to achieve rotational power transmission. The docking structure consists of a first transmission part disposed on the output shaft of the drive assembly and a second transmission part disposed on the transmission shaft. The first transmission part and the second transmission part are connected by at least one of the following transmission methods: friction, a disc with a pin, a disc with serrations, a square hole, a spline hole, and a D-shaped hole.

[0022] It also includes an elastic element disposed in the first transmission part and / or the second transmission part, the elastic element driving the first transmission part and the second transmission part to move towards each other to complete the docking, the elastic element being one or a combination of spring, elastic block, sheet, coil spring, and torsion spring.

[0023] Preferably, the drive assembly and / or the transmission mechanism are provided with a contact sensor and a displacement measuring device. The contact sensor is used to sense the contact between the drive wire and the transmission wheel set, and the displacement measuring device is used to measure the displacement of the drive wire.

[0024] The contact sensing element is a conductive contact sensor, or a force sensor or torque sensor, or a combination of one or more of a limit switch, proximity switch, Hall switch, photoelectric switch, and displacement sensor; the displacement sensor can be used to measure the displacement of the active clamping mechanism, thereby realizing the position measurement of the friction wheel assembly, and determining whether the drive wire is clamped based on this.

[0025] The displacement measuring device is a linear displacement sensor or an angular displacement sensor.

[0026] 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.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0028] 1. This invention utilizes the frictional force exerted by a friction transmission component on the drive wire to achieve the forward and backward movement of the drive wire, thereby driving the action of the functional execution component. Simultaneously, the end of the drive wire is connected to a functional execution component that can adjust the depth of the puncture instrument within the biological tissue, effectively improving surgical efficiency. The friction transmission component is a friction wheel or friction belt. The circumferential surface of the friction wheel or friction belt can press the drive wire under the action of a clamping mechanism and can drive the drive wire to move through frictional driving force. The clamping mechanism can be an active clamping mechanism or a passive clamping mechanism, or the friction wheel or friction belt itself can be an elastic structure that clamps the drive wire through its own compression deformation. The pressure on the drive wire can also be adjusted by a pressure regulating device.

[0029] 2. This invention adjusts the relative position of the drive component or transmission mechanism and the friction transmission component through a motion platform, aligning the drive component or transmission mechanism with any one of the transmission wheel sets in the friction transmission component to drive one of the friction wheels in any transmission wheel set, achieving selective driving. Alternatively, selective driving can be achieved through a clutch, allowing the power of the drive component to be transmitted to the friction transmission component through the corresponding transmission mechanism, thereby driving the function execution component to operate. This enables the power to switch between different friction transmission components, thus achieving selective driving for multiple channels. This is beneficial for the simultaneous arrangement and disinfection isolation of multiple remote function execution components. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the friction-type needle-pulling drive mechanism in Example 1;

[0031] Figure 2 This is one of the structural schematic diagrams of the friction-type needle removal drive mechanism of Embodiment 1 without the protective cover;

[0032] Figure 3 This is the second schematic diagram of the friction-type needle-pulling drive mechanism of Example 1 without the protective cover;

[0033] Figure 4 This is a schematic diagram of the drive wire connection function execution component of the friction-type needle pulling drive mechanism in Example 1.

[0034] Figure 5 This is a schematic diagram of the friction-type needle removal drive mechanism in Example 2;

[0035] Figure 6 This is a schematic diagram of the working state of the friction-type needle-pulling drive mechanism in Example 2;

[0036] Figure 7 This is a schematic diagram of the drive wire connection function execution component of the friction-type needle removal drive mechanism in Example 2;

[0037] Figure 8 This is a schematic diagram of the structure of the drive component in Example 3 when it docks with the friction transmission component through selective drive. Detailed Implementation

[0038] 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.

[0039] Example 1

[0040] A friction-type needle removal drive mechanism includes: a drive assembly for providing rotational driving force;

[0041] Friction transmission assembly: At least one friction transmission assembly is provided, and each friction transmission assembly corresponds to a drive wire (such as the first drive wire 462208 in this embodiment). The end of the drive wire is connected to a functional execution component that can adjust the depth of the puncture instrument in the biological tissue.

[0042] The friction transmission assembly is directly connected to the drive assembly or indirectly connected through a transmission mechanism. The friction force applied by the friction transmission assembly to the drive wire enables the drive wire to move forward and backward, thereby driving the function execution assembly to perform its actions.

[0043] The drive motor of the drive assembly is directly or indirectly connected to at least one friction wheel (such as friction wheel 462207 in this embodiment) in the friction transmission assembly, and the drive wire is driven to move forward and backward by the rotation of the friction wheel.

[0044] The friction transmission assembly includes at least one transmission wheel set, and the drive wire is passed between at least two oppositely arranged friction wheels that constitute a transmission wheel set. Multiple transmission wheel sets are arranged sequentially along the length direction of the drive wire. The transmission wheel set has an active friction wheel connected to the drive assembly.

[0045] The friction transmission component is a friction wheel or a friction belt. The circumferential surface of the friction wheel or the friction belt can press the drive wire under the action of the pressing mechanism and can drive the drive wire to move through the friction driving force. The pressing mechanism is an active pressing mechanism or a passive pressing mechanism. There is one or two friction wheels or friction belts. When there are two friction wheels or friction belts, the two friction wheels or friction belts press the drive wire together.

[0046] When the clamping mechanism is a passive clamping mechanism, it includes a passive clamping guide mechanism and an elastic element. The passive clamping guide mechanism guides the friction wheel or friction belt to move along a fixed trajectory. The elastic element is an elastic block, spring, or sheet. The elastic element uses its own elastic force to drive the friction wheel or friction belt to move closer together and jointly clamp the drive wire. The passive clamping mechanism is also equipped with a pressure regulating device, which adjusts the clamping force by adjusting the preload of the elastic element; or the friction wheel or friction belt itself is an elastic structure, which clamps the drive wire by its own compression deformation.

[0047] When the clamping mechanism is an active clamping mechanism, the active clamping mechanism includes an active clamping guide mechanism and a driving element. The active clamping guide mechanism is used to guide the friction wheel or friction belt to move along a fixed trajectory, and the driving element is used to actively apply clamping force to the friction wheel or friction belt to clamp the drive wire.

[0048] The drive assembly and / or the transmission mechanism are provided with a contact sensor and a displacement measuring device. The contact sensor is used to sense the contact between the drive wire and the transmission wheel assembly, and the displacement measuring device is used to measure the displacement of the drive wire.

[0049] The contact sensing element is a conductive contact sensor, or a force sensor or torque sensor, or a combination of one or more of a limit switch, proximity switch, Hall switch, photoelectric switch, and displacement sensor; the displacement sensor can be used to measure the displacement of the active clamping mechanism, thereby realizing the position measurement of the friction wheel assembly, and determining whether the drive wire is clamped based on this.

[0050] For details, please refer to the attached document. Figures 1-3As shown, the friction transmission assembly includes at least one transmission wheel set. A first drive wire 462208 passes between at least two opposing friction wheels 462207 that constitute a transmission wheel set. The transmission wheel set includes an active friction wheel connected to a drive motor. Multiple transmission wheel sets are arranged sequentially along the length direction of the first drive wire.

[0051] The friction transmission assembly also includes a transmission shaft fixing plate 462201, a bevel gear 462202, a bearing 462203, a transmission shaft 462204, a connecting plate 462205, a clamping plate 462206, a spur gear 462209, and a protective cover 462210.

[0052] Bearings 462203 are installed at both ends of the drive shaft 462204. Two drive wheel sets, comprising four friction wheels 462207, are arranged between the drive shaft fixing plate 462201 and the clamping plate 462206. Bearings 462203 are installed at both ends of the axles of the friction wheels 462207. At least one friction wheel 462207 in each of the two drive wheel sets meshes with a bevel gear 462202 that passes through the drive shaft 462204. The two drive wheel sets are connected by a set of spur gears 462209. A protective cover 462210 serves as an outer shell to protect the internal wheel sets.

[0053] When the mechanism is required to work, the drive shaft 462204 of the mechanism will be subjected to force and transmitted to the bevel gear 462202 on the shaft. The bevel gear on the drive shaft 462204 meshes with the bevel gear 462202 on the friction wheel 462207. The force is transmitted to the friction wheel 462207 through the bevel gear 462202. The bottom friction wheel 462207 rotates and transmits the force to the upper friction wheel 462207 through the spur gear 462209 on the other side. When the first drive wire 462208 is inserted into the mechanism, the friction wheel 462207 drives the first drive wire 462208 to move back and forth.

[0054] The first drive wire is covered with a first flexible sleeve 462211. One end of the first flexible sleeve is abutted or connected to the first functional execution component 462212, and the other end of the first flexible sleeve is connected or abutted to the friction transmission component. When the first drive wire and the first flexible sleeve move relative to each other, the power of the friction transmission component is transmitted to the first functional execution component through the first drive wire.

[0055] 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.

[0056] For details, please refer to the attached document. Figure 4As shown, in this embodiment, the first functional execution component is the first needle control module. One end of the first drive wire 462208 is connected to the friction transmission component, and the other end is connected to the first needle control module. The friction transmission component drives the first drive wire 462208 to move the first needle control module back and forth. The first drive 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.

[0057] Example 2

[0058] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows:

[0059] It also includes a motion platform, which is used to adjust the relative position of the drive component or transmission mechanism and the friction transmission component, so that the drive component or transmission mechanism is aligned with any one of the transmission wheel sets in the friction transmission component, so as to drive one of the friction wheels in any transmission wheel set, thereby achieving selective driving.

[0060] The selective drive is achieved through a clutch device, which selects a transmission mechanism to establish a transmission connection by controlling the clutch relationship between the power shaft and the output shaft. The clutch device is one or a combination of a gear shift fork clutch, a friction wheel shift fork clutch, and a pressure-operated clutch.

[0061] When the clutch device is a gear fork clutch, the gear fork clutch is provided with multiple driven gears, each driven gear corresponding to a transmission mechanism. The position of the driving gear is adjusted by shifting the driving gear (such as the drive gear 4431214 in this embodiment) through the shift fork (such as the shift fork 4431213 in this embodiment), thereby engaging with different driven gears (such as the transmission gear 4431206 in this embodiment), selecting to drive different driven gears to rotate, and transmitting power to the corresponding transmission mechanism through the driven gear, which is then driven by the drive wire of the transmission mechanism.

[0062] When a gear fork clutch is used, the drive assembly includes a drive shaft (such as the first drive shaft 4431215 in this embodiment) connected to a drive motor, and the drive gear is sleeved on the drive shaft. The drive gear selectively drives different passive gears to rotate.

[0063] The motion platform also includes a linear motion module, on which the shift fork is fixed and engages with the drive gear and can move the drive gear to slide along the transmission shaft axially. The linear motion module is at least one of a belt drive mechanism, a chain drive mechanism, a gear and rack mechanism, and a lead screw and nut mechanism.

[0064] As an alternative to this embodiment, the motion platform is a second motion platform, the drive component is mounted on the second motion platform, the second motion platform can drive the drive component to move so that the drive component corresponds to different friction transmission components, the drive component realizes power transmission through friction wheel engagement or gear meshing, and the second motion platform controls the engagement or meshing transmission of the drive component.

[0065] See attached document Figure 5 and 6 The system includes a first drive shaft 4431215 arranged along the target direction and a shift fork 4431213 movable along the target direction. The first drive shaft 4431215 is connected to a drive motor and a drive gear 4431214 is slidably arranged on it. Multiple transmission wheel sets are arranged sequentially along the target direction, and each transmission wheel set has a transmission gear 4431206 coaxial with its active friction wheel. The shift fork 4431213 can drive the drive gear 4431214 to move on the first drive shaft 4431215 to mesh with the transmission gears 4431206 of different transmission wheel sets in the target direction. The transmission assembly also includes a transmission belt (linear motion module), and the shift fork 4431213 is fixed on the transmission belt 4431212.

[0066] In addition, refer to the appendix Figure 5 and 6 The transmission assembly specifically includes a mounting base 4431216. A friction wheel connecting plate 4431209 is provided at a corresponding position on the mounting base 4431216. Friction wheel fixing plates 4431210 are respectively provided on both sides of the friction wheel connecting plate 4431209. The driven friction wheel 4431208 and the driving friction wheel 4431211 are respectively mounted between the two friction wheel fixing plates 4431210 through a second bearing 4431207. A driven gear 4431206 is provided on the axle of the driving friction wheel 4431211. A first motor 4431202 is provided on the first connecting plate 4431203. Synchronous pulleys 4431201 are provided on the output shaft of the first motor 4431202 and on the side opposite to the first motor 4431202, and are connected and driven by a transmission belt 4431212. A shift fork 4431213 is provided on the transmission belt 4431212.

[0067] The second connecting plate 4431205 is equipped with a second motor 4431204. The output shaft end of the second motor 4431204 is connected to the first transmission shaft 4431215. The first transmission shaft 4431215 is equipped with a drive gear 4431214 that meshes with the driven gear 4431206. The drive gear 4431214 is limited to the groove in the middle of the shift fork 4431213. The shift fork 4431213 can drive the drive gear 4431214 to move along the first transmission shaft 4431215 without affecting the normal rotation of the drive gear 4431214.

[0068] Multiple friction wheel mechanisms, each consisting of a driven friction wheel 4431208 and a driving friction wheel 4431211, are horizontally distributed on the mounting base 4431216. When needle removal is required at a certain friction wheel position, two motors rotate, driving gear 4431214 rotates, and shift fork 4431213 pushes drive gear 4431214 along the first transmission shaft 4431215 to the required friction wheel position, causing drive gear 4431214 to mesh with driven gear 4431206. Driven gear 4431206 transmits power to the coaxial driving friction wheel 4431211, driving driven friction wheel 4431208 to rotate. After the second drive wire 4431217 is inserted into the mechanism, driven friction wheel 4431208 and driving friction wheel 4431211 will rotate, thereby driving second drive wire 4431217 to move back and forth, and the puncture needle is pulled out or inserted through the function execution component.

[0069] The driving gear and the driven gear can also be replaced by the second driving friction wheel and the second driven friction wheel. In this case, the gear shift fork clutch is replaced by the friction wheel shift fork clutch.

[0070] The drive wire is covered with a second flexible sleeve 4431218. One end of the second flexible sleeve 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 friction transmission component. When the drive wire and the second flexible sleeve move relative to each other, the power of the friction transmission component is transmitted to the second functional execution component through the drive wire.

[0071] 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.

[0072] For details, please refer to the attached document. Figure 7As shown, the second function execution component in this embodiment is the second needle control module 4431219. The second needle control module is provided with at least one set, and one set of second needle control modules corresponds to one set of friction transmission components. One end of the second drive wire 4431217 is connected to the friction transmission component, and the other end is connected to the second needle control module. The friction transmission component drives the second drive wire 4431217 to drive the second needle control module to move back and forth. The second drive wire 4431217 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 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.

[0073] Example 3

[0074] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows:

[0075] It also includes a motion platform, which is used to adjust the relative position of the drive component or transmission mechanism and the friction transmission component, so that the drive component or transmission mechanism is aligned with any one of the transmission wheel sets in the friction transmission component, so as to drive one of the friction wheels in any transmission wheel set, thereby achieving selective driving.

[0076] The output shaft of the drive assembly can be directly connected, directly meshed, or directly frictionally contacted with the transmission shaft of the friction transmission assembly through a docking structure to achieve rotational power transmission. The docking structure consists of a first transmission part disposed on the output shaft of the drive assembly and a second transmission part disposed on the transmission shaft. The first transmission part and the second transmission part are connected by at least one of the following transmission methods: friction, a disc with a pin, a disc with serrations, a square hole, a spline hole, and a D-shaped hole.

[0077] When the output shaft of the drive assembly can directly mesh with the transmission shaft of the friction transmission assembly through a docking structure, rotational power transmission can be achieved. In this case, the first transmission part on the output shaft of the drive assembly is the driving gear, and the second transmission part on the transmission shaft of the friction transmission assembly is the driven gear.

[0078] Reference Figure 8 The motion platform adopts a selective drive method. The motion platform includes a planar displacement mechanism and a front and rear docking mechanism. The drive component is set on the front and rear docking mechanism. The front and rear docking mechanism drives the drive component to move closer to or away from the transmission shaft. The planar displacement mechanism is one of a single joint rotary motion mechanism, a single joint rotary motion mechanism combined with a radial linear motion mechanism, a double joint rotary motion mechanism, or an XY axis linear motion mechanism. The front and rear docking mechanism is set at the movable end of the planar displacement mechanism.

[0079] When the planar displacement mechanism is a single-joint rotary motion mechanism combined with a radial linear motion mechanism, the planar displacement mechanism further includes a rotating arm. The single-joint rotary motion mechanism drives the rotating arm to rotate in a plane. The radial linear motion mechanism is mounted on the rotating arm and drives a slider mounted on the rotating arm to move radially along the rotating arm. The front and rear docking mechanism is mounted on the side of the slider.

[0080] The single-joint rotary motion mechanism 3 includes an adjustment motor 3111, a radial linear motion mechanism 3112 connected to the adjustment motor 3111, and a front and rear docking mechanism 3113 disposed on the radial linear motion mechanism 3112. The drive motor 312 is disposed on the front and rear docking mechanism 3113. Multiple transmission mechanisms 2 distributed on the mounting component 1 surround the position of the adjustment motor 3111, and the transmission mechanism is a driven gear.

[0081] The motion platform 311 generally drives the drive motor 312 to move circumferentially by adjusting the motor 3111, thereby switching the drive motor 312 to different transmission mechanisms 2. The front and rear docking mechanisms 3113 control the extension or retraction of the drive motor 312 to achieve engagement with the corresponding transmission mechanism 2 and reset. In addition, the motion platform 311 also includes a radial linear motion mechanism 3112, which can adjust the radial position of the front and rear docking mechanisms 3113 and the drive motor 312 as a whole, thereby corresponding to the transmission mechanisms 2 at different radial positions. In this embodiment, the transmission mechanism 2 is a driven gear, and the output shaft of the drive motor 312 is provided with a driving gear. The motion platform 311 drives the driving gear of the drive motor 312 to mesh with different driven gears, causing the driven gears to rotate, which in turn causes the transmission shaft connected to the driven gears to rotate. Through the friction force acting on the drive wire by the friction transmission component, the drive wire moves forward and backward, thereby driving the function execution component to operate.

[0082] 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.

[0083] 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 friction-type needle-pulling drive mechanism, characterized in that, Drive component: Used to provide rotational driving force; Friction transmission assembly: At least one friction transmission assembly is provided, and each friction transmission assembly corresponds to a drive wire. The end of the drive wire is connected to a functional execution component that can adjust the depth of the puncture instrument in the biological tissue. The friction transmission assembly is directly connected to the drive assembly or indirectly connected through a transmission mechanism. The friction force applied by the friction transmission assembly to the drive wire enables the drive wire to move forward and backward, thereby driving the function execution assembly to perform its actions.

2. The friction-type needle-pulling drive mechanism according to claim 1, characterized in that, The drive motor of the drive assembly is directly or indirectly connected to at least one friction wheel in the friction transmission assembly. The rotation of the friction wheel drives the drive wire to move forward and backward. The drive wire is covered with a flexible sleeve. One end of the flexible sleeve abuts or is connected to the functional execution assembly, and the other end of the flexible sleeve is connected to or abuts the friction transmission assembly. When the drive wire and the flexible sleeve move relative to each other, the power of the friction transmission assembly is transmitted to the functional execution assembly through the drive wire. The functional execution assembly 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 the friction wheel or friction belt, thereby controlling the depth of the puncture instrument in the biological tissue.

3. The friction-type needle-pulling drive mechanism according to claim 1, characterized in that, The friction transmission assembly includes at least one transmission wheel set, and the drive wire is passed between at least two oppositely arranged friction wheels that constitute a transmission wheel set. Multiple transmission wheel sets are arranged sequentially along the length direction of the drive wire. The transmission wheel set has an active friction wheel connected to the drive assembly.

4. The friction-type needle-pulling drive mechanism according to claim 1, characterized in that, The friction transmission component is a friction wheel or a friction belt. The circumferential surface of the friction wheel or the friction belt can press the drive wire under the action of the pressing mechanism and can drive the drive wire to move through the friction driving force. The pressing mechanism is an active pressing mechanism or a passive pressing mechanism. There is one or two friction wheels or friction belts. When there are two friction wheels or friction belts, the two friction wheels or friction belts press the drive wire together.

5. The friction-type needle-pulling drive mechanism according to claim 4, characterized in that, When the clamping mechanism is a passive clamping mechanism, the passive clamping mechanism includes a passive clamping guide mechanism and an elastic element. The passive clamping guide mechanism is used to guide the friction wheel or friction belt to move along a fixed trajectory. The elastic element is an elastic block, spring, or sheet. The elastic element drives the friction wheel or friction belt to move closer to each other and jointly clamp the drive wire through its own elastic force. The passive clamping mechanism is also provided with a pressure regulating device. The pressure regulating device adjusts the clamping force by adjusting the preload of the elastic element. Alternatively, the friction wheel or friction belt itself may be an elastic structure, which clamps the drive wire by its own compression deformation; When the clamping mechanism is an active clamping mechanism, the active clamping mechanism includes an active clamping guide mechanism and a driving element. The active clamping guide mechanism is used to guide the friction wheel or friction belt to move along a fixed trajectory, and the driving element is used to actively apply clamping force to the friction wheel or friction belt to clamp the drive wire.

6. The friction-type needle-pulling drive mechanism according to claim 1, characterized in that, It also includes a motion platform, which is used to adjust the relative position of the drive component or transmission mechanism and the friction transmission component, so that the drive component or transmission mechanism is aligned with any one of the transmission wheel sets in the friction transmission component, so as to drive one of the friction wheels in any transmission wheel set, thereby achieving selective driving.

7. The friction-type needle-pulling drive mechanism according to claim 6, characterized in that, The selective drive is achieved through a clutch device, which selects a transmission mechanism to establish a transmission connection by controlling the clutch relationship between the power shaft and the output shaft. The clutch device is one or a combination of a gear shift fork clutch, a friction wheel shift fork clutch, and a pressure-engagement clutch. When the clutch device is a gear fork clutch, the gear fork clutch is provided with multiple driven gears, each driven gear corresponding to a transmission mechanism. By shifting the drive gear with the fork, the position of the drive gear is adjusted, thereby engaging with different driven gears and selecting to drive different driven gears to rotate. The power is transmitted to the corresponding transmission mechanism through the driven gears, and the drive wire of the transmission mechanism drives it.

8. The friction-type needle-pulling drive mechanism according to claim 7, characterized in that, When a gear fork clutch is used, the drive assembly includes a drive shaft connected to a drive motor, and the drive gear is sleeved on the drive shaft, which selectively drives different driven gears to rotate. The motion platform also includes a linear motion module, on which the shift fork is fixed and engages with the drive gear and can move the drive gear to slide along the transmission shaft axially. The linear motion module is at least one of a belt drive mechanism, a chain drive mechanism, a gear and rack mechanism, and a lead screw and nut mechanism.

9. A friction-type needle-pulling drive mechanism according to claim 6, characterized in that, The output shaft of the drive assembly can be directly connected, directly meshed, or directly frictionally contacted with the transmission shaft of the friction transmission assembly through a docking structure to achieve rotational power transmission. The docking structure consists of a first transmission part disposed on the output shaft of the drive assembly and a second transmission part disposed on the transmission shaft. The first transmission part and the second transmission part are connected by at least one of the following transmission methods: friction, a disc with a pin, a disc with serrations, a square hole, a spline hole, and a D-shaped hole.

10. A friction-type needle-pulling drive mechanism according to claim 1, characterized in that, The drive assembly and / or the transmission mechanism are provided with a contact sensor and a displacement measuring device. The contact sensor is used to sense the contact between the drive wire and the transmission wheel assembly, and the displacement measuring device is used to measure the displacement of the drive wire. The contact sensing element is a conductive contact sensor, or a force sensor or torque sensor, or a combination of one or more of the following: a limit switch, a proximity switch, a Hall switch, a photoelectric switch, and a displacement sensor. The displacement measuring device is a linear displacement sensor or an angular displacement sensor.

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