Floating push pin mechanism and matching assembly thereof

Abstract

The floating needle pushing mechanism comprises at least one linear motion component, and the linear motion component is used for driving a puncture needle to puncture in the preset position and direction; the linear motion part comprises a needle pushing device, the needle pushing device is used for driving the puncture needle to puncture to a preset position, and a contact sensor is arranged on the needle pushing device and used for detecting whether the contact sensor makes contact with the puncture needle or not. The needle pushing device is matched with the puncture needle, so that the puncture needle can be bidirectionally pushed to perform puncture operation, the needle pushing device is not in positioning connection with the puncture needle, the puncture needle is directly pushed, when the puncture needle does not need to be pushed, the needle pushing device is not in contact with the puncture needle, floating pushing is formed, and the puncture needle is kept in a suspended state; and the contact sensor can detect whether the needle pushing device is in contact with the puncture needle or not.

Description

Technical Field

[0001] This invention relates to the field of puncture technology, and in particular to a floating push needle mechanism and its supporting components. Background Technology

[0002] Percutaneous biopsy is a common surgical procedure in clinical practice. The procedure involves a doctor, guided by medical imaging, manually inserting a needle through the skin to the lesion area inside the body for biopsy or treatment. However, manual biopsy suffers from low precision and efficiency, leading to the current trend towards robot-assisted percutaneous biopsy. However, compared to manual surgery, existing biopsy robots lack real-time force sensing and cannot detect the subtle tactile sensation of the needle. Furthermore, while the needle is rigidly fixed during the puncture, the human body experiences movement and drift due to heartbeat, respiration, and tremors. If this drift occurs in the puncture direction, the needle may overshoot, potentially puncturing vital tissue. Summary of the Invention

[0003] The purpose of this invention is to provide a floating push needle mechanism and its supporting components, which enables the puncture needle to quickly detach from the push needle device and to obtain the status of the puncture needle in a timely manner, so as to solve the existing technical defects and unmet technical requirements.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a floating push needle mechanism and its supporting components, including at least one linear motion component, which drives the puncture needle to puncture along a preset position and direction;

[0005] The linear motion component includes a needle pusher, which drives the puncture needle to puncture to a preset position. The needle pusher is equipped with a contact sensor, which is used to detect whether it is in contact with the puncture needle.

[0006] The needle-pushing device uses a pushing groove or clamping mechanism to achieve floating propulsion. When the needle-pushing device is not pushing the puncture needle, it does not contact the puncture needle and keeps the puncture needle in a suspended state, so that the puncture needle can move with the biological tissue when it enters the biological tissue. When it is necessary to push the puncture needle, the needle-pushing device comes into contact with or clamps the puncture needle and provides a corresponding pushing force to push the puncture needle.

[0007] Preferably, when the needle pushing device uses a clamping mechanism, the clamping mechanism clamps and pushes the tail of the puncture needle. The clamping mechanism has a guide part. When the clamping mechanism releases the tail of the puncture needle, there is a certain gap between the clamping mechanism and the tail of the puncture needle. However, the guide part restricts the axial direction of the puncture needle to float within a small range so that it can be directly clamped when the clamping mechanism clamps the tail of the puncture needle, and gradually and automatically aligns it during the clamping process, guiding it to slide to the clamping position. The clamping mechanism adopts a claw, rotation clamping or side clamping method, and the guide part is a guide fin or a guide slope.

[0008] Preferably, when the pusher device uses a pusher groove, the tail of the puncture needle is placed in the pusher groove, and there is a certain gap between the pusher groove and the front and back top surfaces of the tail of the puncture needle. The pusher device is provided with at least one pair of upper and lower pushing surfaces, and the contact sensor is set on the upper and lower pushing surfaces. When the upper and lower pushing surfaces push the puncture needle, they contact the corresponding front and back top surfaces of the tail of the puncture needle.

[0009] Preferably, when the clamping mechanism uses grippers;

[0010] After clamping the puncture needle, the gripper releases the puncture needle through active or passive reset; passive reset can be achieved by the gripper being an elastic claw or by resetting under the action of an elastic element.

[0011] Preferably, when the needle pushing device adopts a pushing groove, the needle pushing device includes an upper pushing block, an upper pushing block and a lower pushing block are provided on the upper pushing block, and a boss is provided at the tail of the puncture needle. The upper pushing block and the lower pushing block can cooperate with the boss to realize bidirectional pushing of the puncture needle. The upper pushing block and the lower pushing block are both provided with contact sensors for contacting the puncture needle. The boss is arranged around the axis of the puncture needle.

[0012] Preferably, the push block can be divided into left and right parts, which can rotate around the hinge or slide towards each other to achieve opening and closing motion, so as to quickly open in dangerous situations and avoid restricting the puncture needle in the axial direction. The opening and closing motion is achieved by a transmission mechanism, which includes one or more combinations of helical groove transmission, cam transmission, gear transmission, gear and rack transmission, lead screw and nut transmission, worm gear transmission, and rope drive.

[0013] Preferably, the contact sensor is a conductive contact, and the front and back top surfaces of the puncture needle are conductors. The conductive contact can contact the front and back top surfaces of the puncture needle to form a conductive path, thereby generating a contact signal and sending it to the control system.

[0014] Alternatively, a contact sensor may be one or more combinations of force sensors, mechanical switches, photoelectric switches, proximity switches, and current sensors that directly detect motor current.

[0015] Preferably, when the contact sensor is a conductive contact, the contact sensor has a certain elasticity, and the contact sensor adopts a spring, a spring sheet, or a spring.

[0016] Preferably, the linear motion component further includes a drive device for driving the pusher device to reciprocate linearly along a preset direction.

[0017] Preferably, it also includes an isolation kit and a mounting base. The isolation kit is used to cover the main body of the needle pusher mechanism to prevent contamination during puncture. The isolation kit includes a first isolation membrane, which is clamped by the isolation block of the needle pusher and disposed between the upper pusher block and the mounting base. It is used to isolate contaminants outside the mounting base and to cover the linear motion component of the needle pusher mechanism behind the isolation block and the mounting base.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] This invention enables bidirectional pushing of the puncture needle for puncture operations by cooperating with the puncture needle using a needle-pushing device. It does not have a positioning connection with the puncture needle and directly pushes the puncture needle. When the puncture needle does not need to be pushed, the needle-pushing device does not contact the puncture needle, forming a floating push and keeping the puncture needle in a suspended state. Furthermore, the inclusion of a contact sensor can detect whether the needle-pushing device is in contact with the puncture needle. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is an exploded view of the present invention;

[0022] Figure 3 For the present invention Figure 2 Enlarged diagram of A in the middle;

[0023] Figure 4 This is a schematic diagram of the internal structure of the present invention;

[0024] Figure 5 This is a schematic diagram of the specific structure of the slider of the present invention;

[0025] Figure 6 This is a schematic diagram of the specific structure of the pusher device of the present invention;

[0026] Figure 7 This is a schematic diagram of the second embodiment of the pusher device of the present invention;

[0027] Figure 8 This is a schematic diagram of the third embodiment of the pusher device of the present invention;

[0028] Figure 9 This is a schematic diagram of the fourth embodiment of the pusher device of the present invention;

[0029] Figure 10 This is a schematic diagram of the overall structure of Example 2;

[0030] Figure 11 This is a schematic diagram of the push-up block structure in Example 2;

[0031] Figure 12 This is a diagram showing the state of the push block pushing the puncture needle forward in Example 2;

[0032] Figure 13 This is a diagram showing the state of the puncture needle being pulled backward by the push block in Example 2;

[0033] Figure 14 This is a diagram showing the state where the push block does not contact the puncture needle in Example 2;

[0034] Figure 15 This is a top view of the quick clamping and positioning device of Embodiment 2;

[0035] Figure 16 This is a perspective view of the quick clamping and positioning device of Example 2;

[0036] Figure 17 This is a diagram showing the state where the cam in Example 2 has not pushed out of the right clamping part;

[0037] Figure 18 This is a schematic diagram of the overall structure of the gripper set on the main body in Example 3;

[0038] Figure 19 This is a schematic diagram of the overall structure of the gripper in Example 3;

[0039] Figure 20 This is a schematic diagram of the overall side structure of the gripper in Example 3;

[0040] Figure 21 This is an exploded view of the gripper structure in Example 3.

[0041] In the diagram: 11. Needle pusher; 12. Puncture needle; 12-1. Boss; 12-2. Upper top surface; 12-3. Lower top surface; 12-4. Top block; 13. Quick clamping and positioning device; 16. Drive device; 17. Second synchronous pulley; 18. First synchronous pulley; 19. Synchronous belt; 20. First motor; 21. First limit switch; 22. Guide shaft; 23. Lead screw; 24. Second limit switch; 25. Slider; 26. Guide sleeve; 27. Lead screw nut; 28. Contact sensor; 29. ​​Upper push block; 29-1. Upper push block; 29-2. Lower push block; 29-3. Middle push block; 29-4. Push groove; 30. Isolation block; 31. Mounting base; 32. First isolation membrane; 34. Claw; 43. Second fixing plate; 44. 1. First fixed plate; 311. Base; 312. Linear motion component; 5. Detection module; 12-5. Contact step; 341. Left clamping part; 342. Right clamping seat; 343. Right pressing part; 344. Pressing drive assembly; 3441. Drive part; 3442. Cam; 340. Slide groove; 431. Guide groove; 9023. Connecting seat; 9024. First gripper; 9025. Second gripper; 9026. Receiving groove; 9027. Motor; 9028. Dust cover; 9029. Drive gear; 9030. First rotating shaft; 9031. Second rotating shaft; 9032. Driven gear; 9033. First gripper connecting seat; 9034. Second gripper connecting seat; 9035. First synchronous pulley; 9036. Second synchronous pulley. Detailed Implementation

[0042] 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.

[0043] Example 1

[0044] Please see Figure 1-9 The present invention also provides a technical solution: a floating push needle mechanism and its supporting components, including at least one linear motion component, which is used to drive the puncture needle 12 to puncture along a preset position and direction;

[0045] The linear motion component includes a needle pusher 11, which drives the puncture needle 12 to puncture to a preset position. The needle pusher 11 is equipped with a contact sensor 28, which is used to detect whether it is in contact with the puncture needle 12.

[0046] When the puncture needle 12 is not being pushed, the needle pushing device 11 does not contact the puncture needle 12, keeping the puncture needle 12 suspended. When it is necessary to push the puncture needle 12, the needle pushing device 11 will move up / down to contact the puncture needle 12 and provide a corresponding pushing force to push the puncture needle 12. The needle pushing device 11 directly pushes the puncture needle 12 without being positioned connected to the puncture needle 12, thereby achieving floating pushing of the puncture needle 12. Furthermore, the contact sensor 28 can display the contact status between the needle pushing device 11 and the puncture needle 12 in real time.

[0047] like Figure 1-9 As shown, the needle pushing device 11 is provided with at least one pair of upper and lower pushing surfaces, and the contact sensor 28 is disposed on the upper and lower pushing surfaces. When the puncture needle 12 is pushed, the upper and lower pushing surfaces contact the corresponding front and back top surfaces of the tail of the puncture needle 12.

[0048] like Figure 1 , 6 As shown, the needle pushing device 11 includes an upper pushing block 29, an isolation block 30, and a mounting base 31. The upper pushing block 29 is connected to the isolation block 30, the isolation block 30 is connected to the mounting base 31, and the mounting base 31 is connected to the slider 25. The contact sensor is a contact sensor 28. One or more contact sensors 28 are provided on both the upper pushing block 29 and the mounting base 31. The contact sensor 28 is used to trigger the signal for pushing up and down and transmit the signal to the control system. The contact sensor 28 cooperates with the front and back top surfaces of the puncture needle 12 to achieve bidirectional pushing. The setting of the contact sensor 28 allows the contact status between the needle pushing device 11 and the puncture needle 12 to be monitored in real time.

[0049] The pusher device 11 adopts one embodiment of the pusher groove, such as... Figure 3 , 6 As shown, the upper push block 29 is provided with an upper push block 29-1 and a lower push block 29-2, and the puncture needle 12 is provided with a boss 12-1. Both the upper push block 29-1 and the lower push block 29-2 can cooperate with the boss 12-1 to achieve bidirectional pushing of the puncture needle 12. Both the upper push block 29-1 and the lower push block 29-2 are provided with contact sensors 28 for contacting the puncture needle 12.

[0050] The pusher device 11 employs two other implementations of the pusher groove, such as... Figure 7 , 8 As shown, the upper push block 29 is provided with a middle push block 29-3, and the puncture needle 12 is provided with an upper top surface 12-3 and a lower top surface 12-4. Both the upper top surface 12-3 and the lower top surface 12-4 can cooperate with the middle push block 29-3 to achieve bidirectional pushing of the puncture needle 12. The middle push block 29-3 is provided with a contact sensor 28 for contacting the puncture needle 12.

[0051] The pusher device 11 adopts another implementation method using the pusher groove, such as... Figure 9As shown, the push block 29 is provided with a push groove 29-4, and the puncture needle 12 is provided with a top block 12-4. The top block 12-4 extends into the push groove 29-4 to cooperate in pushing the puncture needle 12 in both directions. The push groove 29-4 is provided with a contact sensor 28 for contacting the puncture needle 12.

[0052] Of course, the push block 29 can be divided into left and right parts. The left and right parts can rotate around the hinge or slide towards each other to realize the opening and closing movement, so as to quickly open in dangerous situations and avoid restricting the puncture needle 12 in the axial direction. The opening and closing movement is realized by a transmission mechanism, which includes one or more combinations of spiral groove transmission, cam transmission, gear transmission, gear and rack transmission, lead screw and nut transmission, worm gear transmission, and rope drive.

[0053] When the needle pushing device 11 uses a clamping mechanism, the clamping mechanism clamps and pushes the tail of the puncture needle 12. The clamping mechanism has a guide part. When the clamping mechanism releases the tail of the puncture needle 12, there is a certain gap between the clamping mechanism and the tail of the puncture needle 12. However, the guide part restricts the axial direction of the puncture needle to float within a small range so that it can be directly clamped when the clamping mechanism clamps the tail of the puncture needle 12, and gradually and automatically aligns it during the clamping process, guiding it to slide to the clamping position. The clamping mechanism adopts a gripper, rotation clamping or side clamping method. The guide part is a guide fin or a guide slope.

[0054] When the clamping mechanism uses a gripper, the gripper releases the puncture needle 12 after clamping it by active or passive reset. The passive reset can be achieved by the gripper being an elastic gripper or by resetting under the action of an elastic element.

[0055] like Figure 1 , 3 As shown in Figure 6, the contact sensor 28 is a conductive contact, and the front and back top surfaces of the puncture needle 12 are conductors. The conductive contact can make contact with the front and back top surfaces of the puncture needle 12 to form a conductive path, thereby generating a contact signal and sending it to the control system. This allows the control system to display and record the contact between the needle pusher 11 and the puncture needle 12 in real time, assisting medical personnel in judging the movement status of the puncture needle 12. Alternatively, the contact sensor 28 can be one or more combinations of a force sensor, mechanical switch, photoelectric switch, proximity switch, or current sensor that directly detects motor current.

[0056] like Figure 1 , 3 As shown in Figure 6, the contact sensor 28 has a certain elasticity. The contact sensor 28 adopts a spring pin, a spring sheet, and a spring to ensure the stability of the contact of the contact sensor 28.

[0057] like Figure 1 , 3As shown in Figure 6, the contact sensor 28 has two conductive contacts. Conductors are provided on the corresponding front and back top surfaces at the tail of the puncture needle 12. When the contact sensor 28 is not in contact with the conductor, the two conductive contacts are in an open circuit state. When the contact sensor 28 is in contact with the conductor, the two conductive contacts are in a conductive state, which will trigger a contact signal.

[0058] The contact sensor 28 can also be a conductive contact, and the other conductive contact is set at the jaw 34 of the quick clamping and positioning device 13. When the jaw 34 grips the needle bar of the puncture needle 12 and the contact sensor 28 contacts the needle tail of the puncture needle 12, since the puncture needle itself is a conductor, a conductive circuit is formed between the two contacts, generating a contact signal.

[0059] The contact sensor 28 can also be one or more combinations of piezoelectric sensors, mechanical switches, and photoelectric switches.

[0060] like Figure 2 , 4 As shown, the linear motion component also includes a drive device 16, which is used to drive the pusher device 11 to reciprocate linearly along a preset direction.

[0061] The driving device 16 includes a first motor 20, a slider 25, and a lead screw 23. The first motor 20 and the lead screw 23 are both mounted on a first fixed plate 44. A first synchronous pulley 18 and a second synchronous pulley 17 are also connected to the first fixed plate 44. The first synchronous pulley 18 and the second synchronous pulley 17 are connected by a synchronous belt 19. The output end of the first motor 20 is connected to the first synchronous pulley 18. One end of the lead screw 23 is connected to the second synchronous pulley 17, and the other end of the lead screw 23 is connected to the second fixed plate 43. The slider 25 is connected to the lead screw 23. The first motor 20 drives the lead screw 23 to rotate, thereby driving the slider 25 to slide.

[0062] like Figure 2 , 4 As shown in Figure 5, one or more guide shafts 22 are provided on both sides of the lead screw 23. The slider 25 is slidably connected to the guide shaft 22. The upper end of the guide shaft 22 is connected to the first limit switch 21, and the lower end of the guide shaft 22 is connected to the second limit switch 24.

[0063] The slider 25 is equipped with a lead screw nut 27 and a guide sleeve 26. The slider 25 is connected to the lead screw 23 through the lead screw nut 27 and to the guide shaft 22 through the guide sleeve 26. The guide shaft 22 limits the slider 25 and ensures the stability of the slider 25 when sliding.

[0064] like Figure 6 As shown, it also includes an isolation kit, which is used to wrap the main body of the push needle mechanism to prevent contamination during puncture;

[0065] The isolation kit includes a first isolation membrane 32, which is clamped by the isolation block 30 of the needle pusher 11 to isolate contaminants between the upper pusher block 29 and the mounting base 31, and to cover the main body of the needle pusher mechanism behind the isolation block 30. Except for the puncture needle 12 and the upper pusher block 29 that contacts the puncture needle 12, the part belongs to the main body of the needle pusher mechanism. By wrapping and isolating these parts by the isolation kit, contamination by dirt can be avoided during puncture.

[0066] like Figure 1 As shown, the linear motion component is also equipped with a position measuring element, which is used to measure the displacement of the needle pusher 11 in real time; this ensures the accuracy of puncture.

[0067] Working principle: The first motor 20 drives the first synchronous pulley 18 to rotate. The first synchronous pulley 18 drives the second synchronous pulley 17 to rotate through the synchronous belt 19. The second synchronous pulley 17 drives the lead screw 23 to rotate, thereby driving the slider 25 on the lead screw 23 to move. The slider 25 drives the needle pusher 11 to move. The needle pusher 11 pushes the puncture needle 12 up and down to perform the puncture operation.

[0068] The needle pusher 11 is not positioned connected to the puncture needle 12. When the puncture needle does not need to be pushed, the needle pusher 11 does not contact the puncture needle, keeping the puncture needle 12 in a suspended state. Through the cooperation of the needle pusher 11 and the puncture needle 12, bidirectional floating push can be achieved. When the needle pusher 11 pushes the puncture needle 12, the contact sensor contacts the puncture needle 12, forming a conductive / signal path, and transmits the signal to the control system, so that the control system records and displays the contact status between the needle pusher 11 and the puncture needle 12, thereby assisting medical personnel in judging the movement of the puncture needle 12. After the puncture is completed, the linear motion component will drive the needle pusher 11 to make a slight displacement, so that the contact sensors 28 arranged in the vertical direction are disengaged from the puncture needle 12, keeping the puncture needle 12 in a suspended state.

[0069] The isolation kit can wrap and isolate the main body of the linear needle insertion mechanism to prevent contamination during puncture and improve the safety of puncture.

[0070] Example 2

[0071] like Figure 10 As shown, a floating needle pushing mechanism and its supporting components include a needle pushing device 11 and a quick clamping and positioning device 13. The quick clamping and positioning device 13 is installed on the base 311 and clamps or releases the puncture needle 12. The floating pushing method adopts a clamping floating method. The needle pushing device 11 and the quick clamping and positioning device 13 cooperate to float and clamp the puncture needle 12.

[0072] As a preferred option, such as Figure 10As shown, it also includes: a detection module 5, which is installed on the base 311 and identifies the posture and angle of the linear power module 31 during movement.

[0073] In this embodiment, the quick clamping and positioning device 13 works in conjunction with the needle pushing device 11. The clamping unit first clamps the puncture needle 12 so that the puncture needle 12 is in a semi-clamped state, and the handle of the puncture needle 12 floats and is suspended in the air, so that it can rotate in posture with the quick clamping and positioning device 13 as the fulcrum. The detection module 5 identifies and corrects the posture and angle of the linear motion component 312 so that the movement direction of the linear motion component 312 is parallel to the puncture needle 12. The linear motion component 312 drives the needle pushing device 11 to translate so as to drive the puncture needle 12 to perform needle advance and retraction. During the adjustment process, since the puncture needle 12 can be tilted around the quick clamping and positioning device 13, that is, in a floating state around the point, the puncture needle 12 has a certain degree of flexibility and avoids scratching the patient.

[0074] The detection module 5 uses a vision sensor, which is one or more of a camera, an infrared camera, a depth camera, and a laser sensor. The camera is at least one of a monocular camera, a binocular camera, and a multi-camera.

[0075] like Figure 11 As shown, the needle pushing device 11 includes: an upper pushing block 29, which limits the floating of the puncture needle 12, and the puncture needle 12 has a certain floating amount within the upper pushing block 29; and a contact sensor 28, which is installed on the upper pushing block 29 to detect whether it is in contact with the puncture needle 12.

[0076] The contact sensor 28 is electrically connected to an external signal structure device.

[0077] In this embodiment, the needle pushing device 11 will only apply a pushing or pulling force to the puncture needle 12 when the puncture needle 12 comes into contact with the needle pushing device 11, so as to drive the puncture needle 12 to advance or retract.

[0078] The handle of the puncture needle 12 is radially protruding with a contact step 12-5 (equivalent to a boss), and the push block 29 is provided with two mirror images of each other, and the inner sides of the two opposite blocks are recessed with floating spaces 29-5 for the contact step 12-5 to float back and forth.

[0079] The two push blocks 29 are spaced apart, and the puncture needle 12 is placed between the two push blocks 29.

[0080] The contact sensor 28 can be configured as a spring needle, a mechanical switch or a photoelectric switch, and is distributed on the front and rear side walls of the floating space 29-5. When the contact sensor 28 contacts the puncture needle 12, the electrical circuit is turned on.

[0081] like Figure 12-14 The diagram shows the position of the puncture needle 12 in the floating space 29-5 during the insertion and withdrawal process, as well as the changes in its interaction with the contact sensor 28.

[0082] In this embodiment, a pusher device 11 is set up, and the puncture needle 12 is floating and limited in the floating space 29-5 between the two upper pusher blocks 29 on the left and right. Contact sensors 28 with spring needle structure are installed on the front and rear sides of the floating space 29-5. When the puncture needle 12 moves back and forth to contact the spring needle, a conductive circuit is formed. The conductivity of the spring needle is used to determine whether the upper pusher block 29 is in contact with the puncture needle 12. Thus, in conjunction with the action of the linear motion component 312, the puncture needle 12 is always in a floating state that does not contact the pusher device 11.

[0083] The base 311; a linear motion component 312, which is mounted on the base 311; and a slider 25, which is driven by the linear motion component 312 to perform linear motion, and the pusher device 11 is mounted on the slider 25.

[0084] The quick clamping and positioning device 13 and the detection module 5 are installed separately at both ends of the base 311.

[0085] The quick clamping and positioning device 13 clamps or releases the puncture needle 12 by side clamping.

[0086] like Figure 15 and Figure 17 As shown, the quick clamping and positioning device 13 includes: a left clamping part 341 and a right clamping seat 342, which are fixedly installed on the base 311 with the left and right clamping parts 341 and right clamping seats 342 being distributed and fixedly installed on the base 311 with the left and right clamping parts 341 being opposite to each other; a right pressing part 343, which is disposed in the right clamping seat 342 and is movably disposed relative to the left clamping part 341 to clamp and cooperate with the left clamping part 341; and a pressing drive assembly 344, which drives the right pressing part 343 to slide.

[0087] like Figure 16 As shown, a groove 340 is provided on the right clamping seat 342 opposite to the left clamping part 341, and the right tightening part 343 is horizontally slidably installed in the groove 340.

[0088] like Figure 17 As shown, the clamping drive assembly 344 includes: a drive part 3441, which is installed in the right clamping seat 342; and a cam 3442, which is connected to the rotation output end of the drive part 3441. When the cam 3442 rotates, it pushes the right clamping part 343 toward the left clamping part 341.

[0089] In this embodiment, the quick clamping and positioning device 13 is fixedly set with a left clamping part 341 and a right clamping seat 342. A right tightening part 343 is slidably set on the right clamping seat 342. The right tightening part 343 is driven to move to the left clamping part 341 by the tightening drive assembly 344 with a cam structure, so as to release or clamp the puncture needle 12.

[0090] The left clamping part 341 includes a left clamping seat 3411 and a left tightening part 3412 disposed on the left clamping seat 3411, wherein the left tightening part 3412 and the right tightening part 343 cooperate with each other.

[0091] Both the left tightening part 3412 and the right tightening part 343 are configured as elastic structures, and guide grooves 431 for the puncture needle 12 to pass through are provided on their opposite inner sides.

[0092] Example 3

[0093] like Figures 18 to 21 In this embodiment, the needle-pushing device 11 adopts a clamping mechanism. When the clamping mechanism adopts a jaw, it includes a first jaw 9024 and a second jaw 9025 that cooperates with the first jaw 9024. Two second jaws 9025 are arranged side by side. A receiving groove 9026 is provided between the two second jaws 9025, which allows the first jaw 9024 to pass through. When the guide module floats and adjusts the angle of the puncture needle 12, the upper part of the puncture needle 12 passes through the first jaw 9024 and the second jaw 9025 and is guided and limited by the guide channel formed between the first jaw 9024 and the second jaw 9025. During the puncture process, the puncture needle 12 can be pressed between the first jaw 9024 and the second jaw 9025.

[0094] The drive assembly employs a first servo motor, which includes a motor 9027 and a first transmission component mounted between the motor 9027 and a connecting base 9023. The first transmission component is a gear drive, belt drive, or chain drive. The first servo motor is housed within a dust cover 9028 to prevent debris and dust from entering the motor 9027 and the first transmission component.

[0095] The first transmission component includes a drive gear 9029 mounted on the main shaft of the motor 9027, a first rotating shaft 9030 and a second rotating shaft 9031 mounted on a connecting seat via a bearing 9039. The middle part of the first rotating shaft 9030 is equipped with a driven gear 9032 that meshes with the drive gear 9029 and a first gripper connecting seat 9033. The second rotating shaft 9031 is connected to a second gripper connecting seat 9034. The first rotating shaft 9030 and the second rotating shaft 9031 respectively extend out from the side wall of the connecting seat. The end of the first rotating shaft 9030 is connected to a first synchronous pulley 9035, and the end of the second rotating shaft 9031 is connected to a second synchronous pulley 9036. The first synchronous pulley 9035 and the second synchronous pulley 9036 mesh with each other. In this embodiment, the width of the first gripper 9024 is greater than the width of the second gripper 9025. The motor 9027 drives the drive gear 9029 to rotate, which in turn drives the driven gear 9032 to rotate the first rotating shaft 9030. Due to the transmission between the first synchronous wheel 9035 and the second synchronous wheel 9036, the first rotating shaft 9030 and the second rotating shaft 9031 rotate synchronously, thereby causing the first gripper 9024 and the second gripper 9025 to move synchronously toward each other or relative to each other.

[0096] The first gripper 9024 and the second gripper 9025 are both Y-shaped structures. The vertical arm of the Y-shaped structure is fixed to the first gripper connecting seat 9033 or the second gripper connecting seat 9034, so that the V-shaped side arms at the top of the first gripper 9024 and the second gripper 9025 are arranged opposite to each other. The two arms of the V-shaped side arms at the top of the Y-shaped structure have different lengths, namely a long sidewall and a short sidewall. The V-shaped side arms of the first gripper 9024 and the V-shaped side arms of the two second grippers 9025 are aligned. With the staggered arrangement, the V-shaped side arms form a guide slope. During the simultaneous movement of the first gripper and the second gripper 9025 towards each other, a guide channel is formed between the V-shaped side arms of the first gripper 9024 and the V-shaped side arms of the second gripper 9025. When the first gripper 9024 and the second gripper 9025 clamp the puncture needle 12, the puncture needle 12 moves along the guide slope of the V-shaped side arms and is clamped in the V-shaped grooves of the staggered arrangement of the first gripper 9024 and the second gripper 9025.

[0097] For ease of explanation, the directions mentioned above are now defined as follows: the directions mentioned above (up, down, left, right, front, back) are... Figure 1 The projection relationship itself has the same up, down, left, right, front and back directions. With the center of the pusher mechanism as the origin, the front end of the pusher mechanism is the front, the rear end is the back, the left side is the left, the right side is the right, the top is the top, and the bottom is the bottom.

[0098] 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.

[0099] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification 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 floating needle pushing mechanism and its matching components, characterized in that, It includes at least one linear motion component, which is used to drive the puncture needle (12) to puncture along a preset position and direction; The linear motion component includes a needle pusher (11), which drives the puncture needle (12) to puncture to a preset position. The needle pusher (11) is provided with a contact sensor (28), which is used to detect whether it is in contact with the puncture needle (12). The needle pushing device (11) uses a pushing groove or clamping mechanism to achieve floating propulsion. When the needle pushing device (11) does not push the puncture needle (12), it does not contact the puncture needle (12) and keeps the puncture needle (12) in a suspended state, so that the puncture needle can move with the biological tissue when it enters the biological tissue. When it is necessary to push the puncture needle (12), the needle pushing device (11) comes into contact with the puncture needle (12) or clamps it, and provides a corresponding pushing force to push the puncture needle (12).

2. A floating needle pushing mechanism and its matching components according to claim 1, characterized in that, When the needle pusher (11) uses a clamping mechanism, the clamping mechanism clamps and pushes the tail of the puncture needle (12). The clamping mechanism has a guide part. When the clamping mechanism releases the tail of the puncture needle (12), there is a certain gap between the clamping mechanism and the tail of the puncture needle (12). However, the guide part restricts the axial direction of the puncture needle to float within a small range so that it can be directly clamped when the clamping mechanism clamps the tail of the puncture needle (12) and gradually automatically aligns it during the clamping process, guiding it to slide to the clamping position. The clamping mechanism uses a claw, rotation clamping or side clamping method. The guide part is a guide fin or a guide slope.

3. A floating needle pushing mechanism and its matching components according to claim 1, characterized in that, When the pusher device (11) uses a pusher groove, the tail of the puncture needle (12) is placed in the pusher groove, and there is a certain gap between the pusher groove and the front and back top surfaces of the tail of the puncture needle (12). The pusher device (11) is provided with at least one pair of upper and lower pushing surfaces, and the contact sensor (28) is set on the upper and lower pushing surfaces. When the upper and lower pushing surfaces push the puncture needle (12), they contact the corresponding front and back top surfaces of the tail of the puncture needle (12).

4. A floating needle pushing mechanism and its matching components according to claim 2, characterized in that, When the clamping mechanism uses grippers; After clamping the puncture needle (12), the gripper releases the puncture needle (12) through active reset or passive reset; the passive reset can be achieved by the gripper being an elastic gripper or by resetting under the action of an elastic element.

5. The floating pusher mechanism and its supporting components according to claim 3, characterized in that, When the needle pushing device (11) adopts a pushing groove, the needle pushing device (11) includes an upper pushing block (29), the upper pushing block (29) is provided with an upper pushing block (29-1) and a lower pushing block (29-2), the tail of the puncture needle (12) is provided with a boss (12-1), the upper pushing block (29-1) and the lower pushing block (29-2) can cooperate with the boss (12-1) to achieve bidirectional pushing of the puncture needle (12), the upper pushing block (29-1) and the lower pushing block (29-2) are both provided with a contact sensor (28) for contacting the puncture needle (12), and the boss (12-1) is arranged around the axis of the puncture needle (12).

6. The floating pusher mechanism and its supporting components according to claim 5, characterized in that, The push block (29) can be divided into left and right parts. The left and right parts can rotate around the hinge or slide towards each other to realize the opening and closing movement, so as to quickly open in dangerous situations and avoid restricting the puncture needle (12) in the axial direction. The opening and closing movement is realized by the transmission mechanism, which includes one or more combinations of spiral groove transmission, cam transmission, gear transmission, gear rack transmission, screw nut transmission, worm gear transmission, and rope drive.

7. The floating pusher mechanism and its supporting components according to claim 1, characterized in that, The contact sensor (28) is a conductive contact, and the front and back top surfaces of the puncture needle (12) are conductors. The conductive contact can contact the front and back top surfaces of the puncture needle (12) to form a conductive path, thereby generating a contact signal and sending it to the control system. Alternatively, the contact sensor (28) is one or more combinations of force sensors, mechanical switches, photoelectric switches, proximity switches, and current sensors that directly detect motor current.

8. A floating pusher mechanism and its supporting components according to claim 7, characterized in that, When the contact sensor (28) is a conductive contact, the contact sensor (28) has a certain elasticity, and the contact sensor (28) adopts a spring, a spring sheet or a spring.

9. A floating pusher mechanism and its supporting components according to claim 1, characterized in that, The linear motion component also includes a drive device (16), which drives the pusher device (11) to reciprocate linearly along a preset direction.

10. A floating pusher mechanism and its supporting components according to claim 5, characterized in that, It also includes an isolation kit and a mounting base. The isolation kit is used to wrap the main body of the needle pusher mechanism to prevent contamination during puncture. The isolation kit includes a first isolation membrane (32), which is clamped by the isolation block (30) of the needle pusher device (11) and is located between the upper pusher block (29) and the mounting base (31) to isolate contaminants outside the mounting base (31) and to cover the linear motion component of the needle pusher mechanism behind the isolation block (30) and the mounting base (31).

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