Friction needle inserting mechanism with force sensing function and using method thereof

Abstract

According to the friction needle inserting mechanism with the force sensing function and the using method of the friction needle inserting mechanism, the first needle inserting and withdrawing module and the first guiding module are arranged in a front-back distribution mode, and the first needle inserting and withdrawing module drives a puncture needle to be inserted and withdrawn in a friction mode; the first guiding module is matched to limit and guide the puncture needle in the needle advancing and retreating process, and the force sensing module is arranged to measure the interaction force between a patient and the puncture needle in the operation process, so that the puncture needle is automatically loosened when the interaction force is too large, and safety is ensured.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a friction needle insertion mechanism with force sensing function and its method of use. Background Technology

[0002] A puncture procedure generally refers to a puncture, which is a diagnostic and treatment technique in which a puncture needle is inserted into a body cavity to extract secretions for testing, inject gas or contrast agents into the body cavity for imaging examinations, or inject drugs into the body cavity. During a puncture procedure, puncture instruments are usually used, and the doctor controls the needle insertion by touch.

[0003] Chinese patent CN202801755U discloses an intelligent lumbar puncture device, which includes a base, a housing mounted on the base, a motor bracket mounted on the base, a geared motor mounted on the motor bracket, a drive gear connected to the output shaft of the geared motor via a friction transmission device, a guide sleeve mounted on the base, a needle handle inserted into the guide sleeve, a needle seat at the front end of the needle handle, and threads on the needle handle. A driven gear with a threaded hole in the center of the shaft is threadedly mounted on the needle handle, and the driven gear meshes with the drive gear. A thrust bearing is mounted on the driven gear, and a pressure sensor is connected to the thrust bearing. The pressure sensor is connected to a bearing seat, and the bearing seat is fixed to the base by the bracket. An adjustable depth limiting bracket is mounted on the base.

[0004] However, in the existing technical solutions, the puncture needle has no guide for insertion and withdrawal, resulting in poor positioning. During the surgical puncture, it is impossible to measure the interaction force between the patient and the puncture needle, and it is not easy to quickly detach the puncture needle from the needle insertion mechanism, resulting in poor safety. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a friction needle insertion mechanism with force sensing function and its usage method. This mechanism comprises a needle insertion / retraction module and a guide module arranged front and rear. The needle insertion / retraction module drives the puncture needle to insert and withdraw via friction. The guide module, in conjunction with the needle insertion / retraction module, limits and guides the puncture needle during insertion and withdrawal. Furthermore, the force sensing module measures the interaction force between the patient and the puncture needle during surgery, automatically releasing the puncture needle when the interaction force is excessive, ensuring safety and solving the aforementioned technical problems in existing technologies.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A friction needle insertion mechanism with force sensing function includes: a needle insertion / retraction module 1, which drives a puncture needle to insert or retract via friction, wherein the friction is a friction wheel or friction belt, the friction wheel or friction belt acts on the puncture needle and drives the puncture needle to complete the insertion and withdrawal actions through friction; and a guide module 1, which is arranged along the insertion / retraction direction of the puncture needle with the needle insertion / retraction module 1, and is configured as an openable structure to clamp and guide the puncture needle, wherein the guide module 1 is provided with a guide part for the puncture needle to float and rotate after being clamped and guided.

[0007] Preferably, the device further includes a force sensing module, which is signal-connected to the needle insertion / retraction module and / or the guide module to measure the interaction force between the patient and the puncture needle and release the puncture needle when the interaction force is too large.

[0008] Preferably, the system further includes: a base, on which the needle advance / retractor module and the guide module are mounted, and the force sensing module is mounted between the needle advance / retractor module and the base and / or between the guide module and the base.

[0009] Preferably, the force sensing module is configured as a force sensor.

[0010] Preferably, the needle insertion / retraction module is configured as an openable / closable structure to clamp or release the puncture needle, comprising: a propulsion seat mounted on the base; two sets of propulsion claw assemblies, which are left and right-handed and openable / closable mounted on the propulsion seat to clamp or release the puncture needle, the two sets of propulsion claw assemblies being connected to the propulsion seat via hinges or linear motion pairs; the propulsion claw assembly including a rotatable friction wheel or friction belt; and a propulsion drive assembly, which drives the friction wheel to rotate or drives the friction belt to transmit power via gear transmission.

[0011] Preferably, the needle insertion / retraction module is configured as an openable / closable structure to clamp or release the puncture needle, and the two sets of push claw assemblies are configured as openable / closable structures. When the two sets of push claw assemblies are closed, the puncture needle is clamped; when the two sets of push claw assemblies are opened, the puncture needle is disengaged.

[0012] Preferably, the two sets of propulsion claw assemblies drive the puncture needle to complete the needle insertion and withdrawal actions through friction wheels or friction belts.

[0013] Preferably, the two sets of the propulsion claw assemblies are connected by a hinge or a slide.

[0014] Preferably, the two sets of propulsion claw assemblies are fitted together and hinged on the propulsion base.

[0015] Preferably, the advance / retractor module one further includes a linkage assembly, which is mounted on the base one and hinged to the pusher claw assembly, and drives the two sets of pusher claw assemblies to perform opening and closing actions.

[0016] Preferably, the linkage assembly includes: a first linkage, a horizontally formed groove on the base, the first linkage sliding vertically within the groove under external driving force; and a second linkage, the left and right ends of the first linkage exposed and hinged to the second linkage, the two second linkages corresponding to the friction wheel seats of the left and right propulsion pawl assemblies, the first linkage sliding driving the two propulsion pawl assemblies to rotate synchronously through the second linkage.

[0017] Preferably, the force sensing module is installed between the propulsion seat and the base, or between the guide seat and the base.

[0018] Preferably, the propulsion claw assembly includes: a friction wheel seat; the friction wheel or friction belt is rotatably mounted on the friction wheel seat, the puncture needle passes through the two friction wheels or friction belts and abuts against the left and right friction wheels or friction belts, and the friction wheel or friction belt is provided with anti-slip grooves.

[0019] Preferably, the propulsion claw assembly further includes a hinge hinged to the propulsion seat, and the friction wheel seat is mounted on the hinge.

[0020] Preferably, when in the clamping state, the puncture needle abuts against the two friction wheels on the left and right.

[0021] Preferably, the inner sides of the two friction wheel seats opposite each other are provided with guide grooves or guide holes for the puncture needle to pass through. When the friction wheel is driven, the friction wheel is also provided with an annular groove, and the puncture needle is embedded in the annular groove to prevent the puncture needle from derailing.

[0022] Preferably, the propulsion drive assembly is mounted on any of the propulsion claw assemblies, and includes: a motor; a drive gear, which is coaxially connected to the output shaft of the motor; and a driven gear, which is coaxially connected to the friction wheel and meshes with the drive gear. When the motor rotates, it drives the friction wheel to rotate through the gear set, and the rotation of the friction wheel drives the puncture needle to move forward and backward.

[0023] Preferably, the first guiding module includes: a guiding seat, which is mounted on the first base; and guiding claws, two sets of guiding claws that cooperate left and right and slide on the guiding seat, and slide relative to each other under external driving action to clamp or release the puncture needle.

[0024] Preferably, the guide seat has a second sliding groove for the guide claw to slide and install.

[0025] Preferably, the guide portion is an elastic pad, a guide sheet, or a rotating floating head.

[0026] Preferably, when the guide portion is an elastic pad, the elastic pad is positioned on the inner side of the two sets of guide claws facing each other, i.e., an anti-slip pad.

[0027] Preferably, when the guide part is a guide sheet, the guide sheet includes a first guide sheet and a second guide sheet respectively disposed on the inner sides of the two sets of guide claws facing each other. When the two sets of guide claws are closed, the first guide sheet and the second guide sheet form a through hole through which the puncture needle can pass. The puncture needle passes through the through hole and rotates slightly around the point.

[0028] Preferably, when the guide is a rotating floating head, the rotating floating head is connected to the guide claw through a floating joint, and the rotating floating head can adaptively rotate around the point as the puncture needle rotates.

[0029] Preferably, the device further includes a visual guidance device, which is installed at the upper end of the needle insertion / retraction module and / or the bottom of the guidance module, and captures and measures the position of the puncture needle in real time.

[0030] Preferably, the visual guidance device uses a visual sensor, which is a camera, an infrared camera, or a depth camera, and the camera is a monocular camera, a binocular camera, or a multi-camera.

[0031] The present invention also provides a method of using a friction needle insertion mechanism with force sensing function. The friction needle insertion mechanism described above is used in a manner including: clamping the puncture needle by closing two sets of push claw assemblies of the needle insertion / retraction module one, and driving the puncture needle to insert or retract by friction, and cooperating with the guide module one to clamp and guide the puncture needle to move.

[0032] Preferably, the force sensing module senses and collects the external forces acting on the puncture needle. When the collected external force and / or external torque exceeds a threshold, the two sets of push claw assemblies of the needle advance and retraction module open to release the puncture needle, but keep the guide module clamping it, so that the puncture needle can float and rotate around the guide part of the guide module.

[0033] Preferably, the spatial pose of the puncture needle is captured and measured in real time using a visual guidance device, that is, the position and puncture depth of the puncture needle are obtained, thereby locating the puncture needle.

[0034] The beneficial effects of this invention are as follows: (1) The present invention sets up a needle insertion and withdrawal module and a guide module in a front-to-back arrangement. The needle insertion and withdrawal module drives the puncture needle to insert and withdraw the needle by friction. The guide module guides the puncture needle to limit and guide it during the insertion and withdrawal process. A force sensing module is set up to measure the interaction force between the patient and the puncture needle during the operation. In this way, when the interaction force is too large (such as robot malfunction, patient body shaking, etc.), the puncture needle will be automatically released to ensure safety. (3) The present invention provides a needle insertion and withdrawal module, which has two left and right push claw assemblies that can be actively opened and closed or can be quickly opened on the push base. The two push claw assemblies are linked to perform opening and closing actions to open or close, so as to release or clamp the puncture needle. The push claw assembly is equipped with friction wheels / friction belts by rotation. The puncture needle is clamped between the two friction wheels / friction belts, so that the puncture needle is driven to insert or push the needle by the rotation friction of the friction wheels / friction belts. (4) The present invention provides a guide module 1 with two guide claws that can slide open and close. The puncture needle is clamped by the two guide claws, so that the guide module 1 provides limited guidance during the needle insertion and withdrawal process. After the needle insertion and withdrawal module releases the clamp on the puncture needle, the puncture needle can rotate and float around the guide part of the guide module to avoid scratching the patient. (5) By setting up a visual guidance device, the present invention can photograph and measure the position of the puncture needle in real time, so that when switching from the floating state to the clamping state, the puncture needle can be spatially positioned so as to readjust the needle insertion mechanism to clamp the puncture needle. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 for Figure 1 The front view; Figure 3 This is a schematic diagram of the structure of the needle advance / retract module one in this invention; Figure 4 for Figure 1 Top view; Figure 5 This is a schematic diagram showing the state of the propulsion claw assembly when it is open in this invention; Figure 6 This is a schematic diagram showing the installation positions of the force sensing module and the visual guidance device in this invention. Detailed Implementation

[0036] 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.

[0037] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0038] Example 1 A friction needle insertion mechanism with force sensing function, such as Figure 1 As shown, it includes: a needle insertion / retraction module 12, which drives the puncture needle VI to insert or retract via friction. The friction method is a friction wheel 1221 or a friction belt. The friction wheel or friction belt acts on the puncture needle VI and drives the puncture needle VI to complete the insertion and withdrawal actions through friction. A guide module 14 is arranged along the insertion and retraction direction of the puncture needle VI with the needle insertion / retraction module 12. It is configured as an openable structure to clamp and guide the puncture needle VI. The guide module 14 is provided with a guide part for the puncture needle to float and rotate after being clamped and guided.

[0039] As a preferred option, such as Figure 6 As shown, it also includes: a force sensing module 13', which is signal-connected to the needle insertion / retraction module 12 and / or the guide module 14, to measure the interaction force between the patient and the puncture needle VI and to release the puncture needle VI when the interaction force is too large.

[0040] In this embodiment, a needle insertion / retraction module 12 and a guide module 14 are arranged in a front-to-back configuration. The needle insertion / retraction module 12 drives the puncture needle VI to insert and withdraw via friction. The guide module 14, in conjunction with the guide module 14, provides limiting guidance for the puncture needle VI during insertion and withdrawal. A force sensing module 13' is also included to measure the interaction force between the patient and the puncture needle VI during the procedure. This allows the puncture needle to be automatically released when the interaction force is too large, ensuring safety.

[0041] Preferably, the system further includes: a base 11, on which the needle advance / retract module 12 and the guide module 14 are mounted, and the force sensing module 13' is mounted between the needle advance / retract module 12 and the base 11 and / or between the guide module 14 and the base 11.

[0042] Preferably, the force sensing module is configured as a force sensor.

[0043] In this embodiment, a force sensing module is installed between the needle insertion / retraction module 12 and the base 11 or between the guide module 14 and the base 11. The force sensing module is set as a force sensor, which can measure the interaction force between the patient and the puncture needle VI during the operation. In case of excessive interaction force, such as robot malfunction or patient body shaking, the puncture needle VI will be automatically released to ensure safety.

[0044] As a preferred option, such as Figure 2-3 As shown, the needle insertion / retraction module 12 is configured as an openable / closable structure to clamp or release the puncture needle. The two sets of push claw assemblies 122 are configured as openable / closable structures. When the two sets of push claw assemblies 122 are closed, the puncture needle VI is clamped. When the two sets of push claw assemblies 122 are opened, the puncture needle VI is disengaged.

[0045] Preferably, the opening and closing modes of the two sets of propulsion claw assemblies 122 are set to active opening and closing or rapid opening.

[0046] In this embodiment, the needle advance / retract module 12 is provided with two left and right push claw assemblies 122 on the push base 121, which can be actively opened and closed or can be quickly opened. The two push claw assemblies 122 are linked to open and close to release or clamp the puncture needle VI.

[0047] Preferably, the needle insertion / retraction module 12 includes: a pusher seat 121, which is mounted on the base 11; two pusher claw assemblies 122, which are left and right-handed and can be opened and closed on the pusher seat 121 to clamp or release the puncture needle VI, and the two pusher claw assemblies 122 are connected to the pusher seat 121 through hinges or linear motion pairs; the pusher claw assembly 122 includes a rotatably disposed friction wheel 1221 or friction belt; and a pusher drive assembly 123, which drives the friction wheel 1221 to rotate or drives the friction belt to transmit through gear transmission.

[0048] In this embodiment, by rotating the friction wheel 1221 or friction belt, the puncture needle VI is clamped between the two friction wheels 1221 or friction belt, thereby driving the puncture needle VI to be inserted or pushed by the rotation friction of the friction wheel 1221 or friction belt.

[0049] Preferably, the two sets of propulsion claw assemblies 122 drive the puncture needle VI to complete the needle insertion and withdrawal actions via friction wheel 1221 or friction belt.

[0050] As a preferred option, such as Figure 3 As shown, the propulsion claw assembly 122 includes: a friction wheel seat 1223; the friction wheel 1221 or friction belt is rotatably mounted on the friction wheel seat 1223, the puncture needle VI passes between the two friction wheels 1221 or friction belts, and when in the clamping state, the puncture needle VI abuts against the left and right friction wheels 1221 or friction belts, and the friction wheels 1221 or friction belts are provided with anti-slip grooves.

[0051] Preferably, the inner sides of the two friction wheel seats 1223 are also provided with guide grooves 1224 or guide holes for the puncture needle VI to pass through. When driven by the friction wheel 1221, the friction wheel 1221 is also provided with an annular groove, and the puncture needle VI is embedded in the annular groove to prevent the puncture needle VI from derailing.

[0052] As a preferred option, such as Figure 4 As shown, the propulsion drive assembly 123 is mounted on any of the propulsion claw assemblies 122, and includes: a motor 1231; a drive gear 1232, which is coaxially connected to the output shaft of the motor 1231; and a driven gear 1233, which is coaxially connected to the friction wheel 1221 and meshes with the drive gear 1232. When the motor rotates, it drives the friction wheel to rotate through the gear set, and the friction of the rotating friction wheel drives the puncture needle to move forward and backward.

[0053] Preferably, the force sensing module is installed between the propulsion seat 121 and the base 11, or between the guide seat 141 and the base 11.

[0054] As a preferred option, such as Figure 2 and Figure 4 As shown, the guide module 14 includes: a guide seat 141, which is mounted on the base; and guide claws 142, two sets of guide claws 142 that cooperate left and right and slide on the guide seat 141 and slide relative to each other under external driving to clamp or release the puncture needle VI.

[0055] In this embodiment, by setting a guide module 14, the two guide claws 142 of the guide module 14 slide open and close, and the puncture needle VI is clamped by the two guide claws 142 so that the guide module 14 limits and guides the needle during the insertion and withdrawal process; after the insertion and withdrawal module 12 releases the clamp on the puncture needle VI, the puncture needle VI can rotate and float around the guide part of the guide module 14 to avoid scratching the patient.

[0056] Preferably, the guide seat 141 is provided with a sliding groove 1411 for sliding installation of the guide claw 142.

[0057] Example 2 The components in this embodiment that are the same as or corresponding to those in the above embodiments are referred to by the same reference numerals as those in the above embodiments. For the sake of simplicity, only the differences between this embodiment and the above embodiments are described below. The difference between this embodiment and the above embodiments is that: Preferably, the guide portion is an elastic pad, a guide sheet, or a rotating floating head.

[0058] Preferably, when the guide portion is an elastic pad, the elastic pad is located on the inner side of the two sets of guide claws 142, i.e., anti-slip pad 1421.

[0059] Preferably, when the guide part is a guide sheet, the guide sheet includes a first guide sheet and a second guide sheet respectively disposed on the inner sides of the two sets of guide claws 142. When the two sets of guide claws 142 are closed, the first guide sheet and the second guide sheet form a through hole through which the puncture needle VI can pass. The puncture needle VI passes through the through hole and rotates slightly around the point.

[0060] Preferably, when the guide is a rotating floating head, the rotating floating head is connected to the guide claw 142 through a floating joint, and the rotating floating head can adaptively rotate around the point as the puncture needle VI ⅓.

[0061] Example 3 The components in this embodiment that are the same as or corresponding to those in the above embodiments are referred to by the same reference numerals as those in the above embodiments. For the sake of simplicity, only the differences between this embodiment and the above embodiments are described below. The difference between this embodiment and the above embodiments is that: like Figure 1 As shown in this embodiment, a friction needle insertion mechanism with force sensing function is used to realize needle insertion and removal. The friction drive mechanism includes a guide part, a friction wheel or a friction belt. The friction drive mechanism is provided with an openable and closable friction drive group. When the two friction drive groups are closed, the puncture needle VI is clamped. When the two friction drive groups are opened, the puncture needle VI is disengaged. The two friction drive groups are connected by a hinge or a slide groove, and the friction wheel drives the puncture needle VI to complete the needle insertion and removal actions.

[0062] Preferably, the two sets of propulsion claw assemblies 122 are connected by hinges or slides.

[0063] In a preferred embodiment, when the two sets of propulsion claw assemblies 122 are connected by a hinge, the two sets of propulsion claw assemblies 122 are fitted together and hingedly mounted on the propulsion base 121.

[0064] Preferably, the advance / retractor module 12 further includes a connecting rod assembly 124, which is mounted on the base 11 and hinged to the pusher claw assembly 122, and drives the two sets of pusher claw assemblies 122 to perform opening and closing actions.

[0065] In this embodiment, the needle advance / retract module 12 hinges two left and right advance claw assemblies 122 on the advance seat 121, and sets a connecting rod assembly 124 to drive the two advance claw assemblies 122 to rotate synchronously through lifting and lowering action, thereby opening or closing to release or clamp the puncture needle VI.

[0066] As a preferred option, such as Figure 2-3 As shown, the linkage assembly 124 includes: a first linkage 1241, on which a horizontal groove 111 is provided, and the first linkage 1241 slides vertically within the groove 111 under external driving action; and a second linkage 1242, on which the left and right ends of the first linkage 1241 are exposed and each is hinged to the second linkage 1242, and the two second linkages 1242 are hinged to the friction wheel seats 1223 of the left and right propulsion claw assemblies 122 respectively, and when the first linkage 1241 slides, it drives the two propulsion claw assemblies 122 to rotate synchronously through the second linkage 1242.

[0067] As a preferred option, such as Figure 3 As shown, the propulsion claw assembly 122 further includes a hinge 1222, which is hinged to the propulsion seat 121, and the friction wheel seat 1223 is mounted on the hinge 1222. As another preferred embodiment, when the two sets of propulsion claw assemblies 122 are connected by a linear motion pair, the two sets of propulsion claw assemblies 122 are configured as a counter-moving translational structure, and their installation method can be the same as the installation method and operation method of the two sets of guide claws 142, which will not be described again.

[0068] Example 4 The components in this embodiment that are the same as or corresponding to those in the above embodiments are referred to by the same reference numerals as those in the above embodiments. For the sake of simplicity, only the differences between this embodiment and the above embodiments are described below. The difference between this embodiment and the above embodiments is that: As a preferred option, such as Figure 6 As shown, it also includes a visual guidance device 13, which is installed at the upper end of the needle insertion / retraction module 12 and / or the bottom of the guidance module 14, and captures and measures the position of the puncture needle in real time.

[0069] In this embodiment, by setting a visual guidance device 13, the position and orientation of the puncture needle VI are captured and measured in real time, thereby enabling the spatial positioning of the puncture needle when switching from the floating state to the clamping state, so as to readjust the needle insertion mechanism to clamp the puncture needle.

[0070] Preferably, the visual guidance device 13 employs a visual sensor, which may be a camera, an infrared camera, or a depth camera, and the camera may be a monocular camera, a binocular camera, or a multi-camera.

[0071] Example 5 This embodiment provides a method for using a friction needle insertion mechanism with force sensing function, which applies the friction needle insertion mechanism described in any of the above embodiments, including: The two sets of push claw assemblies 122 of the needle advance and retraction module 12 close together to clamp the puncture needle VI, and drive the puncture needle VI to advance or retract through friction, and cooperate with the guide module 14 to clamp and guide the puncture needle VI to move.

[0072] Preferably, the force sensing module 13' senses and collects the external interaction force on the puncture needle VI. When the collected external force and / or external torque exceeds a threshold, the two sets of push claw assemblies 122 of the needle advance and retraction module 12 open to release the puncture needle VI, but keep the guide module 14 holding it, so that the puncture needle can float and rotate around the guide part of the guide module 14.

[0073] Preferably, the spatial pose of the puncture needle VI is captured and measured in real time by the visual guidance device 13, that is, the position and puncture depth of the puncture needle VI are obtained, thereby locating the puncture needle VI.

[0074] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A friction needle insertion mechanism with force sensing function, characterized in that, include: The first needle insertion and withdrawal module (12) drives the puncture needle (VI) to insert or withdraw the needle by friction. The friction method is a friction wheel or a friction belt. The friction wheel or friction belt acts on the puncture needle (VI) and drives the puncture needle (VI) to complete the needle insertion and withdrawal actions by friction. The first guide module (14) and the first needle insertion / retraction module (12) are arranged along the needle insertion / retraction direction of the puncture needle (VI). The first guide module is configured to be openable and closable to clamp and guide the puncture needle (VI). The first guide module is provided with a guide part for the puncture needle to float and rotate after being clamped and guided.

2. The friction needle advancement mechanism with force sensing function according to claim 1, wherein, Also includes: Force sensing module (13'), which is connected to needle insertion / retraction module (12) and / or guide module (14), measures the interaction force between the patient and the puncture needle (VI) and releases the puncture needle (VI) when the interaction force is too large.

3. The friction needle insertion mechanism with force sensing function according to claim 2, characterized in that, Also includes: The base (11) is on which the needle advance / retract module (12) and the guide module (14) are mounted. The force sensing module (13') is mounted between the needle advance / retract module (12) and the base (11) and / or between the guide module (14) and the base (11). The force sensing module is configured as a force sensor.

4. The friction needle insertion mechanism with force sensing function according to claim 3, characterized in that, The advance / retract needle module (12) includes: A propulsion seat (121) is mounted on the base (11); The two sets of push claw assemblies (122) are mounted on the push base (121) in a left-right cooperation and can be opened and closed, so as to clamp or release the puncture needle (VI). The two sets of push claw assemblies (122) are connected to the push base (121) through hinges or linear motion pairs. The pusher claw assembly (122) includes a rotatably mounted friction wheel (1221) or friction belt; and The propulsion drive assembly (123) drives the friction wheel (1221) to rotate or drives the friction belt to transmit.

5. The friction needle insertion mechanism with force sensing function according to claim 4, characterized in that, The pusher claw assembly (122) includes: Friction wheel seat (1223); the friction wheel (1221) or friction belt is rotatably mounted on the friction wheel seat (1223), the puncture needle (VI) passes through the two friction wheels (1221) or friction belts and abuts against the left and right friction wheels (1221) or friction belts, and the friction wheel or friction belt is provided with anti-slip grooves.

6. The friction needle insertion mechanism with force sensing function according to claim 5, characterized in that, The inner sides of the two friction wheel seats (1223) are also provided with guide grooves (1224) or guide holes for the puncture needle (VI) to pass through. When the friction wheel (1221) is used for driving, the friction wheel (1221) is also provided with an annular groove, and the puncture needle (VI) is embedded in the annular groove.

7. A friction needle insertion mechanism with force sensing function according to any one of claims 1, characterized in that, The first guide module (14) includes: Guide seat (141); and The guide claws (142) are arranged in a left-right cooperation and slidably mounted on the guide seat (141). Under the action of external drive, they slide relative to each other to clamp or release the puncture needle (VI).

8. A friction needle insertion mechanism with force sensing function according to claim 7, characterized in that, The guide portion is an elastic pad, a guide sheet, or a rotating floating head; When the guide is an elastic pad, the elastic pad is located on the inner side of the two sets of guide claws (142) opposite to each other; When the guide part is a guide sheet, the guide sheet includes a first guide sheet and a second guide sheet respectively disposed on the inner sides of the two sets of guide claws (142). When the two sets of guide claws (142) are closed, the first guide sheet and the second guide sheet form a through hole through which the puncture needle (VI) can pass. The puncture needle (VI) passes through the through hole and rotates slightly around the point. When the guide is a rotating floating head, the rotating floating head is connected to the guide claw (142) through a floating joint, and the rotating floating head can adaptively rotate around the point with the puncture needle (VI).

9. A method of using a friction needle insertion mechanism with force sensing function, characterized in that, The friction needle insertion mechanism according to any one of claims 1-8 comprises: The two sets of push claw assemblies (122) of the needle advance and retraction module (12) close together to hold the puncture needle (VI), and drive the puncture needle (VI) to advance or retract by friction, and cooperate with the guide module (14) to hold and guide the puncture needle (VI) to move.

10. The method of using a friction needle insertion mechanism with force sensing function according to claim 9, characterized in that, The force sensing module (13') senses and collects the external interaction force on the puncture needle (VI). When the collected external force and / or external torque exceeds a threshold, the two sets of push claw assemblies (122) of the needle advance and retraction module (12) open to release the puncture needle (VI), but keep the clamping of the guide module (14) so ​​that the puncture needle can float and rotate around the guide part of the guide module (14).

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