Automatic needle feeding mechanism with visual perception function and use method thereof

Abstract

According to the automatic needle feeding mechanism with the visual perception function and the using method of the automatic needle feeding mechanism, the two pushing claw assemblies of the first needle feeding and retracting module are in linkage to conduct opening and closing actions so as to loosen or clamp a puncture needle, and the puncture needle is driven to be fed or pushed through rotating friction of a friction wheel or a friction belt; a first guide module is arranged in a matched mode to limit and guide the puncture needle in the needle advancing and retreating process, a visual guide device is arranged to shoot and measure the position and posture of the puncture needle in real time, and therefore space positioning can be conducted on the puncture needle when the floating state is switched to the clamping state, and the needle advancing mechanism is adjusted again to clamp the puncture needle.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an automatic needle insertion mechanism with visual 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 CN201621128287.7 discloses a magnetic resonance compatible pneumatic puncture surgical robot, comprising a positioning module, a puncture orientation module, and a needle insertion module connected in sequence. The positioning module uses a scissor-type lifting mechanism mounted on a ring-shaped guide rail slider, which is then mounted on a rodless cylinder and a linear guide rail slider to achieve axial, radial, and circumferential movement and positioning of the puncture needle in the magnetic resonance imaging equipment. The puncture orientation module uses a parallel four-bar RCM mechanism fixed on a rotating shaft to adjust the puncture angle of the positioning puncture needle. The needle insertion module uses a cylinder to drive two friction wheels, which in turn drive the puncture needle to achieve automatic control of the needle insertion and retraction.

[0004] However, in the existing technical solution, the puncture needle is clamped in a fixed-size space between two friction wheels, which is inconvenient to remove and replace, and the puncture needle has no guide for advancing and retreating, resulting in poor positioning effect. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing an automatic needle insertion mechanism with visual perception and its usage method. The two propulsion claw components of the needle insertion / retraction module work together to open and close, releasing or clamping the puncture needle. The rotation of a friction wheel or friction belt drives the puncture needle to insert or push it forward. A guiding module provides limiting guidance for the puncture needle during insertion and retraction, and a visual guidance device captures and measures the puncture needle's position in real time. This enables spatial positioning of the puncture needle when switching from a floating state to a clamping state, facilitating readjustment of the needle insertion mechanism to clamp the puncture needle, thus solving the aforementioned technical problems in existing technologies.

[0006] To achieve the above objectives, the present invention provides the following technical solution: An automatic needle insertion mechanism with visual perception function includes: a base; a needle insertion / retraction module mounted on the base, the needle insertion / retraction module being configured to open and close to clamp or release a puncture needle, and driving the puncture needle to insert or retract via friction, comprising: two sets of openable and closable pusher claw assemblies, wherein the puncture needle is clamped when the two sets of pusher claw assemblies are closed, and the puncture needle is disengaged when the two sets of pusher claw assemblies are opened; the two sets of pusher claw assemblies drive the puncture needle to complete the needle insertion and withdrawal actions via friction wheels or friction belts; and a guide module mounted on the base, the guide module and the needle insertion / retraction module being arranged along the needle insertion / retraction direction, the guide module being configured to open and close to clamp and guide the puncture needle, and the guide module having a guide part for the puncture needle to float and rotate after being clamped and guided.

[0007] 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.

[0008] Preferably, the visual guidance device located at the bottom of the guidance module 1 faces the front end of the puncture needle, and the visual guidance device located at the top of the needle advance and retraction module 1 faces the rear end of the needle shaft of the puncture needle. Preferably, the visual guidance device employs a visual sensor, which is one or more combinations of a camera, an infrared camera, a depth camera, and a laser sensor, and the camera is at least one of a monocular camera, a binocular camera, and a multi-view camera.

[0009] Preferably, the device further includes a force sensing module, which is installed between the needle insertion / retraction module and the base and / or between the guide module and the base and 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 to release the puncture needle when the interaction force is too large.

[0010] Preferably, the advance / retractor module further includes: a pusher seat, which is mounted on the base, and two sets of pusher claw assemblies cooperate left and right and are connected to the pusher seat through hinges or linear motion pairs. The pusher claw assembly includes a rotatable friction wheel or friction belt; a pusher drive assembly, which drives the friction wheel to rotate or drives the friction belt to transmit through gear transmission; and an opening / closing drive assembly, which is mounted on the base and connected to the pusher claw assembly, and drives the two sets of pusher claw assemblies to perform opening and closing actions.

[0011] Preferably, the two sets of the propulsion claw assemblies are connected by a hinge or a slide.

[0012] Preferably, the propulsion claw assembly includes: a hinge hinged to the propulsion seat; a friction wheel seat mounted on the hinge; a friction wheel or friction belt rotatably mounted on the friction wheel seat; when the puncture needle passes between the two friction wheels or friction belts and is in a clamping state, the puncture needle abuts against the left and right friction wheels; and the friction wheel or friction belt is provided with a guide groove or anti-slip groove.

[0013] Preferably, the pusher claw assembly is provided with a guide structure, which can easily hold the puncture needle when the pusher claw closes, and guide the puncture needle to the drive part of the friction wheel or friction belt while gradually clamping it.

[0014] Preferably, the guiding structure is a guide groove or guide hole provided on the inner side of the two friction wheel seats opposite to each other and through which the puncture needle can pass; 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.

[0015] 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 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.

[0016] Preferably, the opening and closing drive assembly is a linkage assembly, which is mounted on the base and hinged to the pusher claw assembly. The linkage assembly includes: a first linkage, on which a horizontal groove is provided, and the first linkage slides vertically within the groove under external driving force; and a second linkage, on which the left and right ends of the first linkage are exposed and hinged to the second linkage, and the two second linkages are hinged to the friction wheel seats of the left and right pusher claw assemblies respectively. When the first linkage slides, it drives the two pusher claw assemblies to rotate synchronously through the second linkage.

[0017] Preferably, the first guide module includes: a guide seat, which is mounted on the first base; and guide claws, two sets of guide claws that cooperate left and right and slide on the guide seat, and slide relative to each other under external driving action to clamp or release the puncture needle.

[0018] Preferably, the guide seat has a second sliding groove for the guide claw to slide and install.

[0019] Preferably, the guide portion is an elastic pad, a guide sheet, or a rotating floating head.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] The present invention also provides a method for using an automatic needle-feeding mechanism with visual perception function, comprising applying any of the above-described automatic needle-feeding mechanisms, including: The two sets of propulsion claws of the needle advance and retraction module 1 close together to clamp the puncture needle, and drive the puncture needle to advance or retract through friction, in conjunction with the guide module 1 to clamp and guide the puncture needle to move.

[0024] 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.

[0025] 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 holding it, so that the puncture needle can float and rotate around the guide part of the guide module.

[0026] The present invention also provides a method for switching a puncture needle from a floating state around a point to a clamping state, using any of the above-described automatic needle insertion mechanisms, comprising the following steps: An external robot or doctor positions the tail of the puncture needle using a visual guidance device. The external robot moves automatically or is remotely controlled to drive the automatic needle insertion mechanism to keep the needle insertion direction approximately parallel to the puncture needle axis. The two sets of push claw assemblies of the needle insertion and retraction module close together to hold the puncture needle.

[0027] The beneficial effects of this invention are as follows: (1) The first needle advance and retreat module of the present invention is provided by hinged or sliding two push claw assemblies on the push seat and a connecting rod assembly that drives the two push claw assemblies to move synchronously through lifting and lowering action, so as to open or close the puncture needle. (2) In the present invention, the propulsion claw assembly rotates and sets friction wheels, and the puncture needle is clamped between two friction wheels, thereby driving the puncture needle to insert or push the needle through the rotation friction of the friction wheels; (3) The present invention provides a guide module 1, in which two guide claws of the guide module 1 slide open and close, and the puncture needle is clamped by the two guide claws, thereby limiting and guiding the needle during the insertion and withdrawal process; (4) By setting up a visual guidance device, the present invention can take pictures and measure the position of the puncture needle in real time, so as to realize 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. (5) By setting up a force sensing module, the present invention can measure the interaction force between the patient and the puncture needle during the operation, so that 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. Attached Figure Description

[0028] 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

[0029] 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.

[0030] 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.

[0031] Example 1 like Figure 1 As shown, an automatic needle insertion mechanism with visual perception function is disclosed. It adopts a friction drive mechanism to realize needle insertion and withdrawal. 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 withdrawal actions.

[0032] Preferably, the automatic needle insertion mechanism includes: a base 11; and a needle insertion / retraction module 12 mounted on the base 11. The needle insertion / retraction module 12 is configured to open and close to clamp or release the puncture needle, and drives the puncture needle VI to insert or retract via friction. It includes: Figure 2-3 As shown, there are two sets of openable and closable propulsion claw assemblies 122. When the two sets of propulsion claw assemblies 122 are closed, the puncture needle VI is clamped. When the two sets of propulsion claw assemblies 122 are opened, the puncture needle VI is disengaged. The two sets of propulsion claw assemblies 122 drive the puncture needle VI to complete the needle insertion and withdrawal actions through friction wheels 1221 or friction belts. There is also a guide module 14 installed on the base. The guide module 14 and the needle insertion and withdrawal module 12 are arranged along the needle insertion and withdrawal direction of the puncture needle VI. It is set as an openable and closable structure to clamp and guide the puncture needle VI. The guide module 1 is provided with a guide part for the puncture needle to float and rotate after being clamped and guided.

[0033] As a preferred option, such as Figure 6As 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 VI in real time.

[0034] 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, limits and guides the puncture needle VI during the insertion and withdrawal process. A visual guide device 13 is also provided to capture and measure the position and posture of the puncture needle VI in real time. This enables the puncture needle to be spatially positioned when switching from a floating state to a clamping state, so as to facilitate the readjustment of the needle insertion mechanism to clamp the puncture needle.

[0035] Preferably, the visual guidance device 13 located at the bottom of the guide module 14 faces the front end of the puncture needle VI, and the visual guidance device 13 located at the top of the needle advance and retreat module 12 faces the rear end of the needle bar of the puncture needle VI. Preferably, the visual guidance device 13 employs a visual sensor, which is one or more combinations of a camera, an infrared camera, a depth camera, and a laser sensor, and the camera is at least one of a monocular camera, a binocular camera, and a multi-camera.

[0036] 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.

[0037] 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.

[0038] Preferably, the two sets of propulsion claw assemblies 122 are connected to the propulsion base 121 via hinges or linear motion pairs.

[0039] Preferably, the two sets of propulsion claw assemblies 122 are connected by hinges or slides.

[0040] Preferably, the advance / retractor module 12 further includes: a pusher seat 121, which is mounted on the base 11; two sets of pusher claw assemblies 122 are engaged left and right and connected to the pusher seat 121 via hinges or linear motion pairs; the pusher claw assembly 122 includes a rotatably mounted friction wheel 1221 or friction belt; a pusher drive assembly 123, which drives the friction wheel 1221 to rotate or drives the friction belt to transmit power via gear transmission; and an opening / closing drive assembly 124, which is mounted on the base 11 and connected to the pusher claw assembly 122, and drives the two sets of pusher claw assemblies 122 to perform opening and closing actions.

[0041] 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.

[0042] 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.

[0043] As a preferred option, such as Figure 3 As shown, the propulsion claw assembly 122 includes: a hinge 1222, which is hinged to the propulsion seat 121; a friction wheel seat 1223, which is mounted on the hinge 1222; the friction wheel 1221 or friction belt is rotatably mounted on the friction wheel seat 1223, and the puncture needle VI passes between the two friction wheels 1221 or friction belts. When in a clamping state, the puncture needle VI abuts against the left and right friction wheels 1221, and the friction wheels or friction belts are provided with guide grooves or anti-slip grooves.

[0044] Preferably, the pusher claw assembly 122 is provided with a guide structure, which can facilitate the puncture needle to be held together when the pusher claw closes, and guide the puncture needle to slide to the driving part of the friction wheel or friction belt while gradually clamping it.

[0045] Preferably, the guiding structure is a guide groove 1224 or guide hole provided on the inner side of the two friction wheel seats 1223 opposite to each other and through which the puncture needle VI can pass; 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.

[0046] As a preferred option, such as Figure 4As 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 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.

[0047] As a preferred option, such as Figure 2-3 As shown, the opening and closing drive assembly 124 is a linkage assembly. The linkage assembly is mounted on the base 11 and hinged to the pusher claw assembly 122. The linkage assembly includes: a first linkage 1241, on which a horizontal groove 111 is provided. 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 hinged to the second linkage 1242. The two second linkages 1242 are hinged to the friction wheel seats of the left and right pusher claw assemblies 122 respectively. When the first linkage slides, it drives the two pusher claw assemblies to rotate synchronously through the second linkage.

[0048] 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 to drive the two advance claw assemblies 122 to rotate synchronously through lifting and lowering actions, thereby opening or closing to release or clamp the puncture needle VI.

[0049] As another preferred embodiment, the two sets of propulsion claw assemblies 122 are connected to the propulsion seat 121 through a linear motion pair. The two sets of propulsion claw assemblies 122 are configured as a counter-moving translational structure. Their installation method can be the same as the installation method and operation method of the two sets of guide claws 142, and will not be described again.

[0050] In this embodiment, the two sets of propulsion claw assemblies 122 are configured as opposing translational structures, and their installation method is the same as that of the two sets of guide claws 142, so it will not be described again.

[0051] 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.

[0052] 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.

[0053] Preferably, the guide seat 141 is provided with a sliding groove 1411 for sliding installation of the guide claw 142.

[0054] Example 2 The components 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.

[0055] 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 142, i.e. Figure 5 The anti-slip mat shown is 1421.

[0056] 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.

[0057] 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.

[0058] Example 3 The components 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 force sensing module 13', which is installed between the needle insertion / retraction module 12 and the base 11 and / or between the guide module 14 and the base 11 and is signal-connected to the needle insertion / retraction module 12 and / or the guide module 14, so as to measure the interaction force between the patient and the puncture needle VI and release the puncture needle VI when the interaction force is too large.

[0059] 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 this way, when the interaction force is too large (such as robot malfunction, patient body shaking, etc.), the puncture needle VI will be automatically released to ensure safety.

[0060] Specifically, 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.

[0061] Preferably, the force sensing module is configured as a force sensor.

[0062] Example 4 This embodiment provides a method for using an automatic needle insertion mechanism with visual perception function, which applies the automatic 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.

[0063] 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.

[0064] 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 1 holding it, so that the puncture needle can float and rotate around the guide part of the guide module 1.

[0065] Example 5 This embodiment provides a method for switching a puncture needle from a floating state around a point to a clamping state, using the automatic needle insertion mechanism described in any of the above embodiments, including the following steps: An external robot or doctor positions the tail of the puncture needle VI using a visual guidance device 13. The external robot moves automatically or is remotely controlled by a human to drive the automatic needle insertion mechanism to keep the needle insertion direction approximately parallel to the axis of the puncture needle VI. The two sets of push claw assemblies 122 of the needle insertion and retraction module 12 close together to clamp the puncture needle VI.

[0066] 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. An automatic needle feeding mechanism with visual perception function, characterized in that, include: Base 1 (11); The needle insertion / retraction module 1 (12) is mounted on the base 1 (11). The needle insertion / retraction module 1 (12) includes: two sets of openable and closable push claw assemblies (122). 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. The two sets of push claw assemblies (122) drive the puncture needle (VI) to complete the needle insertion and withdrawal actions through friction wheels (1221) or friction belts. The first guide module (14) and the first needle advance and retreat module (12) are arranged along the needle advance and retreat 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 automatic needle feeding mechanism with visual perception function according to claim 1, characterized in that, Also includes: A visual guidance device (13) is installed at the upper end of the needle insertion / retraction module (12) and / or the bottom of the guidance module (14) to capture and measure the position of the puncture needle (VI) in real time. The visual guidance device (13) located at the bottom of the guidance module (14) faces the front end of the puncture needle (VI), and the visual guidance device (13) located at the top of the needle insertion and withdrawal module (12) faces the rear end of the needle bar of the puncture needle (VI). The visual guidance device (13) employs a visual 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.

3. An automatic needle feeding mechanism with visual perception function according to claim 1 or 2, characterized in that, The advance / retract needle module (12) also includes: The pusher seat (121) is mounted on the base (11). Two sets of pusher claw assemblies (122) are matched left and right and connected to the pusher seat (121) through hinges or linear motion pairs. The pusher claw assembly (122) includes a rotatable friction wheel (1221) or friction belt. A propulsion drive assembly (123) drives the friction wheel (1221) to rotate or drives the friction belt to transmit power; and An opening and closing drive assembly (124) is installed on the base (11) and connected to the push claw assembly (122), which drives the two sets of push claw assemblies (122) to perform opening and closing actions.

4. The automatic needle feeding mechanism with visual perception function according to claim 3, characterized in that, The pusher claw assembly (122) includes: A hinge (1222) is hinged to the pusher seat (121); Friction wheel seat (1223) is mounted on the hinge (1222); 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; the friction wheel or friction belt is provided with a guide groove or anti-slip groove.

5. An automatic needle feeding mechanism with visual perception function according to claim 4, characterized in that, The push claw assembly (122) is provided with a guide structure, which can easily hold the puncture needle when the push claw closes, and guide the puncture needle to slide to the driving part of the friction wheel or friction belt while gradually clamping it; The guiding structure is a guide groove (1224) or guide hole provided on the inner side of the two friction wheel seats (1223) opposite to each other and through which the puncture needle (VI) can pass; 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.

6. An automatic needle feeding mechanism with visual perception function according to claim 3, characterized in that, The opening and closing drive assembly (124) is a linkage assembly, which includes: A connecting rod (1241) is provided, and a sliding groove (111) is provided on the base (11). The connecting rod (1241) slides in the sliding groove (111) under the action of an external drive; and Link 2 (1242) is exposed at both ends of Link 1 (1241) and is hinged to Link 2 (1242). The two Link 2 (1242) on the left and right are hinged to the two propulsion claw assemblies (122) on the left and right respectively.

7. An automatic needle feeding mechanism with visual perception function according to claim 1 or 2, 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. An automatic needle feeding mechanism with visual perception 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 an automatic needle-feeding mechanism with visual perception function, characterized in that, The automatic needle feeding mechanism according to any one of claims 1-8 includes: 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 by friction, and cooperate with the guide module (14) to clamp and guide the puncture needle (VI) to move. 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).

10. The method of using an automatic needle feeding mechanism with visual perception function according to claim 9, characterized in that, The method for switching the puncture needle from a floating state around a point to a clamping state includes the following steps: An external robot or doctor positions the tail of the puncture needle (VI) using a visual guidance device (13). The external robot moves automatically or is remotely controlled by a human to drive the automatic needle insertion mechanism to keep the needle insertion direction parallel to the axis of the puncture needle (VI). The two sets of push claw assemblies (122) of the needle insertion and retraction module (12) close together to clamp the puncture needle (VI).

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