End effector and puncture equipment

Abstract

The utility model provides an end effector and a puncturing device. The end effector includes: a body; the puncture assembly is provided with a clamping jaw device and is movably arranged on the main body, and the clamping jaw device is arranged to clamp a surgical needle; and the position detection device is arranged between the main body and the puncture assembly and is arranged to detect the position information of the puncture assembly on the main body. The clamping jaw device clamps the surgical needle, a medical worker drives the puncture assembly to drive the clamping jaw device to move forwards from the initial position in the puncture direction together, the puncture operation of the surgical needle is achieved, and in the process that the puncture assembly moves forwards from the initial position in the puncture direction, the position detection device detects the position information of the puncture assembly on the main body. The medical staff can judge the position where the needle point of the surgical needle reaches according to the variation of the position information of the puncture assembly at the initial position and the position information of the puncture assembly at the actual position, so that the medical staff can judge the position where the needle point of the surgical needle reaches according to different visceral organs on the puncture path. And the needle inserting speed and force during puncture of each path are controlled in a targeted manner.

Description

Technical Field

[0001] The utility model relates to medical equipment technology, and more specifically, to an end effector and a puncture device. Background Art

[0002] Puncture biopsy is the main way to obtain tumor pathological diagnosis. During the puncture process, the control of puncture depth is not only related to the success of the operation, but also closely related to the safety of the patient. Moreover, it has been clinically verified that using different puncture speeds and puncture forces for puncturing different organs will reduce the impact of deformation caused by different tissues in the human body, which is conducive to obtaining better puncture results.

[0003] At present, the existing auxiliary puncture end effectors are divided into three categories in terms of depth control:

[0004] The first type is that the end effector has no depth control, and the puncture depth is completely controlled manually by the doctor, and the accuracy of the depth control is poor.

[0005] The second type is that the puncture and needle insertion process of the end effector is completely performed by a machine. Although this type can control the puncture accuracy, it is difficult for doctors to apply different speeds and forces to the puncture needle according to different organs, and the surgical complications are relatively large. Moreover, the surgical needle is completely controlled by a machine, and the puncture safety is poor. If the machine fails, the patient is in great danger.

[0006] The third type is that the end effector sets a target needle insertion depth, and the puncture process is manually advanced by the doctor. This type is highly safe, but the real-time insertion depth of the surgical needle can only be controlled by the doctor's sense, and it is difficult for the doctor to apply different speeds and forces according to the organs that the needle tip contacts; moreover, the needle insertion depth has only a maximum limit, and there is a lack of real-time feedback on the needle insertion depth. It is not easy for the doctor to determine whether the surgical needle has reached the target depth and whether the limit depth is correct. Utility Model Content

[0007] The embodiment of the utility model provides an end effector which can provide real-time feedback on the needle insertion depth, and the doctor can determine the position reached by the needle tip of the surgical needle according to the actual needle insertion depth.

[0008] The embodiment of the utility model also provides a puncture device.

[0009] The end effector provided by the embodiment of the utility model includes: a main body; a puncture assembly with a clamping jaw device, which is movably arranged on the main body, and the clamping jaw device is configured to clamp a surgical needle; and a position detection device, which is arranged between the main body and the puncture assembly and is configured to detect the position information of the puncture assembly on the main body.

[0010] In some exemplary embodiments, the position detection device includes: a magnetic grating sensor, which is provided in one of the puncture component and the main body; and a magnetic grating bar arranged along the puncture direction, which is provided in the other of the puncture component and the main body and corresponds to the magnetic grating sensor.

[0011] In some exemplary embodiments, the magnetic grating sensor is disposed on the puncture assembly, and the magnetic grating strip is disposed on the main body.

[0012] In some exemplary embodiments, the position detection device includes: a grating sensor, which is provided in one of the puncture component and the main body; and grating bars arranged along the puncture direction, which are provided in the other of the puncture component and the main body and are arranged corresponding to the grating sensor.

[0013] In some exemplary embodiments, the grating sensor is disposed on the puncture assembly, and the grating bar is disposed on the main body.

[0014] In some exemplary embodiments, the position detection device includes: a laser ranging sensor, which is provided on the main body and located upstream or downstream of the puncture assembly along the puncture direction.

[0015] In some exemplary embodiments, the position detection device includes: a drawstring encoder, which is arranged on the main body, and the drawstring of the drawstring encoder is connected to the puncture assembly.

[0016] In some exemplary embodiments, the end effector further includes: a processing device, disposed on the main body and electrically connected to the position detection device, configured to receive the position information and determine the displacement information of the puncture assembly moving from the initial position along the puncture direction based on the position information.

[0017] In some exemplary embodiments, the processing device includes a PCB board.

[0018] The puncture device provided in the present application includes the end effector described in any of the above embodiments.

[0019] The end effector provided by the embodiment of the utility model has a clamping device that clamps the surgical needle, and the medical staff drives the puncture assembly to move forward along the puncture direction from the initial position together with the clamping device to realize the puncture operation with the surgical needle. During the process of the puncture assembly moving forward along the puncture direction from the initial position, the position detection device detects the position information of the puncture assembly on the main body, and the medical staff can determine the position reached by the needle tip of the surgical needle according to the change in the position information of the puncture assembly at the initial position and the position information of the puncture assembly at the actual position. This is beneficial for the medical staff to carry out targeted control of the needle insertion speed and force during puncture of each section of the puncture path according to the differences of each section of the organs on the puncture path; moreover, the medical staff can also determine whether the needle tip of the surgical needle has reached the target depth according to the change in the position information of the puncture assembly at the initial position and the position information of the puncture assembly at the actual position.

[0020] Other features and advantages of the utility model will be described in the following description, and partly become apparent from the description, or understood by implementing the utility model. The purpose and other advantages of the utility model can be realized and obtained through the structures particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the technical solution of the utility model and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the utility model and do not constitute a limitation on the technical solution of the utility model.

[0022] Figure 1 It is a right side structural schematic diagram of the end effector proposed in some embodiments of the utility model;

[0023] Figure 2 for Figure 1 The schematic diagram of the main structure of the end effector shown;

[0024] Figure 3 for Figure 1 A schematic diagram of a partial cross-sectional view of the right side structure of the end effector shown.

[0025] The corresponding relationship between the reference numerals and the component names is as follows:

[0026] 100 main body, 200 puncture assembly, 210 clamping jaw device, 300 surgical needle, 410 magnetic grating sensor, 420 magnetic grating strip, 500 PCB board, 600 fixed clamping jaw, 700 linear guide rail. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the utility model more clear, the embodiments of the utility model will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily without conflict.

[0028] The puncture device provided in the present application (not shown in the figure) includes an end effector. Figures 1 to 3 As shown, the end effector includes: a main body 100; a puncture assembly 200 having a clamping device 210, the puncture assembly 200 is movably arranged on the main body 100, and the clamping device 210 is configured to clamp the surgical needle 300; and a position detection device, the position detection device is arranged between the main body 100 and the puncture assembly 200, and the position detection device is configured to detect the position information of the puncture assembly 200 on the main body 100.

[0029] The end effector, the clamping device 210 clamps the surgical needle 300, and the medical staff drives the puncture component 200 to move forward along the puncture direction with the clamping device 210 and the surgical needle 300 from the initial position to realize the puncture operation of the surgical needle 300. In the process of the puncture component 200 moving forward (i.e., downstream) from the initial position along the puncture direction, the position detection device detects the position information of the puncture component 200 on the main body 100. The medical staff can determine the position reached by the needle tip of the surgical needle 300 according to the change in the position information of the puncture component 200 at the initial position and the position information of the puncture component 200 at the actual position. This is conducive to the medical staff to carry out targeted control of the needle insertion speed and force (the needle insertion speed and force are the puncture speed and puncture force) during puncture of each section of the path according to the difference of each section of the organ on the puncture path; moreover, the medical staff can also determine whether the needle tip of the surgical needle 300 reaches the target depth according to the change in the position information of the puncture component 200 at the initial position and the position information of the puncture component 200 at the actual position.

[0030] In one embodiment, if Figure 1 As shown, the clamping jaw device 210 is located at the front of the puncture assembly 210 in the puncture direction.

[0031] In some examples, the end effector further includes: a stopper (not shown in the figure), which is located downstream of the puncture assembly 200 in the puncture direction and is fixed on the main body 100 in an adjustable manner (it can be that the position of the stopper on the main body 100 is adjusted manually; or it can be that the position of the stopper on the main body 100 is adjusted by electric adjustment, etc.), and is used to limit the maximum displacement of the puncture assembly 200 along the puncture direction, that is, the stopper and the initial position limit the surgical puncture depth, and when the needle tip of the surgical needle 300 reaches the puncture target position, the puncture assembly 200 just rests on the stopper. During the surgical puncture process, the medical staff can also judge whether the limit depth of the stopper is accurate based on the change in the position information of the puncture assembly 200 at the initial position and the position information of the puncture assembly 200 at the actual position.

[0032] In some embodiments, Figure 1 and Figure 3 As shown, the position detection device includes: a magnetic grating sensor 410, which is arranged in one of the puncture component 200 and the main body 100; and a magnetic grating bar 420 arranged along the puncture direction, which is arranged in the other of the puncture component 200 and the main body 100 and corresponds to the magnetic grating sensor 410.

[0033] When the puncture assembly 200 is located at the initial position on the main body 100, the magnetic grid sensor 410 is opposite to the first preset position on the magnetic grid bar 420; the puncture assembly 200 moves forward along the puncture direction on the main body 100, and the position on the magnetic grid bar 420 relative to the magnetic grid sensor 410 changes, and the magnetic grid sensor 410 feeds back the second position information of the position on the magnetic grid bar 420 relative to the magnetic grid sensor 410 to the processing device, and the processing device is preset with the first position information corresponding to the first preset position on the magnetic grid bar 420. The processing device determines the displacement information of the puncture assembly 200 moving from the initial position along the puncture direction according to the second position information and the first position information, and transmits it to the display, and displays it through the display. The medical staff determines the position of the needle tip of the surgical needle 300 according to the displacement information displayed on the display. Among them, the displacement information includes the second displacement information.

[0034] Better, if Figure 1 and Figure 3 As shown, the magnetic grating sensor 410 is arranged on the puncture component 200, and the magnetic grating strip 420 is arranged on the main body 100, so that the volume of the end effector is more compact and small, and the magnetic grating sensor 410 and the magnetic grating strip 420 have strong anti-interference ability, and there is no need to worry about the detection end of the magnetic grating sensor 410 being blocked by stains and causing abnormal acquisition of the second position information.

[0035] Better, if Figure 3As shown, the end effector further includes: a processing device, which is disposed in the main body 100 and electrically connected to the magnetic grid sensor, and is configured to be electrically connected to the display. The processing device includes a PCB board 500, and the puncture device further includes a display.

[0036] In other embodiments, the position detection device includes: a grating sensor, which is disposed in one of the puncture assembly 200 and the main body 100; and grating bars arranged along the puncture direction, which are disposed in the other of the puncture assembly 200 and the main body 100 and are arranged corresponding to the grating sensor (not shown in this scheme, and may be arranged according to Figure 3 to understand).

[0037] When the puncture assembly 200 is located at the initial position on the main body 100, the grating sensor is opposite to the first preset position on the grating bar; the puncture assembly 200 moves forward along the puncture direction on the main body 100, and the position on the grating bar relative to the grating sensor changes, and the grating sensor feeds back second position information of the position on the grating bar relative to the grating sensor to the processing device, and the processing device is preset with first position information corresponding to the first preset position on the grating bar. The processing device determines the displacement information of the puncture assembly 200 moving from the initial position on the main body 100 along the puncture direction according to the second position information and the first position information, and transmits it to the display, and displays it through the display. The medical staff determines the position of the needle tip of the surgical needle 300 according to the displacement information displayed on the display. Among them, the displacement information includes the second displacement information.

[0038] Preferably, the grating sensor is arranged on the puncture assembly 200, and the grating strip is arranged on the main body 100, so that the volume of the end effector is more compact and small.

[0039] Preferably, the end effector further comprises: a processing device, which is disposed in the main body 100 and electrically connected to the grating sensor, and is configured to be electrically connected to the display. The processing device comprises a PCB board, and the puncture device further comprises a display.

[0040] Alternatively, the position detection device may include: a laser distance measuring sensor, which is disposed on the main body 100 and is located upstream or downstream of the puncture component 200 along the puncture direction, and the processing device determines the displacement information of the puncture component 200 moving from the initial position along the puncture direction according to the distance information (the position information includes the distance information) detected by the laser distance measuring sensor; or the position detection device may include: a drawstring encoder, which is disposed on the main body 100, and the drawstring of the drawstring encoder is connected to the puncture component 200, and the processing device determines the displacement information of the puncture component 200 moving from the initial position along the puncture direction according to the extended length of the drawstring (the position information includes the extended length of the drawstring); all of the above may achieve the purpose of the present application, and its purpose does not deviate from the design concept of the present utility model, and will not be repeated here, and all should belong to the protection scope of the present application.

[0041] The puncture device can be configured to adjust the fixed position of the limiter on the main body 100 in real time through structures such as a stepping motor according to the actual puncture position of the surgical needle 300, thereby achieving closed-loop control of the puncture depth, which can further improve the safety of the puncture surgery.

[0042] In some examples, such as Figures 1 to 3 As shown, the end effector further includes: a fixed jaw 600, which is arranged on the main body 100 and is located in front of the jaw device 210 in the puncture direction. The fixed jaw 600 is provided with a guide hole, and the needle tube of the surgical needle 300 is inserted into the guide hole. The fixed jaw 600 supports and guides the surgical needle 300 through the guide hole.

[0043] Furthermore, if Figure 1 and Figure 3 As shown, a linear guide rail 700 arranged along the puncture direction is provided on the main body 100, and the puncture assembly 200 is movably mounted on the linear guide rail 700, and the linear guide rail 700 guides the puncture assembly 200 to move forward and backward along the puncture direction.

[0044] To sum up, the end effector provided by the embodiment of the utility model, the clamping device clamps the surgical needle, and the medical staff drives the puncture assembly to move forward along the puncture direction from the initial position with the clamping device to realize the puncture surgery with the surgical needle. During the process of the puncture assembly moving forward along the puncture direction from the initial position, the position detection device detects the position information of the puncture assembly on the main body, and the medical staff can determine the position reached by the needle tip of the surgical needle according to the change in the position information of the puncture assembly at the initial position and the position information of the puncture assembly at the actual position. This is beneficial for the medical staff to carry out targeted control of the needle insertion speed and force during puncture of each section of the puncture path according to the differences of each section of the organs on the puncture path; moreover, the medical staff can also determine whether the needle tip of the surgical needle has reached the target depth according to the change in the position information of the puncture assembly at the initial position and the position information of the puncture assembly at the actual position.

[0045] In the description of the present invention, it should be noted that the terms "upper", "lower", "one side", "the other side", "one end", "the other end", "side", "relative", "four corners", "periphery", "'mouth'-shaped structure" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the structure referred to has a specific orientation, is constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0046] In the description of the embodiments of the present utility model, unless otherwise clearly specified and limited, the terms "connection", "direct connection", "indirect connection", "fixed connection", "installation", and "assembly" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; the terms "installation", "connection", and "fixed connection" can be a direct connection, or an indirect connection through an intermediate medium, or the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0047] Although the implementation methods disclosed in the utility model are as above, the above contents are only implementation methods adopted to facilitate the understanding of the utility model, and are not used to limit the utility model. Any technician in the field to which the utility model belongs can make any modifications and changes in the form and details of implementation without departing from the spirit and scope disclosed in the utility model, but the scope of patent protection of the utility model shall still be defined by the attached claims.

Claims

1. An end effector, characterized in that: include: main body; A puncture assembly having a clamping jaw device, movably disposed on the main body, wherein the clamping jaw device is configured to clamp a surgical needle; and A position detection device, disposed between the main body and the puncture assembly, configured to detect position information of the puncture assembly on the main body; The position detection device comprises: A magnetic grating sensor, disposed in one of the puncture assembly and the main body; and The magnetic grating strips arranged along the puncture direction are provided in the other of the puncture assembly and the main body and are arranged corresponding to the magnetic grating sensor; or the position detection device includes: A grating sensor, disposed in one of the puncture assembly and the main body; and The grating strips arranged along the puncture direction are provided in the other of the puncture assembly and the main body and are arranged corresponding to the grating sensor; or the position detection device includes: A laser distance measuring sensor is provided on the main body and is located upstream or downstream of the puncture assembly along the puncture direction; or the position detection device includes: A drawstring encoder is arranged on the main body, and a drawstring of the drawstring encoder is connected to the puncture assembly.

2. The end effector according to claim 1, characterized in that: Also includes: The processing device is arranged on the main body and electrically connected to the position detection device, and is configured to receive the position information and determine the displacement information of the puncture component moving from the initial position along the puncture direction according to the position information.

3. The end effector according to claim 2, characterized in that: The processing device includes a PCB board.

4. A puncture device, characterized in that: The invention comprises the end effector according to any one of claims 1 to 3.

Images