Flexible needle withdrawing mechanical arm

Abstract

The utility model discloses a flexible needle withdrawing mechanical arm, a needle withdrawing device comprises a base and a clamping mechanism, the clamping mechanism is used for clamping or hooking a puncture needle, and the free end of the base is connected with the clamping mechanism through a flexible extension rod; the mechanical arm realizes the movement of at least three degrees of freedom of the needle pulling device in the space, and drives the needle pulling device to move in the axial direction of the puncture needle, so that the puncture needle is pulled out by a target distance; a supporting adjusting mechanism is further arranged at the free end of the base, and the supporting adjusting mechanism conducts axial supporting operation on the flexible extension rod before the clamping mechanism and the puncture needle are in butt joint, so that the flexible extension rod is in a hard supporting state, and accurate butt joint of the clamping mechanism and the puncture needle is achieved; after the clamping mechanism and the puncture needle are in butt joint, the supporting and adjusting mechanism can enable the flexible extending rod to restore to the flexible state. According to the needle withdrawal device, the needle withdrawal operation efficiency and the needle withdrawal operation effect in the radioactive particle implantation operation can be guaranteed, and radiation injury to doctors is reduced.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, specifically to a flexible needle removal robotic arm. Background Technology

[0002] The basic procedure for radioactive particle implantation is as follows: First, under the guidance of imaging equipment (such as ultrasound and CT scans), the implantation channel is located and determined. Then, a treatment plan for particle implantation is formulated using a radiotherapy planning system (TPS). This plan mainly determines the number, location, and puncture angle (or needle insertion direction) of particles to be implanted based on the location and size of the patient's tumor target area, and calculates the effective isodose distribution of the tumor target area. Finally, through surgery or under the guidance of imaging equipment, multiple puncture needles are percutaneously inserted into the predetermined locations inside the tumor according to the needle insertion positions and angles determined in the treatment plan. This process can be completed with the help of a puncture guide template to ensure that the spacing and direction between the needles are consistent with the preoperative plan. After confirming with CT that all puncture needles have reached the target position, the doctor pushes each particle into the tumor according to the preoperative plan through the channel established by the puncture needles. After implanting each particle, a small distance is withdrawn, and then implanted again and withdrawn again, gradually achieving a uniform distribution of particles and achieving the goal of precise implantation and treatment. After all radioactive particles have been implanted, the puncture needles are withdrawn from the patient's body, completing the surgery. This surgery has a wide range of indications, including lung cancer, liver cancer, breast cancer, and prostate cancer. It has a small incision, less bleeding, relatively few surgical complications, and can effectively inhibit tumor growth. Its unique therapeutic effect has been effectively verified both domestically and internationally.

[0003] However, in actual treatment, the treatment plan formulated based on factors such as the location and size of the patient's tumor target area usually requires the implantation of multiple particles, sometimes up to hundreds. Each particle usually needs to be implanted at different locations in the tumor target area, and the puncture angle for implanting each particle also varies, making the actual puncture and implantation process very time-consuming. Moreover, during the specific operation, doctors need to manually perform particle implantation and remove the puncture needle, which requires doctors to come into close contact with radioactive particles, resulting in radiation damage to doctors. This greatly limits the application and promotion of this type of surgery.

[0004] Therefore, ensuring the efficiency and effectiveness of needle removal during radioactive particle implantation surgery, while reducing radiation damage to doctors, is a crucial technical problem that needs to be solved by those skilled in the art. Utility Model Content

[0005] To address the aforementioned existing technical problems, defects, and unmet technical requirements, the purpose of this utility model is to provide a flexible needle removal robotic arm that can ensure the efficiency and effectiveness of needle removal operations during radioactive particle implantation surgery, while reducing radiation damage to doctors.

[0006] The technical solution adopted by this utility model to achieve its utility model objective is:

[0007] A flexible needle removal robotic arm includes a needle removal device and a robotic arm. The needle removal device includes a base and a clamping mechanism, which clamps or hooks a puncture needle. The free end of the base is connected to the clamping mechanism via a flexible extension rod. The robotic arm enables the needle removal device to move in at least three degrees of freedom in space, driving the needle removal device to move along the axial direction of the puncture needle, thereby removing the puncture needle a target distance. The free end of the base is also provided with a support adjustment mechanism. Before the clamping mechanism and the puncture needle are fully engaged, the support adjustment mechanism provides axial support to the flexible extension rod, keeping it in a rigid support state to achieve precise engagement between the clamping mechanism and the puncture needle. After the clamping mechanism and the puncture needle are fully engaged, the support adjustment mechanism allows the flexible extension rod to return to a flexible state. The support adjustment mechanism is a support sleeve assembly or a capsule assembly.

[0008] Preferably, the robotic arm is a multi-degree-of-freedom articulated robotic arm, which enables the needle removal device to move in at least five degrees of freedom in space; the free end of the robotic arm is provided with a linear motion mechanism, which is directly or indirectly connected to the needle removal device, and the linear motion mechanism drives the needle removal device to move along the axis of the puncture needle.

[0009] Preferably, the clamping mechanism is one or a combination of a claw assembly, a hook assembly, a rotary clamping assembly, and a side clamping assembly;

[0010] When the clamping mechanism is a claw assembly, the claw assembly can clamp the puncture needle from the side. The claw assembly includes a claw adapted to the puncture needle and a drive assembly that can drive the claw to clamp or release the puncture needle. The opening and closing movable plane of the claw is set at an angle to the axis of the puncture needle. The claw has a clamping end that can clamp the puncture needle. The claw has a control end that is connected to the drive assembly.

[0011] When the clamping mechanism is a hook assembly, the hook assembly can hook the puncture needle. The hook assembly includes a hook that can be adapted to the stepped surface of the puncture needle. When the hook moves along the axial direction of the puncture needle, the hook abuts against the stepped surface of the puncture needle and drives the puncture needle to move together. The hook assembly also includes a drive assembly that can drive the hook to move along the axial direction of the puncture needle.

[0012] When the clamping mechanism is a rotary clamping assembly, the rotary clamping assembly includes a base frame disposed at the free end of the base, and a rotating component is rotatably disposed inside the base frame. The rotating component is driven to rotate or bend by a drive assembly. The rotating component is provided with a through hole, through groove, or double protrusion. When the rotating component rotates or bends, it will clamp the puncture needle passing through the through hole, through groove, or double protrusion.

[0013] When the clamping mechanism is a side clamping assembly, the side clamping assembly includes a clamping member located on one side of the puncture needle. The clamping member moves in a direction close to or away from the puncture needle. The clamping member can directly or indirectly apply pressure to the outer surface of the puncture needle, thereby driving the puncture needle out by relying on friction. The side clamping assembly also includes a driving assembly that can drive the clamping member to move.

[0014] Preferably, the drive assembly is one or a combination of a linkage mechanism, a gear and rack mechanism, a worm gear mechanism, a lead screw and nut mechanism, a line drive mechanism, a hydraulic mechanism, a pneumatic mechanism, and an electric motor.

[0015] Preferably, the device also includes an external device for guiding and / or clamping the puncture needle. The external device includes a guide template that cooperates with the puncture needle and a clamping module mounted on the guide template. The guide template is provided with a positioning hole for the puncture needle to pass through. Alternatively, the external device is a clamping module mounted on a robotic arm. The clamping module can clamp and dampen the puncture needle.

[0016] Preferably, when the external device is a guide template that cooperates with the puncture needle and a clamping needle module installed on the guide template, the clamping needle module includes a clamping mechanism, which is detachably disposed on the guide template; the clamping mechanism is clamped by at least one of the following: claw clamping, side pressing, and rotation clamping; the clamping mechanism is driven by a drive mechanism alone, which is a motor drive or a rope drive, or the clamping mechanism is clamped by manual adjustment.

[0017] Alternatively, when the external device is a pin clamping module mounted on a robotic arm, the robotic arm is provided with a pin clamping rod, and the pin clamping module is mounted at the end of the pin clamping rod; the pin clamping rod is telescopically mounted on the pin removal device; the pin clamping module may be at least one of a rotary clamping assembly, a claw assembly, or a hook assembly.

[0018] Preferably, the length of the flexible extension rod is greater than 50 mm; a deformation sensor is provided on the outside of the flexible extension rod, which is one or a combination of strain gauge, FBG fiber optic sensor; or, a force sensing element for sensing whether the flexible extension rod is straightened is provided inside the flexible extension rod, or between the base and the flexible extension rod, or between the flexible extension rod and the clamping mechanism, which is one or a combination of force sensor, torque sensor, current sensor; or, the puncture needle is covered with a sensing module, which can be used to sense the withdrawal force of the puncture needle, and the sensing module is provided with a single clamping part and a single force sensor, the single clamping part partially clamps at least one puncture needle, and the single force sensor measures the tension on the single clamping part.

[0019] Preferably, the support adjustment mechanism includes a support sleeve and a linear motion component. The support sleeve is fitted over the flexible extension rod and is positioned on the free end of the base for front-to-back movement. The linear motion component drives the support sleeve to move back and forth. When the support sleeve moves forward, it provides axial support to the flexible extension rod, putting the flexible extension rod in a rigid support state. When the support sleeve moves backward, it allows the flexible extension rod to return to a flexible state.

[0020] Preferably, the support adjustment mechanism includes a bladder and an inflation / deflation assembly. The inflation / deflation assembly can fill or deflate the bladder with a medium. The bladder is sleeved on the outer surface of the flexible extension rod. A through hole is provided in the middle of the bladder, through which the flexible extension rod passes.

[0021] Alternatively, the capsule can be fixedly connected to the outer surface of the flexible extension rod along its length.

[0022] When the capsule is filled with a medium and is in a full state, the flexible extension rod is axially supported, so that the flexible extension rod is in a rigid support state; when the capsule is discharged from the medium and is in a deflated and flexible state, the flexible extension rod loses its support function and returns to a flexible state.

[0023] A method for using a flexible needle-removing robotic arm includes the following steps:

[0024] S201, the user needs to manually puncture at least one puncture needle to the target location of the target object according to the preoperative plan;

[0025] S202, each puncture needle is connected to a corresponding delivery catheter, the other end of the delivery catheter is connected to a radiation source implantation machine, the radiation source implantation machine can deliver a radiation source to the puncture needle along the delivery catheter so that it can be output from the front end of the puncture needle and implanted into the target object;

[0026] S203, firstly, the support adjustment mechanism located at the free end of the base works to provide axial support for the flexible extension rod. The robotic arm adjusts the position of the free end and drives the clamping mechanism to dock and clamp a puncture needle. Then, the support adjustment mechanism works in reverse to restore the flexible extension rod to its flexible state, ensuring that the puncture needle and the robotic arm are in a flexible connection state to avoid scratching the target object.

[0027] S204, each time the radioactive source implantation machine completes the implantation of a radioactive source, the robotic arm drives the clamping mechanism to move along the axis of the puncture needle, thereby pulling the puncture needle out of the target distance, so that the tip of the puncture needle is in the implantation position of the next radioactive source, or the needle is pulled out at the same time as the radioactive source is implanted, so that the radioactive source is accurately implanted into the target position.

[0028] S205, Repeat step S204 until all radiation sources have been implanted into the target location of the target object.

[0029] In step S204, the robotic arm determines whether the flexible extension rod is in a straightened state based on one or a combination of deformation sensors, force sensing elements, and sensing modules, thereby automatically adjusting the free end posture of the robotic arm. The flexible extension rod remains in a straightened state, enabling the clamping mechanism to accurately control the withdrawal depth of the puncture needle.

[0030] The beneficial effects of this utility model are as follows:

[0031] 1. The needle removal device provided by this utility model allows for the following operation: After a doctor or other operator inserts the puncture needle into the corresponding puncture site, if it is necessary to remove the needle, a clamping mechanism can be used to align with the puncture needle, reliably clamping or hooking it. Then, the movement of a robotic arm drives the clamping mechanism to move, simultaneously clamping or hooking the needle to pull it out from its current position. This eliminates the need for direct on-site operation by doctors or other medical personnel, effectively reducing close contact between doctors and radioactive particles and minimizing radiation exposure for doctors and other personnel performing the procedure, thus protecting their health. Furthermore, the robotic arm provides higher precision in needle removal, resulting in more accurate particle distribution and improved surgical efficacy.

[0032] 2. The puncture needle is clamped and damped using a needle clamping module, ensuring that the puncture needle inserted into the module can only be pulled out along its axis when subjected to a certain pulling force applied by the robotic arm. This ensures that the robotic arm can only pull out the needle after the flexible extension rod is fully straightened, thereby improving the needle removal accuracy. It also prevents the puncture needle from moving or misaligning non-axially during operator errors, which could lead to inaccurate placement of the radiation source. Furthermore, it effectively ensures the clamping and engagement accuracy between the robotic arm components and the puncture needle, optimizing the needle removal operation effect and efficiency. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall cooperation structure of the needle removal device and the needle removal robot system in Example 1;

[0034] Figure 2 for Figure 1 Enlarged view of the connection structure between the puncture needle and the puncture pin;

[0035] Figure 3 for Figure 1 A schematic diagram of the positioning clamping component in the state where it is not clamped to the puncture needle;

[0036] Figure 4 for Figure 3 A schematic diagram of the positioning clamping assembly and the puncture needle in the clamped state;

[0037] Figure 5 This is a schematic diagram of the structure of the chuck in the open state in Embodiment 2 of this utility model;

[0038] Figure 6 for Figure 5 A schematic diagram of the structure with the clamping claw and puncture needle in the clamped state;

[0039] Figure 7 This is a schematic diagram of the structure of the chuck in the open state in Embodiment 3 of this utility model;

[0040] Figure 8 for Figure 7 A schematic diagram of the structure with the clamping claw and puncture needle in the clamped state;

[0041] Figure 9 This is a schematic diagram of the structure in Embodiment 4 of this utility model when the hook is not hooked onto the puncture needle;

[0042] Figure 10 for Figure 9 A schematic diagram of the structure with the middle hook claw holding the puncture needle;

[0043] Figure 11 This is a schematic diagram of the clamping mechanism in Embodiment 5 of this utility model when it is not clamped to the puncture needle;

[0044] Figure 12 for Figure 11 A schematic diagram of the clamping mechanism and the puncture needle in the clamped state;

[0045] Figure 13 This is a schematic diagram of the side clamping component in Example 6 when it is not clamped to the puncture needle;

[0046] Figure 14 for Figure 13 A schematic diagram of the structure in which the side clamping component is clamped to the puncture needle;

[0047] Figure 15 This is a schematic diagram of the structure of Example 7;

[0048] Figure 16 for Figure 15 Side sectional view of the middle limiting hole and the puncture needle in a pressed fit;

[0049] Figure 17 for Figure 15 Side sectional view of the central limiting hole and the puncture needle in the released clamping state;

[0050] Figure 18 This is a schematic diagram of the support adjustment mechanism of the support sleeve assembly in Example 8;

[0051] Figure 19 This is one of the structural schematic diagrams of the support adjustment mechanism of the capsule assembly in Embodiment 9;

[0052] Figure 20 The second schematic diagram of the support and adjustment mechanism of the capsule assembly in Example 9 is shown. Detailed Implementation

[0053] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0054] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integral part, or even a connection that allows relative movement; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0055] Example 1

[0056] A flexible needle removal robotic arm includes a needle removal device and a robotic arm. The needle removal device includes a base and a clamping mechanism, which clamps or hooks a puncture needle. The free end of the base is connected to the clamping mechanism via a flexible extension rod. The robotic arm enables the needle removal device to move in at least three degrees of freedom in space. The robotic arm drives the needle removal device to move along the axial direction of the puncture needle, thereby removing the puncture needle a target distance. The free end of the base is also provided with a support adjustment mechanism. Before the clamping mechanism and the puncture needle are fully connected, the support adjustment mechanism provides axial support to the flexible extension rod, keeping it in a rigid support state to achieve precise connection between the clamping mechanism and the puncture needle. After the clamping mechanism and the puncture needle are fully connected, the support adjustment mechanism allows the flexible extension rod to return to a flexible state, preventing the rigidly connected puncture needle from scratching the target object.

[0057] The robotic arm is a multi-degree-of-freedom articulated robotic arm, which enables the needle removal device to move in at least five degrees of freedom in space; the free end of the robotic arm is provided with a linear motion mechanism, which is directly or indirectly connected to the needle removal device, and the linear motion mechanism drives the needle removal device to move along the axis of the puncture needle.

[0058] The clamping mechanism is one or a combination of a claw assembly, a hook assembly, a rotary clamping assembly, and a side clamping assembly;

[0059] When the clamping mechanism is a hook assembly, the hook assembly can hook the puncture needle. The hook assembly includes a hook that can be adapted to the stepped surface of the puncture needle. When the hook moves along the axial direction of the puncture needle, the hook abuts against the stepped surface of the puncture needle and drives the puncture needle to move together. The hook assembly also includes a drive assembly that can drive the hook to move along the axial direction of the puncture needle.

[0060] The drive assembly is one or a combination of linkage mechanism, rack and pinion mechanism, worm gear mechanism, lead screw and nut mechanism, linear drive mechanism, hydraulic mechanism, pneumatic mechanism, and motor.

[0061] It also includes an external device for guiding and / or clamping the puncture needle. The external device includes a guide template that cooperates with the puncture needle and a clamping needle module installed on the guide template. The guide template is provided with a positioning hole for the puncture needle to pass through. Alternatively, the external device is a clamping needle module installed on a robotic arm. The clamping needle module can clamp and dampen the puncture needle.

[0062] When the external device is a guide template that cooperates with the puncture needle and a clamping needle module installed on the guide template, the clamping needle module includes a clamping mechanism, which is detachably mounted on the guide template; the clamping mechanism is clamped by at least one of the following: claw clamping, side pressing, and rotation clamping; the clamping mechanism is driven by a drive mechanism alone, which is either motor-driven or rope-driven, or the clamping mechanism is clamped by manual adjustment.

[0063] Alternatively, when the external device is a pin clamping module mounted on a robotic arm, the robotic arm is provided with a pin clamping rod, and the pin clamping module is mounted at the end of the pin clamping rod; the pin clamping rod is telescopically mounted on the pin removal device; the pin clamping module may be at least one of a rotary clamping assembly, a claw assembly, or a hook assembly.

[0064] The length of the flexible extension rod is greater than 50 mm; a deformation sensor is provided on the outside of the flexible extension rod, which is one or a combination of strain gauge and FBG fiber optic sensor; or, a force sensing element for sensing whether the flexible extension rod is straightened is provided inside the flexible extension rod, or between the base and the flexible extension rod, or between the flexible extension rod and the clamping mechanism, which is one or a combination of force sensor, torque sensor, and current sensor; or, a sensing module is provided on the puncture needle, which can be used to sense the withdrawal force of the puncture needle, and the sensing module is provided with a single clamping part and a single force sensor, the single clamping part partially clamps at least one puncture needle, and the single force sensor measures the tension on the single clamping part.

[0065] The support adjustment mechanism includes a support sleeve and a linear motion component. The support sleeve is fitted over the flexible extension rod and is positioned on the free end of the base for front-to-back movement. The linear motion component drives the support sleeve to move back and forth. When the support sleeve moves forward, it provides axial support to the flexible extension rod, putting the flexible extension rod in a rigid support state. When the support sleeve moves backward, it can restore the flexible extension rod to a flexible state.

[0066] The support adjustment mechanism includes a bladder and an inflation / deflation assembly. The inflation / deflation assembly can fill or deflate the bladder with a medium. The bladder is sleeved on the outer surface of the flexible extension rod. A through hole is provided in the middle of the bladder, through which the flexible extension rod passes.

[0067] Alternatively, the capsule can be fixedly connected to the outer surface of the flexible extension rod along its length.

[0068] When the capsule is filled with a medium and is in a full state, the flexible extension rod is axially supported, so that the flexible extension rod is in a rigid support state; when the capsule is discharged from the medium and is in a deflated and flexible state, the flexible extension rod loses its support function and returns to a flexible state.

[0069] Specifically, such as Figures 1-4 As shown, the robotic arm 50 is equipped with a linear motion mechanism 51, on which a slider 511 is movably mounted. A flexible extension rod 52, arranged parallel to the robotic arm 50, is linked to the slider 511 and the clamping mechanism. The robotic arm 50 also has a positioning and clamping assembly 53 adapted to assemble and disassemble the fifth puncture needle 500. Specifically, the slider 511 can be moved by controlling the linear motion mechanism 51. The first guide template 55 has a first positioning hole 551 for the fifth puncture needle 500 to pass through. In specific operation, the fifth puncture needle 500 is first pre-clamped by the positioning clamping component 53, and the clamping mechanism is pre-aligned and assembled with the fifth puncture needle 500. Then, the slider 511 is controlled to move away from the clamping mechanism, thereby driving the end of the flexible extension rod 52 away from the clamping mechanism to move synchronously. During this process, the end of the flexible extension rod 52 connected to the clamping mechanism remains in a fixed position until the slider 511 drives the end of the flexible extension rod 52 to move until the main structure of the flexible extension rod 52 is fully extended. At this time, the clamping mechanism and the fifth puncture needle 500 are reliably clamped. Then, the positioning clamping component 53 can be controlled to release the fifth puncture needle 500. Then, the slider 511 is controlled to continue moving away from the clamping mechanism so as to drive the flexible extension rod 52 and the clamping mechanism to move synchronously. Thus, the corresponding needle removal operation is completed through the clamping linkage between the clamping mechanism and the fifth puncture needle 500.

[0070] Based on this, a tension sensor 512, which is communicatively connected to the linear motion mechanism 51, is connected between the flexible extension rod 52 and the slider 511. When the flexible extension rod 52 is fully extended under the action of the slider 511, the tension sensor 512 detects a certain tension value, thereby determining that the flexible extension rod 52 has been extended to the correct position. The tension sensor 512 then sends a signal to the linear motion mechanism 51 to stop the movement of the slider 511. After the positioning clamping assembly 53 disengages from the fifth puncture needle 500, the linear motion mechanism 51 drives the slider 511 to continue moving, thus realizing the needle removal operation.

[0071] Furthermore, when the clamping mechanism is a claw assembly, the clamping mechanism is a locking foot 54, which has a U-shaped groove 541 that is adapted to engage with the fifth puncture needle 500. The U-shaped groove 541 can reliably align and adapt with the tail stepped surface structure of the fifth puncture needle 500, thereby ensuring a stable engagement and assembly between the locking foot 54 and the fifth puncture needle 500, and ensuring the clamping linkage effect between the fifth puncture needle 500 and the clamping mechanism.

[0072] On the other hand, the positioning and clamping component 53 is a gripper with an opening and closing mechanism. This gripper can be a conventional gripper with a certain opening and closing capability, or a gripper assembly structure as described above and shown in the attached figures, or other action components that can be disassembled and assembled with the fifth puncture needle 500. Operators can flexibly select and adjust the specific structural form of the gripper according to actual working conditions. In principle, any structure that meets the actual application requirements of the needle removal device is acceptable.

[0073] Example 2

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

[0075] When the clamping mechanism is a claw assembly, the claw assembly can clamp the puncture needle from the side. The claw assembly includes a claw adapted to the puncture needle and a drive assembly that can drive the claw to clamp or release the puncture needle. The opening and closing movable plane of the claw is set at an angle to the axis of the puncture needle. The claw has a clamping end that can clamp the puncture needle. The claw has a control end that is connected to the drive assembly.

[0076] Furthermore, the opening and closing rotation plane of the chuck is perpendicular to the axis of the puncture needle. One end of the chuck has a clamping end that can clamp and engage with the puncture needle, while the other end has a control end connected to the drive assembly. The perpendicularity of the chuck's opening and closing rotation plane to the puncture needle axis allows for appropriate structural avoidance between the chuck and the puncture needle, preventing accidental contact or interference with the main structure of the puncture needle during opening and closing. This ensures smoother and more efficient opening and closing of the chuck, while also preventing structural damage to the puncture needle.

[0077] Specifically, such as Figure 5 and Figure 6As shown, when the clamping mechanism is a jaw assembly, the jaw is a clamp-type jaw 11. The hinge between the two jaw bodies 111 of the clamp-type jaw 11 is located in the middle of the clamp-type jaw 11. The retracting component includes a hinge seat 12 disposed on the first base 10. Two rotating arms 121 are hinged on the hinge seat 12. The two rotating arms 121 are symmetrically arranged and properly fitted. The two rotating arms 121 are respectively linked to the control ends of the two jaw bodies 111 of the clamp-type jaw 11. The driving component is a pull rope 13 that controls the retraction of the rotating arms 121. The resetting component is an elastic element 14 that is aligned and embedded between the control ends of the two jaw bodies 111 of the clamp-type jaw 11. During operation, by pulling the pull rope 13, the two rotating arms 121 are driven to retract, thereby driving the two jaw bodies 111 of the clamp-type jaw 11 to be aligned and clamped, so as to reliably clamp the first puncture needle 100 through the clamping end of the clamp-type jaw 11. In practical applications, contact sensors 15 can be arranged at the clamping ends of the two claws 111 of the clamp-type jaws 11 to determine whether the clamp-type jaws 11 have fully closed and have contacted the puncture needle. When it is necessary to release the clamp-type jaws 11 from the first puncture needle 100, simply loosen the pull rope 13 to allow the elastic element 14 to return to its original position, which will drive the rotating arm 121 to open and return to its original position, thereby causing the clamp-type jaws 11 to open in conjunction, thus releasing the clamp-type jaws 11 from the first puncture needle 100, so that subsequent related operations can be carried out smoothly.

[0078] In practical applications, the contact sensor 15 can be a conductive probe assembly that determines whether there is contact by the continuity of conductivity, or it can be other more sensitive trigger-type contact sensing elements or pressure sensing elements. The elastic element 14 can generally be a spring, or it can be other elements with a certain elastic restoring capability. The material can be plastic or rubber, or other materials can be flexibly selected according to the actual working conditions.

[0079] Example 3

[0080] The parts of this embodiment that are structurally identical to those in Embodiment 2 will not be described again. The differences are as follows:

[0081] Specifically, such as Figure 7 and Figure 8As shown, when the clamping mechanism is a claw assembly, the claw includes a claw base 21 and two elastic claw bodies 211 symmetrically arranged on the front end face of the claw base 21. The distance between the two elastic claw bodies 211 in their naturally extended state increases from the end closer to the claw base 21 to the end farther from the claw base 21. The retracting member is a clamping platform 22 disposed on the free end of the second base 20. The clamping platform 22 has a retracting hole 221 in the middle for the two elastic claws to pass through. The driving member includes a transmission plate 23 hinged to the free end of the second base 20. The transmission plate 23 includes components arranged sequentially from front to back. The first plate 231 and the second plate 232 are arranged with a non-zero included angle between them. The hinge of the transmission plate 23 is located at the connection between the first plate 231 and the second plate 232. The rotation axis of the transmission plate 23 is perpendicular to the axis of the second puncture needle 200. The front part of the first plate 231 is hinged to the claw seat 21. The driving component also includes a second pull rope 233 that is linked to the rear part of the second plate 232. The reset component is a second elastic element 234 that is aligned and embedded between the rear end face of the second plate 232 and the second base 20. In specific operation, the second pull rope 233 is pulled a certain distance, causing the second plate 232 to swing synchronously with the second pull rope 233, thereby driving the first plate 231 to swing accordingly. This causes the transmission plate 23 to rotate synchronously and appropriately with the pulling of the second pull rope 233. This causes the two elastic claws 211 to move towards the clamping platform 22 as the transmission plate 23 rotates. During this process, the main structure of the two elastic claws 211 gradually passes through the closing hole 221. By utilizing the limiting effect of the inner wall of the closing hole 221, the two elastic claws 211 swing towards each other and gradually close, thereby enabling the clamping claws to reliably clamp the second puncture needle 200. When the chuck needs to release the second puncture needle 200, the second pull rope 233 is loosened, and the elastic restoring force of the second elastic element 234 is used to lift and rotate the second plate 232, thereby driving the transmission plate 23 to flip back to its original position. Then, the transmission plate 23 pushes the two elastic claws 211 to pass through the retracting hole 221 in the opposite direction and re-extend and reset, thereby opening the chuck so that the chuck can be released from clamping the second puncture needle 200.

[0082] In practical applications, the second elastic element 234 can be a spring. If so, the second pull rope 233 can be passed through the spring arrangement to form a roughly coaxial fit between the second pull rope 233 and the spring, thereby further optimizing the linkage control effect and action accuracy of the second pull rope 233 and the spring on the transmission plate 23 and the chuck.

[0083] Specifically, regardless of the structure of the jaws in actual application, a contact sensor can be set at the clamping end so that when the jaws close and press, the contact sensor can feed back a contact signal to the controller of the needle removal device, thereby determining the clamping effect and contact state of the jaws on the second puncture needle 200, thus helping the operator of the needle removal device to accurately judge the current working status and ensure the accuracy and reliability of the corresponding clinical operation.

[0084] Generally, the aforementioned contact sensor can be one or a combination of a conductive spring device, a conductive pin device, an enameled wire assembly, a force sensor, a torque sensor, and a current sensor. It can be flexibly selected and adjusted according to actual working conditions. In principle, any sensor that can meet the actual application requirements of the pin-removing device is acceptable.

[0085] Example 4

[0086] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows:

[0087] When the clamping mechanism is a hook assembly, the hook assembly can hook the puncture needle. The hook assembly includes a hook that can be adapted to the stepped surface of the puncture needle. When the hook moves along the axial direction of the puncture needle, the hook abuts against the stepped surface of the puncture needle and drives the puncture needle to move together. The hook assembly also includes a drive assembly that can drive the hook to move along the axial direction of the puncture needle.

[0088] Specifically, such as Figure 9 and Figure 10As shown, when the clamping mechanism is a claw assembly, the driving assembly includes a guide cylinder 31 disposed on the base and a guide rod 32 inserted into the guide cylinder 31. The axis of the guide cylinder 31 is parallel to the axis of the third puncture needle 300. The guide rod 32 can reciprocate along the axial direction of the guide cylinder 31. A movable claw body 321 is provided on the side of the extended end of the guide rod 32. A reference claw body 311 is provided on the guide cylinder 31 to be axially aligned with the movable claw body 321. A locking gap 331 is formed between the movable claw body 321 and the reference claw body 311 for the handle of the third puncture needle 300 to be inserted and clamped. The middle part of the movable claw body 321 and the middle part of the reference claw body 311 both have a receiving gap 332 for the third puncture needle 300 to pass through. The movable claw body 321 and the reference claw body 311 are appropriately matched to form a chuck. The driving assembly is a push-pull rod that drives the guide rod 32 to reciprocate along its axial direction. In actual operation, the guide rod 32 is moved axially towards the reference claw 311 by the push-pull rod, thereby driving the moving claw 321 to gradually approach the reference claw 311, ensuring that the stepped surface of the tail of the third puncture needle 300 is between the moving claw 321 and the reference claw 311. The moving claw 321 and the reference claw 311 continue to approach each other until they align and clamp the stepped surface of the third puncture needle 300, thus completing the reliable clamping linkage assembly of the claw and the third puncture needle 300. When it is necessary to release the clamp between the claw and the third puncture needle 300, the guide rod 32 is moved in the opposite direction to reset by the push-pull rod, so that the moving claw 321 moves synchronously back to its original position until the moving claw 321 and the reference claw 311 are released from the alignment and clamping state, and the gap between the moving claw 321 and the reference claw 311 is sufficient for the smooth removal of the third puncture needle 300.

[0089] Example 5

[0090] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows:

[0091] When the clamping mechanism is a rotary clamping assembly, the rotary clamping assembly includes a base frame disposed at the free end of the base, and a rotating component is rotatably disposed inside the base frame. The rotating component is driven to rotate or bend by a drive assembly. The rotating component is provided with a through hole, through groove, or double protrusion. When the rotating component rotates or bends, it will clamp the puncture needle passing through the through hole, through groove, or double protrusion.

[0092] Specifically, such as Figure 11 and Figure 12As shown, when the clamping mechanism is a rotary clamping assembly, the clamping mechanism includes a base frame 41 disposed at the free end of the third base 40. A chuck 42 is rotatably disposed on the base frame 41. The rotation axis of the chuck 42 is perpendicular to the axis of the fourth puncture needle 400. Two locking pins 421 protrude axially from the chuck 42. The two locking pins 421 are symmetrically arranged radially along the chuck 42 and are linked to the chuck 42. A locking groove 422 for the fourth puncture needle 400 to pass through is formed between the two locking pins 421. The clamping mechanism also includes a drive assembly that drives the chuck 42 to rotate on a fixed axis. In the normal non-operating state, the chuck 42 is in its original position, at which time the line connecting the axes of the two guide pins is approximately perpendicular to the axis of the third base 40. When it is necessary to clamp the fourth puncture needle 400, the fourth puncture needle 400 is placed in the middle of the locking groove 422, and then the chuck 42 is driven to rotate moderately on a fixed axis by the drive assembly, thereby driving the two locking pins 421 to rotate synchronously until both guide pins are in full contact with the fourth puncture needle 400 and are reliably pressed. At this time, the two guide pins are located on both sides of the fourth puncture needle 400, so that the two locking pins 421 can form a pressing force on the fourth puncture needle 400 in the direction of the axis of the fourth puncture needle 400. Since the pressing force applied by the two locking pins 421 to the fourth puncture needle 400 is in opposite directions, the two locking pins 421 can cooperate to form a reliable clamping of the fourth puncture needle 400, thereby reliably clamping and fixing the fourth puncture needle 400 in the locking groove 422, so as to facilitate the smooth implementation of subsequent needle removal and other operations. When the fourth puncture needle 400 needs to be removed from the clamping mechanism, the control drive component drives the chuck 42 to rotate in the opposite direction, thereby driving the two chucks 421 to rotate synchronously and reset until the space between the two chucks 421 allows the fourth puncture needle 400 to be smoothly removed.

[0093] Specifically, the drive assembly includes a third pull rope 43 linked to the outer peripheral wall of the chuck 42, and a reset spring embedded in the bottom of the chuck 42. In the normal non-operating state, the chuck 42 is in its original position under the action of the reset spring. When a fixed-axis rotation operation is required to clamp the fourth puncture needle 400, simply pulling the third pull rope 43 overcomes the elastic reset force of the reset spring, causing the chuck 42 to rotate synchronously. When the clamping operation is completed and the chuck 42 needs to be reset, simply releasing the third pull rope 43 utilizes the elastic reset force of the reset spring to rotate the chuck 42 back to its original position, thereby releasing the fourth puncture needle 400 and completing the corresponding operation.

[0094] More specifically, the front and rear walls of the base frame 41 are respectively provided with limiting grooves 411 for the fourth puncture needle 400 to be aligned and inserted. Before clamping, the fourth puncture needle 400 can be inserted into the limiting groove 411 for alignment, so that the fourth puncture needle 400 and the locking groove 422 are pre-aligned, thereby forming a pre-assembly of the fourth puncture needle 400 and the chuck 42. Then, by rotating the chuck 42 on a fixed axis, the two locking pins 421 will form a more smooth and accurate reliable clamping of the fourth puncture needle 400. It can be seen that the limiting groove 411 can greatly optimize the alignment and adaptation effect between the chuck 42 and its adapter and the fourth puncture needle 400, ensure the corresponding connection and fit accuracy, and improve the operating efficiency of the clamping mechanism accordingly.

[0095] Example 6

[0096] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows:

[0097] When the clamping mechanism is a side clamping assembly, the side clamping assembly includes a clamping member located on one side of the puncture needle. The clamping member moves in a direction close to or away from the puncture needle. The clamping member can directly or indirectly apply pressure to the outer surface of the puncture needle, thereby driving the puncture needle out by relying on friction. The side clamping assembly also includes a driving assembly that can drive the clamping member to move.

[0098] Specifically, such as Figure 13 and Figure 14 As shown, the clamping mechanism is configured as a side-clamping assembly. The clamping mechanism includes a movable seat 1301 located at the free end of the base. The eleventh puncture needle 1302 is guided through the movable seat 1301. A slanted top block 1303 is provided on the movable seat 1301 beside the eleventh puncture needle 1302. The slanted top block 1303 is movably disposed on the movable seat 1301 in a direction close to or away from the eleventh puncture needle 1302. A pushing block 1304 is slidably disposed on the movable seat 1301 along the axial direction of the eleventh puncture needle 1302. The pushing block 1304 is driven by a driving assembly to slide along the axial direction of the eleventh puncture needle 1302. The pushing block 1304 can squeeze and drive the slanted top block 1303 to move in a direction close to the eleventh puncture needle 1302, so that the slanted top block 1303 presses against the outer side of the eleventh puncture needle 1302. The drive assembly is driven by at least one of the following methods: drive wire drive, rod drive, micro motor drive, hydraulic drive, and pneumatic drive.

[0099] Specifically: The inclined push block 1303 is slidably mounted on the movable seat 1301. The inclined push block 1303 has a pressing surface on the side near the eleventh puncture needle 1302. This pressing surface is an arc-shaped surface 13031, although it can also be other shapes. The arc-shaped surface 13031 can fit against the surface of the eleventh puncture needle 1302. The inclined push block 1303 has a first inclined surface 13032 on the side near the pushing block 1304, and the pushing block 1304 has a second inclined surface 13041. When the push block 1304 moves to one side, it can squeeze the first inclined surface 13032 through the second inclined surface 13041, thereby driving the inclined top block 1303 to move closer to the eleventh puncture needle 1302. The inclined top block 1303 presses the eleventh puncture needle 1302 through the arc surface 13031. When the push block 1304 moves to the other side, it can remove the squeezing of the first inclined surface 13032 by the second inclined surface 13041, and the inclined top block 1303 releases the pressure on the eleventh puncture needle 1302.

[0100] Example 7

[0101] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows:

[0102] It also includes an external device for guiding and / or clamping the puncture needle. The external device includes a guide template that cooperates with the puncture needle and a clamping needle module installed on the guide template. The guide template is provided with a positioning hole for the puncture needle to pass through.

[0103] When the external device is a guide template that cooperates with the puncture needle and a clamping needle module installed on the guide template, the clamping needle module includes a clamping mechanism that is detachably disposed on the guide template.

[0104] Specifically, such as Figures 15-17 As shown, the needle removal device also includes a guide template 60 that cooperates with the sixth puncture needle 600. The guide template 60 has a plurality of positioning holes 601 arranged in an array for the sixth puncture needle 600 to pass through. The sixth puncture needle 600 is fitted with a clamping needle module that can clamp the sixth puncture needle 600. The clamping needle module has a limiting hole 61 for the sixth puncture needle 600 to pass through. The limiting hole 61 is aligned and fitted with the positioning hole 601, and the limiting hole 61 clamps and dampens the sixth puncture needle 600. The robotic arm assembly can drive the sixth puncture needle 600 to move axially along the limiting hole 61.

[0105] During operation, the coordinated action of the needle clamping module and the guide template 60 ensures reliable positioning and locking of the sixth puncture needle 600. This guarantees the positional reliability of the sixth puncture needle 600 after it is inserted into the corresponding part of the target object. During the process of the robotic arm assembly clamping the sixth puncture needle 600 for removal, the clamping and damping structure between the limiting hole 61 and the sixth puncture needle 600 ensures that the sixth puncture needle 600, inserted in the limiting hole 61, can only be removed when subjected to a certain pulling force applied by the robotic arm assembly. The needle is pulled out along its axial direction, ensuring that the robotic arm can only remove the needle after the flexible extension rod is fully straightened. This improves the needle removal accuracy and prevents the sixth puncture needle 600 from moving or misaligning non-axially during operator error, thus avoiding damage to the target object. Furthermore, the coordinated operation of the positioning hole 601 and the limiting hole 61 ensures the positioning accuracy of the sixth puncture needle 600, thereby guaranteeing the clamping accuracy between the robotic arm assembly and the sixth puncture needle 600 and optimizing the needle removal operation performed by the robotic arm assembly.

[0106] It should be noted that the damping adaptation mentioned above refers to the structural resistance that the limiting hole 61 will generate on the axial movement of the sixth puncture needle 600. This resistance is usually mainly the friction between the inner wall of the limiting hole 61 and the outer wall of the sixth puncture needle 600. In other words, after the limiting hole 61 and the sixth puncture needle 600 are clamped together, it does not lock all directions of movement of the sixth puncture needle 600. Instead, it forms a semi-clamping adaptation with a certain amount of movement resistance between the limiting hole 61 and the sixth puncture needle 600. Specifically, the limiting hole 61 can effectively restrict the non-axial movement tendency of the sixth puncture needle 600, so that the sixth puncture needle 600 can only produce a moderate axial movement effect under the influence of a certain axial force. Specifically, during the puncture procedure, the sixth puncture needle 600 is held by a robotic arm assembly. The robotic arm assembly then applies a pulling force to gradually withdraw the sixth puncture needle 600, allowing its tip to sequentially reach each working position on the target object from the inside out, thus completing the required puncture procedure. The remaining sections concerning damping adaptation in this article can be understood by referring to this section and will not be elaborated upon further.

[0107] Furthermore, it should be noted that in practical applications, for situations where flexible mechanisms are used as the transmission or main motion mechanism of the robotic arm components, the needle clamping module and the guide template 60 work together to improve the limiting effect of the sixth puncture needle 600. This ensures that the robotic arm can only remove the needle after the flexible extension rod is fully straightened, effectively guaranteeing the structural strength and stability of the sixth puncture needle 600 during the needle removal process. This, in conjunction with the precise and efficient needle removal operation of the robotic arm components, optimizes the surgical outcome.

[0108] Furthermore, the chuck module includes a limiting sleeve, a locking core is provided inside the limiting sleeve, and a limiting hole 61 is provided through the locking core; the locking core and the limiting sleeve are fitted with a radial clearance along the limiting sleeve. The chuck module also includes a locking element that can drive the locking core to move or rotate along the radial direction of the limiting sleeve so that the inner wall of the limiting hole 61 is sheared and clamped with the sixth puncture needle 600; or the limiting hole 61 itself is interference-fitted with the sixth puncture needle 600, thereby clamping and damping the sixth puncture needle 600.

[0109] In actual operation, after the sixth puncture needle 600 is inserted into the limiting hole 61, the locking core is driven to move radially and moderately through the locking component until the inner wall of the limiting hole 61 and the outer wall of the sixth puncture needle 600 are reliably pressed and fitted. At this time, the limiting hole 61 and the positioning hole 601 are in a non-coaxial alignment state, so that the inner wall of the limiting hole 61 forms a unilateral pressing and limiting on the sixth puncture needle 600. That is, the lateral shearing force formed by the limiting hole 61 on the sixth puncture needle 600 is used as the pressing and locking force of the needle clamping module on the sixth puncture needle 600.

[0110] Based on this, the chuck module also includes a chuck reset component that can drive the locking core to move radially along the limiting sleeve so that the inner wall of the limiting hole 61 is released from the clamping of the sixth puncture needle 600. The direction of movement of the locking core under the action of the chuck reset component is opposite to the direction of movement of the locking core under the action of the locking component. When it is necessary to release the clamping lock of the sixth puncture needle 600, the force applied by the locking component to the locking core is released, and the chuck reset component applies a reverse force to the locking core, thereby driving the locking core to move in the opposite direction and reset, thereby releasing the clamping and damping adaptation state between the limiting hole 61 and the sixth puncture needle 600, so that the sixth puncture needle 600 can be smoothly pulled out, ensuring operational efficiency.

[0111] The specific setup is as follows: the limiting sleeve is a box 62 that is aligned and fastened to the bottom of the guide template 60; the locking core is a locking plate 621 located in the inner cavity of the box 62; limiting holes 61 are formed on the locking plate 621; there are multiple limiting holes 61 that are aligned and fitted one-to-one with the positioning holes 601; several positioning guide holes 622 are passed through the bottom wall of the box 62 and are coaxially aligned and fitted one-to-one with the positioning holes 601; threaded holes 623 and limiting blind holes 624 are passed through the side walls of the box 62 respectively; the opening of the limiting blind hole 624 is located in the box. On the inner wall of body 62, threaded hole 623 and limiting blind hole 624 are located on both sides of locking plate 621, and the axis of threaded hole 623 and the axis of limiting blind hole 624 are located on the extension line of the same diameter line of box body 62. The locking component is a locking screw 625 threaded in threaded hole 623, or the locking component is any one or more combinations of pull rope, elastic wire, hydraulic push rod, pneumatic push rod, and electric push rod. The pin reset component is an elastic element coaxially embedded in limiting blind hole 624. The elastic element is compression spring 626. In operation, initially, the limiting hole 61 and the positioning hole 601 correspond one-to-one and are roughly coaxially aligned, allowing the sixth puncture needle 600 to smoothly insert and penetrate the housing 62 and the locking plate 621. The sixth puncture needle 600 passes through the positioning hole 601, the limiting hole 61, and the positioning guide hole 622 in sequence. Then, by turning the locking screw 625 in the forward direction, the locking screw 625 gradually extends inward along the threaded hole 623. At this time, the compression spring 626 is gradually compressed, which pushes the locking plate 621 radially through the inner end of the locking screw 625 until the limiting hole 61 and its corresponding positioning hole 601 are slightly misaligned, so that the inner wall of the limiting hole 61 and the outer wall of the sixth puncture needle 600 are reliably pressed and fitted together. At this time, the limiting hole 61 and the positioning hole 601 are aligned. The six puncture needles are in a non-coaxial alignment state, which allows the inner wall of the limiting hole 61 to form a unilateral clamping limit on the sixth puncture needle 600. That is, the lateral shearing force formed by the limiting hole 61 on the sixth puncture needle 600 is used as the clamping and locking force of the needle clamping module on the sixth puncture needle 600. When it is necessary to release the clamping lock of the sixth puncture needle 600, the locking screw 625 is turned in the opposite direction to gradually pull it outward along the threaded hole 623. At this time, the compression spring 626 gradually extends, and the locking plate 621 moves radially under the action of the restoring force formed during the extension of the compression spring 626 until the locking plate 621 returns to the initial position. At this time, the limiting hole 61 and the positioning hole 601 are restored to a roughly coaxial alignment state so that the sixth puncture needle 600 can be aligned and inserted in the next operation. This pin-removing module structure, formed by the housing 62 as the main structural component, has a high degree of integration with the guide template 60. The component structure is regular and reliable, which not only optimizes the operating efficiency of the flexible pin-removing robotic arm device, but also improves the assembly space utilization of the guide template 60 and the pin-removing module. Of course, the locking component can also be the pin-resetting component.

[0112] The housing 62 and the external bracket (not shown in the figure) also include a sensing module, which can be used to sense the pull-out force of the sixth puncture needle. Specifically, the locking plate 621 partially clamps all of the sixth puncture needles, and a single force sensor measures the tension on the locking plate 621.

[0113] Alternatively, the sensing module is fitted onto the sixth puncture needle. The sensing module has a single clamping part and a single force sensor. The single clamping part partially clamps all the puncture needles, and the single force sensor measures the tension on the single clamping part.

[0114] Example 8

[0115] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows:

[0116] like Figure 18 As shown, the support adjustment mechanism is a support sleeve assembly 700, which includes a support sleeve 7001 and a linear motion assembly 7002. The support sleeve 7001 is fitted over the first flexible extension rod 7003 and guided forward and backward at the free end of the fourth base 7004. The linear motion assembly 7002 drives the support sleeve 7001 to move forward and backward. When the support sleeve 7001 moves forward, it provides axial support to the first flexible extension rod 7003, placing it in a rigid support state. When the support sleeve 7001 moves backward, it restores the first flexible extension rod 7003 to a flexible state. The linear motion assembly 7002 can be a friction motion assembly, a gear and rack motion assembly, a screw and nut motion assembly, or a conveyor belt motion assembly. In this embodiment, a screw and nut motion assembly is preferred.

[0117] Example 9

[0118] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows:

[0119] The support and adjustment mechanism is the capsule assembly 800, which includes a capsule and an inflation / deflation assembly 8001. The inflation / deflation assembly can fill or deflate the capsule with a medium, which can be gas or liquid. The capsule has the following two configuration options:

[0120] like Figure 19 As shown, the first capsule 8002 is sleeved on the outer side of the second flexible extension rod 8003. A through hole is provided in the middle of the first capsule, through which the second flexible extension rod 8003 passes. The first capsule is fixed to the free end of the fifth base by the capsule shell, and the first capsule is sealed in the capsule shell.

[0121] like Figure 20As shown, the second capsule 8004 is fixedly connected to the outer side of the second flexible extension rod 8003 along the length direction of the second flexible extension rod 8003. Multiple second capsules 8004 are provided and arranged symmetrically around the second flexible extension rod 8003. Each second capsule 8004 is fixedly connected to the second flexible extension rod 8003 by adhesive or binding.

[0122] When the first or second capsule is filled with gas or liquid and is in a full state, the second flexible extension rod 8003 is axially supported, placing it in a rigid support state. When the first or second capsule is deflated after the gas or liquid is discharged, the second flexible extension rod 8003 returns to a flexible state. The inflation / deflation assembly is an inflation / deflation mechanism composed of a pneumatic connector and an air tube.

[0123] The pin module includes a clamping mechanism, which is detachably mounted on the guide template.

[0124] Furthermore, the clamping mechanism can be clamped by a claw clamping method, a side pressing method, or a rotational clamping method. The specific structure of the clamping mechanism using the claw clamping method can be referred to in the following embodiment fourteen. The specific structure of the clamping mechanism using the side pressing method can be referred to in the following embodiment fifteen. The specific structure of the clamping mechanism using the rotational clamping method can be referred to in the following embodiment sixteen.

[0125] Furthermore, the clamping mechanism is driven by a separate drive mechanism, which can be a motor-driven or rope-driven mechanism, or the clamping mechanism can be manually adjusted to achieve clamping.

[0126] Furthermore, the clamping mechanism can be quickly clamped onto the guide template, which can be at least one of a 3D printed template, a thermoplastic template, a fish scale template, or an adjustable flexible template.

[0127] Example 10

[0128] A method for using a flexible needle-removing robotic arm includes the following steps:

[0129] S201, the user needs to manually puncture at least one puncture needle to the target location of the target object according to the preoperative plan;

[0130] S202, each puncture needle is connected to a corresponding delivery catheter, the other end of the delivery catheter is connected to a radiation source implantation machine, the radiation source implantation machine can deliver a radiation source to the puncture needle along the delivery catheter so that it can be output from the front end of the puncture needle and implanted into the target object;

[0131] S203, firstly, the support adjustment mechanism located at the free end of the base works to provide axial support for the flexible extension rod. The robotic arm drives the clamping mechanism to dock and clamp a puncture needle. Then, the support adjustment mechanism works in reverse to restore the flexible extension rod to its flexible state, ensuring that the puncture needle and the robotic arm are in a flexible connection state to avoid scratching the target object.

[0132] S204, each time the radioactive source implantation machine completes the implantation of a radioactive source, the robotic arm drives the clamping mechanism to move along the axis of the puncture needle, thereby pulling the puncture needle out of the target distance, so that the tip of the puncture needle is in the implantation position of the next radioactive source, or the needle is pulled out at the same time as the radioactive source is implanted, so that the radioactive source is accurately implanted into the target position.

[0133] S205, Repeat step S204 until all radiation sources have been implanted into the target location of the target object.

[0134] In step S204, the robotic arm determines whether the flexible extension rod is in a straightened state based on one or a combination of deformation sensors, force sensing elements, and sensing modules, thereby automatically adjusting the free end posture of the robotic arm to keep the flexible extension rod in a straightened state, enabling the clamping mechanism to accurately control the withdrawal depth of the puncture needle.

[0135] In the aforementioned puncture and needle removal procedure, the two most demanding steps—initial puncture placement and final needle removal—are performed by medical personnel. These require the highest level of experience and patient comfort. Meanwhile, the delivery of medication and the gradual needle removal are handled by a robotic arm that holds the needle. This approach ensures the precision of the core procedures, minimizing the adverse effects on the overall surgery by having medical personnel perform the procedures themselves, thus preventing discomfort or injury to the patient. Furthermore, it avoids requiring medical personnel to handle steps involving radioactive agents, protecting their safety. The structure ensures the health of the patient; furthermore, by utilizing the clamping and damping adaptation between the limiting hole and the puncture needle, the puncture needle inserted in the limiting hole can only be pulled out along its axis when subjected to a certain pulling force applied by the robotic arm. This ensures that the robotic arm can only pull out the needle after the flexible extension rod is fully straightened, thereby improving the needle removal accuracy. At the same time, it avoids non-axial movement or misalignment of the puncture needle when the operator makes a mistake, so as not to cause damage to the target object. It also effectively ensures the clamping and cooperation accuracy between the robotic arm components and the puncture needle, optimizing the corresponding needle removal operation effect and work efficiency.

[0136] In summary, the flexible needle removal robotic arm provided in this invention allows for needle insertion by a doctor or other operator. After the needle is inserted into the corresponding puncture site, removal can be achieved through a clamping mechanism that secures or hooks the needle. The robotic arm or other linkage components then move the clamping mechanism, which, through clamping or hooking, pulls the needle out from its current position. This eliminates the need for direct on-site operation by doctors or other medical personnel, effectively reducing close contact between doctors and radioactive particles and minimizing radiation exposure, thus protecting their health. Furthermore, it ensures efficient and effective needle removal.

[0137] In addition, the method of using a flexible needle removal robotic arm provided by this utility model can ensure the efficiency and effectiveness of needle removal operations during radioactive particle implantation surgery, and reduce radiation damage to doctors.

[0138] This article uses specific examples to illustrate the principles and implementation methods of this utility model. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

[0139] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0140] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A flexible needle-removing robotic arm, characterized in that: The device includes a needle removal mechanism and a robotic arm. The needle removal mechanism comprises a base and a clamping mechanism, which clamps or hooks the puncture needle. The free end of the base is connected to the clamping mechanism via a flexible extension rod. The robotic arm enables the needle removal mechanism to move in at least three degrees of freedom in space. The robotic arm drives the needle removal mechanism to move along the axial direction of the puncture needle, thereby removing the puncture needle a target distance. The free end of the base is also provided with a support and adjustment mechanism. Before the clamping mechanism and the puncture needle are fully engaged, the support and adjustment mechanism provides axial support to the flexible extension rod, keeping it in a rigid support state to achieve precise engagement between the clamping mechanism and the puncture needle. After the clamping mechanism and the puncture needle are fully engaged, the support and adjustment mechanism allows the flexible extension rod to return to a flexible state.

2. The flexible needle-removing robotic arm according to claim 1, characterized in that: The robotic arm is a multi-degree-of-freedom articulated robotic arm, which enables the needle removal device to move in at least five degrees of freedom in space; the free end of the robotic arm is provided with a linear motion mechanism, which is directly or indirectly connected to the needle removal device, and the linear motion mechanism drives the needle removal device to move along the axis of the puncture needle.

3. The flexible needle-removing robotic arm according to claim 1, characterized in that: The clamping mechanism is one or a combination of a claw assembly, a hook assembly, a rotary clamping assembly, and a side clamping assembly; When the clamping mechanism is a claw assembly, the claw assembly can clamp the puncture needle from the side. The claw assembly includes a claw adapted to the puncture needle and a drive assembly that can drive the claw to clamp or release the puncture needle. The opening and closing movable plane of the claw is set at an angle to the axis of the puncture needle. The claw has a clamping end that can clamp the puncture needle. The claw has a control end that is connected to the drive assembly. When the clamping mechanism is a hook assembly, the hook assembly can hook the puncture needle. The hook assembly includes a hook that can be adapted to the stepped surface of the puncture needle. When the hook moves along the axial direction of the puncture needle, the hook abuts against the stepped surface of the puncture needle and drives the puncture needle to move together. The hook assembly also includes a drive assembly that can drive the hook to move along the axial direction of the puncture needle. When the clamping mechanism is a rotary clamping assembly, the rotary clamping assembly includes a base frame disposed at the free end of the base, and a rotating component is rotatably disposed inside the base frame. The rotating component is driven to rotate or bend by a drive assembly. The rotating component is provided with a through hole, through groove, or double protrusion. When the rotating component rotates or bends, it will clamp the puncture needle passing through the through hole, through groove, or double protrusion. When the clamping mechanism is a side clamping assembly, the side clamping assembly includes a clamping member located on one side of the puncture needle. The clamping member moves in a direction close to or away from the puncture needle. The clamping member can directly or indirectly apply pressure to the outer surface of the puncture needle, thereby driving the puncture needle out by relying on friction. The side clamping assembly also includes a driving assembly that can drive the clamping member to move.

4. The flexible needle-removing robotic arm according to claim 1, characterized in that: It also includes an external device for guiding and / or clamping the puncture needle. The external device includes a guide template that cooperates with the puncture needle and a clamping needle module installed on the guide template. The guide template is provided with a positioning hole for the puncture needle to pass through. Alternatively, the external device is a clamping needle module installed on a robotic arm. The clamping needle module can clamp and dampen the puncture needle.

5. The flexible needle-removing robotic arm according to claim 4, characterized in that: When the external device is a guide template that cooperates with the puncture needle and a clamping needle module installed on the guide template, the clamping needle module includes a clamping mechanism, which is detachably mounted on the guide template; the clamping mechanism is clamped by at least one of the following: claw clamping, side pressing, and rotation clamping; the clamping mechanism is driven by a drive mechanism alone, which is either motor-driven or rope-driven, or the clamping mechanism is clamped by manual adjustment. Alternatively, when the external device is a pin clamping module mounted on a robotic arm, the robotic arm is provided with a pin clamping rod, and the pin clamping module is mounted at the end of the pin clamping rod; the pin clamping rod is telescopically mounted on the pin removal device; the pin clamping module may be at least one of a rotary clamping assembly, a claw assembly, or a hook assembly.

6. The flexible needle-removing robotic arm according to claim 1, characterized in that: The length of the flexible extension rod is greater than 50 mm; a deformation sensor is provided on the outside of the flexible extension rod, which is one or a combination of strain gauge and FBG fiber optic sensor; or, a force sensing element for sensing whether the flexible extension rod is straightened is provided inside the flexible extension rod, or between the base and the flexible extension rod, or between the flexible extension rod and the clamping mechanism, which is one or a combination of force sensor, torque sensor, and current sensor; or, a sensing module is provided on the puncture needle, which can be used to sense the withdrawal force of the puncture needle, and the sensing module is provided with a single clamping part and a single force sensor, the single clamping part partially clamps at least one puncture needle, and the single force sensor measures the tension on the single clamping part.

7. The flexible needle-removing robotic arm according to claim 1, characterized in that: The support adjustment mechanism includes a support sleeve and a linear motion component. The support sleeve is fitted over the flexible extension rod and is positioned on the free end of the base for front-to-back movement. The linear motion component drives the support sleeve to move back and forth. When the support sleeve moves forward, it provides axial support to the flexible extension rod, putting the flexible extension rod in a rigid support state. When the support sleeve moves backward, it can restore the flexible extension rod to a flexible state.

8. The flexible needle-removing robotic arm according to claim 1, characterized in that: The support adjustment mechanism includes a bladder and an inflation / deflation assembly. The inflation / deflation assembly can fill or deflate the bladder with a medium. The bladder is sleeved on the outer surface of the flexible extension rod. A through hole is provided in the middle of the bladder, through which the flexible extension rod passes. Alternatively, the capsule can be fixedly connected to the outer surface of the flexible extension rod along its length. When the capsule is filled with a medium and is in a full state, the flexible extension rod is axially supported to put it in a rigid support state. When the capsule is in a deflated and flexible state after expelling the medium, the flexible extension rod loses its supporting function and returns to a flexible state.

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