Needle supply device and needle placement apparatus

Abstract

This disclosure provides a needle supply device and a needle placement device. The needle supply device includes a support arm, a first drive assembly, a first connecting assembly, and a needle cartridge. The first drive assembly is disposed at a first end of the support arm. The cartridge body is detachably connected to the first drive assembly via the first connecting assembly. The first drive assembly drives the cartridge body to rotate the needle cartridge around its axis. The cartridge body has M clamping positions circumferentially for clamping one internal fixation needle respectively. When the needle cartridge rotates, each clamping position corresponds to a needle placement device in sequence to sequentially provide an internal fixation needle to the needle placement device.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a needle supply device and a needle placement device. Background Technology

[0002] Internal fixation pins (Kirschner wires), also known as K-wires, are metal pins commonly used in the medical field, especially in orthopedic surgery. Their primary function is to immobilize the fractured bone ends to promote healing. They can be used alone or in conjunction with other devices such as plates, screws, or external fixators.

[0003] Internal fixation pins are inserted manually into the fracture site using a pin placement device. Typically, internal fixation pins are manually loaded into the placement device, which is inefficient. Summary of the Invention

[0004] According to a first aspect of the present disclosure, a needle feeding device is provided, the needle feeding device comprising: a support arm, a first drive assembly, a first connecting assembly, and a needle cartridge, wherein,

[0005] The first drive assembly is disposed at the first end of the support arm, and the needle cartridge body is detachably connected to the first drive assembly via the first connecting assembly. The first drive assembly is used to drive the cartridge body to rotate the needle cartridge around the axis of the cartridge body.

[0006] The cartridge has M clamping positions around its circumference, each used to clamp an internal fixing needle; when the needle cartridge rotates, each clamping position corresponds to a needle placement device in sequence, so as to provide an internal fixing needle to the needle placement device in sequence.

[0007] In some embodiments, the first drive component includes: a drive motor and a transmission component, wherein...

[0008] The drive motor is fixedly mounted on the first end of the support arm;

[0009] The drive motor drives the box to rotate via the transmission assembly;

[0010] The transmission assembly is detachably connected to the first end of the support arm via a second connecting assembly.

[0011] In some embodiments, the transmission assembly includes: a bearing housing, a bearing, and a transmission shaft;

[0012] The first end of the support arm includes: a first surface and a second surface, wherein the first surface and the second surface are opposite to each other;

[0013] The first end of the support arm is also provided with a through hole that penetrates the first surface and the second surface;

[0014] The drive motor is disposed on the first surface;

[0015] The bearing housing detachably fixes the transmission assembly to the second surface via the second connecting assembly;

[0016] The drive shaft is rotatably mounted in the fixed seat via the bearing, the drive shaft passes through the through hole, the first end of the drive shaft is connected to the housing, and the second end of the drive shaft is connected to the drive motor.

[0017] In some embodiments, the drive shaft of the drive motor is connected to the transmission shaft via a coupling sleeve to drive the transmission shaft. The drive shaft is fixedly connected to the coupling sleeve, the coupling sleeve is detachably fitted onto the transmission shaft, the inner wall of the coupling sleeve includes a first plane extending axially along the transmission shaft, and the outer wall of the transmission shaft includes a second plane extending axially along the transmission shaft. The first plane abuts against the second plane.

[0018] In some embodiments, the housing includes a connecting portion disposed at a first end of the housing, the connecting portion having a first abutment surface extending axially along the housing.

[0019] The drive shaft has a second abutment surface that extends axially along the casing.

[0020] The first connecting component is used to: lock the first abutting surface and the second abutting surface together so that the drive shaft drives the housing to rotate; or release the locking of the first abutting surface and the second abutting surface so that the drive shaft and the housing disengage from each other.

[0021] In some embodiments, the drive shaft includes a first shaft and a second shaft that are detachably connected; the first shaft is connected to the drive shaft via the coupling sleeve, and the second shaft is provided with the second abutment surface.

[0022] In some embodiments, the first connecting component and the second connecting component are quick-release connecting components.

[0023] The quick-release connection assembly includes a first component, a second component, a handle, a shaft, and a cross pin;

[0024] The handle is fixed to the first end of the shaft;

[0025] The first component has a first through hole, and the second component has a second through hole.

[0026] The shaft can be inserted into the first through hole and the second through hole in sequence;

[0027] The cross pin protrudes radially from the shaft, and the second through hole sidewall is formed circumferentially with a clearance portion that allows the cross pin to pass through, and a stop portion that restricts the passage of the cross pin.

[0028] After the shaft passes through the first through hole and the second through hole in sequence, the bottom side of the handle abuts against the first component. The handle is used to drive the shaft to rotate, so that the cross pin rotates to abut against the stop part to lock the relative movement of the first component and the second component along the axial direction of the shaft, or to rotate the cross pin to the relief part to release the restriction on the relative movement of the first component and the second component along the axial direction of the shaft.

[0029] In some embodiments, the shaft is provided with a limiting post that protrudes radially along the shaft;

[0030] The first through hole sidewall has a circumferentially formed rotation limiting groove that cooperates with the limiting post to limit the rotation range of the limiting post when the shaft rotates.

[0031] In some embodiments, the housing is cylindrical, and N clamping member groups are arranged circumferentially on the outer wall of the housing. Each clamping member group includes M clamping members arranged axially along the housing. The clamping members are used to clamp the internal fixation needle. The M clamping members in one clamping member group are used to clamp the same internal fixation needle, so that the internal fixation needle is arranged parallel to the axis of the housing. N and M are integers greater than or equal to 1.

[0032] In some embodiments, the needle supply device further includes a protective cover;

[0033] The first end of the protective cover is connected to the second end of the housing, and the protective cover is at least used to cover the portion of the inner fixing pin that extends out of the second end of the housing.

[0034] According to a second aspect of the present disclosure, a needle placement device is provided, the needle placement device including the needle supply device as described in the first aspect.

[0035] This embodiment provides a needle supply device, comprising: a support arm, a first drive assembly, a first connecting assembly, and a needle cartridge. The first drive assembly is disposed at a first end of the support arm. The needle cartridge body is detachably connected to the first drive assembly via the first connecting assembly. The first drive assembly drives the cartridge body to rotate the needle cartridge around its axis. The cartridge body has M clamping positions circumferentially for clamping one internal fixation needle respectively. When the needle cartridge rotates, each clamping position sequentially corresponds to a needle placement device, providing an internal fixation needle to the needle placement device sequentially. Thus, the needle cartridge can be disassembled and assembled via the first connecting assembly, facilitating needle cartridge replacement and reloading. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of a needle supply device structure according to an exemplary embodiment;

[0037] Figure 2 This is a schematic diagram of a needle supply device structure according to an exemplary embodiment;

[0038] Figure 3 This is a schematic diagram of a needle supply device structure according to an exemplary embodiment;

[0039] Figure 4 This is a schematic diagram of a needle supply device structure according to an exemplary embodiment;

[0040] Figure 5 This is a schematic diagram of a needle supply device structure according to an exemplary embodiment;

[0041] Figure 6 This is a schematic diagram of a needle supply device structure according to an exemplary embodiment;

[0042] Figure 7 This is a schematic diagram of a needle supply device structure according to an exemplary embodiment;

[0043] Figure 8 This is a schematic diagram of a needle supply device structure according to an exemplary embodiment;

[0044] Figure 9 This is a schematic diagram of a needle supply device structure according to an exemplary embodiment;

[0045] Figure 10 This is a schematic diagram of a needle supply device structure according to an exemplary embodiment;

[0046] Figure 11 This is a schematic diagram of a needle supply device structure according to an exemplary embodiment;

[0047] Figure 12 This is a schematic diagram of a needle supply device structure according to an exemplary embodiment;

[0048] Figure 13 This is a schematic diagram of a needle supply device according to an exemplary embodiment. Detailed Implementation

[0049] To make the technical solution and beneficial effects of the present invention more apparent and understandable, a detailed description is provided below by listing specific embodiments. The accompanying drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application pertains.

[0050] This disclosure is not exhaustive, but merely illustrative of some embodiments, and is not intended to limit the scope of protection of this disclosure. Unless otherwise specified, each step in a particular embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a particular embodiment can also be implemented as an independent embodiment, and the order of the steps in a particular embodiment can be arbitrarily interchanged. Furthermore, the optional implementation methods in a particular embodiment can be arbitrarily combined; moreover, the embodiments can be arbitrarily combined, for example, some or all steps of different embodiments can be arbitrarily combined, and a particular embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0051] In each of the disclosed embodiments, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of the embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0052] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the scope of this disclosure.

[0053] In this embodiment of the disclosure, unless otherwise stated, elements expressed in the singular form, such as "a," "an," "the," "the," "the," "the," "the," "the," "this," etc., can mean "one and only one," or "one or more," "at least one," etc. For example, when using articles such as "a," "an," "the," etc. in translation, the noun following the article can be understood as either a singular expression or a plural expression.

[0054] In the embodiments disclosed herein, "multiple" refers to two or more.

[0055] In some embodiments, the terms “at least one of”, “one or more”, “a plurality of”, “multiple”, etc., may be used interchangeably.

[0056] In some embodiments, the notation "at least one of A and B", "A and / or B", "A in one case, B in another", "A in one case, B in another", etc., may include the following technical solutions depending on the situation: in some embodiments, A (A is executed regardless of B); in some embodiments, B (B is executed regardless of A); in some embodiments, execution is selected from A and B (A and B are selectively executed); in some embodiments, A and B (both A and B are executed). The same applies when there are more branches such as A, B, C, etc.

[0057] In some embodiments, the notation "A or B" may include the following technical solutions, depending on the situation: in some embodiments, A (execution of A regardless of B); in some embodiments, B (execution of B regardless of A); in some embodiments, execution is selected from A and B (A and B are selectively executed). The same applies when there are more branches such as A, B, C, etc.

[0058] The prefixes "first," "second," etc., used in the embodiments of this disclosure are merely for distinguishing different descriptive objects and do not impose restrictions on the position, order, priority, value, or content of the descriptive objects. The description of the descriptive objects should be found in the claims or the context of the embodiments, and the use of prefixes should not constitute unnecessary restrictions. For example, if the descriptive object is a "field," the ordinal numbers preceding "field" in "first field" and "second field" do not restrict the position or order of the "fields." "First" and "second" do not restrict whether the "fields" they modify are in the same message, nor do they restrict the order of "first field" and "second field." Similarly, if the descriptive object is a "level," the ordinal numbers preceding "level" in "first level" and "second level" do not restrict the priority between "levels." Furthermore, the value of the descriptive object is not limited by ordinal numbers and can be one or more. For example, in "first device," the value of "device" can be one or more. Furthermore, the objects modified by different prefixes can be the same or different. For example, if the object being described is "device", then "first device" and "second device" can be the same device or different devices, and their types can be the same or different. Similarly, if the object being described is "information", then "first information" and "second information" can be the same information or different information, and their content can be the same or different.

[0059] In some embodiments, “including A,” “containing A,” “for indicating A,” and “carrying A” can be interpreted as directly carrying A or indirectly indicating A.

[0060] In some embodiments, terms such as “…”, “determine…”, “in the case of…”, “when…”, “when…”, “if…”, etc. can be used interchangeably.

[0061] In some embodiments, the terms “greater than,” “greater than or equal to,” “not less than,” “more than,” “more than or equal to,” “not less than,” “higher than,” “higher than or equal to,” “not lower than,” and “above” can be used interchangeably, as can the terms “less than,” “less than or equal to,” “not greater than,” “less than,” “less than or equal to,” “not more than,” “lower than,” “lower than or equal to,” “not higher than,” and “below”.

[0062] Furthermore, each element, each row, or each column in the table of this disclosure can be implemented as an independent embodiment, and any combination of any element, any row, or any column can also be implemented as an independent embodiment.

[0063] Figure 1 It is a needle placement device used to insert internal fixation needles into human bones, such as fracture sites.

[0064] In one possible implementation, the internal fixation pin includes, but is not limited to, at least one of the following: Kirschner wires, bone screws, and bone drills.

[0065] like Figure 1 As shown, the needle placement device includes a needle placement component 110 and guide rails 120 (multiple guide rails 120 can be movable relative to each other). The needle placement component 110 is used to clamp the internal fixing needle and perform the needle placement operation (by rotating the internal fixing needle and moving it axially). The guide rails 120 are used to allow the needle placement component 110 to move along the needle placement direction. The needle placement device can be installed on a robotic arm for needle placement operations. Typically, the needle placement component 110 can clamp one internal fixing needle at a time. After the needle placement operation is completed, the needle placement component 110 needs to be manually refilled with internal fixing needles. In some scenarios, the position of the needle placement component 110 needs to be adjusted when refilling internal fixing needles to facilitate manual refilling, which results in low refilling efficiency and affects the continuity of needle placement by the needle placement component 110. Therefore, how to improve the efficiency of refilling internal fixing needles by the needle placement component 110 and reduce the impact of refilling internal fixing needles on the current working state of the needle placement component 110 is an urgent problem to be solved.

[0066] like Figure 2 The present disclosure provides a needle feeding device, which includes a support arm, a first drive assembly, a first connecting assembly, and a needle cartridge. The first drive assembly is disposed at a first end of the support arm. The cartridge body of the needle cartridge is detachably connected to the first drive assembly via the first connecting assembly. The first drive assembly is used to drive the cartridge body to rotate the needle cartridge around the axis of the cartridge body.

[0067] The cartridge has M clamping positions around its circumference, each used to clamp an internal fixing needle; when the needle cartridge rotates, each clamping position corresponds to a needle placement device in sequence, so as to provide an internal fixing needle to the needle placement device in sequence.

[0068] like Figure 2 and Figure 3 As shown, the internal fixing pins are arranged circumferentially around the housing, and the axis of the internal fixing pins is parallel to the axis of the housing. When the housing rotates, the M internal fixing pins rotate around the axis of the housing, and each internal fixing pin can be sequentially aligned with the position of the pin placement device for filling the internal fixing pin.

[0069] In one possible implementation, the internal fixing needle 300 can be pulled out from the housing 231 from the second end of the housing 231 (the end near the needle placement device). Here, the first end of the housing 231 is the end of the housing 231 facing the support arm 210, and the second end of the housing 231 is the end of the housing facing the needle placement component 110.

[0070] like Figure 3 As shown, the needle placement component 110 may be provided with a gripping structure 111 to grip the inner fixing needle 300 on the housing 231. The needle placement component 110 is disposed on a guide rail 120 parallel to the axis of the housing 231. Therefore, the gripping structure 111 can move parallel to the axis of the housing 231 following the needle placement component 110 to grip the inner fixing needle 300.

[0071] In one possible implementation, when the centerline of the gripping structure 111 overlaps with the inner fixing pin 300, the gripping structure 111 can be moved to grip the inner fixing pin 300. The support arm 210 can be adjusted so that one inner fixing pin 300 overlaps with the centerline of the gripping structure 111. Since N inner fixing pins 300 are located on the same circle, rotating the housing 231 allows each inner fixing pin 300 to sequentially overlap with the centerline of the gripping structure 111. This allows the gripping structure 111 to sequentially grip each inner fixing pin 300.

[0072] The gripping structure 111 can move with the needle placement component 110 to the extraction position, where it can grip the inner fixing needle 300. The gripping structure 111 can move with the needle placement component 110 in a direction away from the housing 231 to extract the inner fixing needle 300 parallel to the axis of the housing 231. During the extraction of the inner fixing needle 300, the gripping structure 111 moves along the guide rail 120 without affecting the deflection angle of the needle placement component 110, thus reducing the impact on the current working state of the needle placement component 110.

[0073] The first drive assembly 220 can rotate the housing 231 so that the N clamping positions are sequentially aligned with the gripping structure 111, thereby enabling the gripping structure 111 to sequentially clamp each inner fixing pin 300.

[0074] Here, the number of internal fixing needles 300 that the needle cartridge 230 can hold is limited. Therefore, the connection between the needle cartridge 230 and the first drive assembly 220 can be made detachable. The needle cartridge 230 can be removed for reloading during use, or the needle supply device 200 can have multiple needle cartridges 230 for alternating use. Therefore, the needle cartridge 230 can be detachably connected to the first drive assembly 220 through the first connecting assembly 400. In this way, it is convenient for the user to disassemble and assemble the needle cartridge 230 during use.

[0075] In one possible implementation, the first connecting component 400 can be a quick-release connecting component.

[0076] Here, the quick-release connection component can be a tool-free connector that the user can easily install and remove. Thus, during use, the user can quickly connect the needle cartridge 230 to the first drive assembly 220 to enable rotation of the needle cartridge 230. The user can also quickly detach the needle cartridge 230 from the first drive assembly 220 after using up the inner fixing pins 300 on it, and replace it with another needle cartridge 230, or reload the needle cartridge 230.

[0077] Thus, the needle cartridge 230 can be disassembled and assembled through the first connecting component 400, which facilitates the replacement of the needle cartridge 230 and the reloading of the needle cartridge 230.

[0078] In some embodiments, such as Figure 2 The casing 231 is cylindrical, and N clamping member groups are arranged circumferentially on the outer wall of the casing 231. Each clamping member group includes M clamping members 232 arranged axially along the casing 231. The clamping members 232 are used to clamp the internal fixing needle 300. The M clamping members 232 in one clamping member group are used to clamp the same internal fixing needle 300, so that the internal fixing needle 300 is arranged parallel to the axis of the casing 231. N and M are integers greater than or equal to 1.

[0079] Here, the support arm 210 is used to set up the first drive assembly 220 and the needle cartridge 230.

[0080] In one possible implementation, the clamping internal fixation pins held by different clamping groups are exactly the same type. For example, N clamping groups can each clamp N identical Kirschner pins.

[0081] In one possible implementation, the types of internal fixation pins held by different clamping groups are not entirely the same. For example, among N clamping groups, at least one clamping group can hold Kirschner wires, and at least one clamping group can hold bone screws. The N Kirschner wires that the N clamping groups can hold are not entirely the same type.

[0082] In one possible implementation, the support arm 210 can swing to move the needle cartridge 230.

[0083] In one possible implementation, the first drive assembly 220 may include driving the housing 231 to rotate about the axis of the housing 231 using an electric drive method such as a motor.

[0084] In one possible implementation, the first drive assembly 220 may include a connecting portion 2311 that rotatably connects the housing 231 to a first end of the support arm 210. Thus, the housing 231 can rotate about its axis by means of manual pushing or similar methods.

[0085] like Figure 2 As shown, one clamping assembly consists of two clamping members 232 that clamp one internal fixing pin 300. N clamping assembly sets are used to clamp N internal fixing pins 300 in total.

[0086] In one possible implementation, in the radial section of the housing 231, the axial centers of the N internal fixing pins 300 are located on the same circle centered on the axis of the housing 231. That is, when the housing 231 rotates, the N internal fixing pins 300 rotate along the same circle.

[0087] In one possible implementation, the clamping member 232 can be press-fitted with the internal fixation pin 300 by means of a snap-fit ​​or similar means, and also clamp the internal fixation pin 300.

[0088] Here, the clamping members within a clamping member group constitute a clamping position. The first drive assembly 220 can rotate the housing 231 so that the N clamping positions corresponding to the N clamping member groups are sequentially aligned with the gripping structure 111. This allows the gripping structure 111 to sequentially clamp each inner fixing pin 300.

[0089] Thus, by rotating the housing 231 through the first drive assembly 220, the inner fixing needles 300 clamped on the outer wall of the housing 231 can be sequentially aligned with the gripping structure 111 of the needle placement component 110, continuously providing the gripping structure 111 with inner fixing needles 300, thereby enabling continuous needle supply to the needle placement component 110. This improves the efficiency of reloading the inner fixing needles 300 into the needle placement component 110.

[0090] In one embodiment, such as Figure 4 As shown, the needle supply device 200 also includes a protective cover 233;

[0091] The first end of the protective cover 233 is connected to the second end of the housing 231, and the protective cover 233 is at least used to cover the portion of the inner fixing pin 300 that extends out of the second end of the housing 231.

[0092] Figure 4This is a cross-sectional view of the needle cartridge 230 along the axis of the cartridge body 231, as shown below. Figure 4 As shown, to facilitate the gripping structure 111 in gripping the internal fixation needle 300 from the needle cartridge 230, the internal fixation needle 300 can partially extend beyond the second end of the cartridge 231. Since the portion of the internal fixation needle 300 extending beyond the second end is relatively sharp and poses a safety risk, and other instruments may also collide with this portion, potentially damaging the internal fixation needle 300. Therefore, a protective cover 233 can be provided at the second end of the cartridge 231.

[0093] The protective cover 233 can be roughly cylindrical and is fitted over all the internal fixation pins 300. The gripping structure 111 can partially extend into the protective cover 233 during movement to grip the internal fixation pins 300. In this way, on the one hand, the safety risks caused by the portion of the internal fixation pins 300 protruding from the second end of the housing 231 are reduced, and on the other hand, the risk of collision between other instruments and the portion of the internal fixation pins 300 protruding from the second end of the housing 231 is reduced, thereby improving the integrity rate of the internal fixation pins 300.

[0094] In one embodiment, such as Figures 2 to 4 As shown, the protective cover 233 includes: a first cylindrical portion 2331, a conical portion 2332, and a second cylindrical portion 2333 connected in sequence;

[0095] The first cylindrical portion 2331 is at least partially sleeved on the second end of the housing 231. The inner diameter of the first cylindrical portion 2331 is larger than the outer diameter of the housing 231. The space between the outer wall of the housing 231 and the inner wall of the first cylindrical portion 2331 is at least used for the internal fixing needle 300 to pass through.

[0096] From the first end of the conical section 2332 to the second end of the conical section 2332, the inner diameter of the conical section 2332 gradually increases, wherein the first end of the conical section 2332 is connected to the first cylindrical section 2331, and the second end of the conical section 2332 is connected to the second cylindrical section 2333.

[0097] Here, the inner diameter (e.g., internal diameter) of the first cylindrical portion 2331 is smaller than the inner diameter of the second cylindrical portion 2333.

[0098] In one possible implementation, the radial distance between the outer wall of the housing 231 and the inner wall of the first cylindrical portion 2331 is at least greater than the diameter of the internal fixing pin 300. The circumferential space between the outer wall of the housing 231 and the inner wall of the first cylindrical portion 2331 provides at least a clearance space for the internal fixing pin 300 to pass through.

[0099] When the gripping structure 111 grips the inner fixing pin 300, a certain working space is required in the radial direction of the inner fixing pin 300. Therefore, the inner diameter of the protective cover 233 gradually increases along the direction of the inner fixing pin 300 being pulled out, until it reaches the inner diameter of the second cylindrical part 2333, so that the gripping structure 111 can extend into the second cylindrical part 2333 to grip the inner fixing pin 300.

[0100] In one possible implementation, the gripping structure 111 can extract an internal fixation needle 300 from the needle cartridge 230 by multiple reciprocating movements.

[0101] Since the moving distance of the gripping structure 111 is limited by the guide rail 120, after the gripping structure 111 grips the inner fixing needle 300 from the extraction position, it moves away from the needle cartridge 230 until it reaches the stop position due to the limitation of the guide rail 120. The gripping structure 111 releases the inner fixing needle 300 at the stop position. Since the inner fixing needle 300 is not completely removed from the needle cartridge 230, part of the inner fixing needle 300 is still clamped by the gripping part. The gripping structure 111 can move from the stop position to the extraction position to grip the inner fixing needle 300 again and repeat the extraction action. This process is repeated until the inner fixing needle 300 is extracted from the needle cartridge 230.

[0102] In one embodiment, such as Figure 4 As shown, the needle feeding device 200 further includes: an end cover 234.

[0103] The end cap 234 is used to cover the second end of the protective cover 233;

[0104] The inner surface of the end cover 234 facing the box 231 is a plane perpendicular to the axis of the box 231;

[0105] The inner surface of the end cap 234 is used to abut one end of the clamping inner fixing pin 300.

[0106] In one possible implementation, the end cover 234 has a sidewall that mates with the inner wall of the protective cover 233, such that the inner surface of the end cover 234 is perpendicular to the axis of the housing 231. For example, the end cover 234 has a sidewall that mates with the inner wall of the second cylindrical portion 2333, such that the inner surface of the end cover 234 is perpendicular to the axis of the housing 231.

[0107] To ensure that the N internal fixation pins 300 are aligned along the axial direction, the inner surface of the end face cover 234 can be used as an alignment reference plane. One end of each internal fixation pin 300 can abut against the inner surface of the end face cover 234, thereby aligning the internal fixation pins 300 along the axial direction.

[0108] In one embodiment, the clamping member 232 has a clamping channel 2321 through which the internal fixation pin 300 passes, and the inner wall of the clamping channel 2321 is at least partially interference-fitted with the internal fixation pin 300.

[0109] In one possible implementation, the clamping channels 2321 of the clamping member 232 can be arranged along a line parallel to the axis of the housing 231. The clamping channels 2321 of the M clamping members 232 in a clamping member group are on the same straight line. In this way, the inner fixing pin 300 passes through the clamping channels 2321 of the M clamping members 232 that can pass through.

[0110] The M clamping members 232 of a clamping member group can clamp the internal fixing pin 300 at different positions, thereby maintaining the stable clamping of the internal fixing pin 300.

[0111] In one possible implementation, the clamping channel 2321 can be a through hole in the clamping member 232, which is interference-fitted with the inner fixing pin 300.

[0112] In one embodiment, such as Figure 5 As shown, the clamping channel 2321 includes: a conical channel 23211 and a cylindrical channel 23212 that are interconnected.

[0113] The tapered channel 23211 is used to guide the internal fixation pin 300 to the cylindrical channel 23212;

[0114] The cylindrical channel 23212 is interference-fitted with the internal fixation pin 300.

[0115] The conical channel 23211 is connected to the cylindrical channel 23212.

[0116] In one possible implementation, the tapered channel 23211 can be a conical channel.

[0117] In one possible implementation, the tapered channel 23211 can be a pyramidal channel.

[0118] In one possible implementation, the cylindrical channel 23212 can be a circular channel.

[0119] In one possible implementation, the cylindrical channel 23212 can be a prismatic channel 23212.

[0120] For example, Figure 5 A cross-sectional view of clamping channel 2321, as shown below. Figure 5As shown, the internal fixation pin 300 is inserted into the clamping channel 2321 in the direction indicated by arrow A. The internal fixation pin 300 first enters the tapered channel 23211 through its larger inner diameter bottom. The inner diameter of the tapered channel 23211 gradually narrows in the direction indicated by arrow A until it connects with the cylindrical channel 23212. Therefore, after entering the tapered channel 23211, the internal fixation pin 300 can enter the cylindrical channel 23212 under the guidance of the inner wall of the tapered channel 23211.

[0121] Guided by the tapered channel 23211, the internal fixation pin 300 can accurately enter the cylindrical channel 23212, improving the ease of inserting the internal fixation pin 300 into the cylindrical channel 23212.

[0122] In one possible implementation, the two ends of the cylindrical channel 23212 are respectively connected to tapered channels 23211, and the tapered channels 23211 at both ends of the cylindrical channel 23212 are used to guide the internal fixing pin 300 to the cylindrical channel 23212. That is, the smaller inner diameter end of the two tapered channels 23211 is connected to the two ends of the cylindrical channel 23212, so that both ends of the clamping channel 2321 can serve as guide ends, improving the ease of installation of the clamping member 232.

[0123] In one embodiment, such as Figure 6 As shown, the clamping member 232 includes a base 23201, a first clamping part 23202, a second clamping part 23203, an elastic member (not shown in the figure), and a clamping housing 23204.

[0124] The base 23201 is used to fix the clamping member 232 to the outer wall of the housing 231.

[0125] The clamping housing 23204 and the base 23201 form a receiving cavity for accommodating the first clamping part 23202, the second clamping part 23203 and the elastic component;

[0126] The first clamping part 23202 and the second clamping part 23203 are arranged facing each other. The first clamping part 23202 is provided with a first clamping surface facing the second clamping part 23203 and a second groove is provided with the second clamping surface facing the first clamping part 23202. The first groove and the second groove constitute the clamping channel 2321.

[0127] The first clamping part 23202 is disposed on the base 23201, and the elastic member is disposed between the second clamping part 23203 and the inner wall of the clamping housing 23204. The elastic member is used to generate an elastic thrust that pushes the second clamping part 23203 toward the first clamping part 23202.

[0128] In one possible implementation, the base 23201 and the first clamping part 23202 are integrally formed. The base 23201 can be fixed to the outer wall of the housing 231 by means of screws or other fixing methods.

[0129] In one possible implementation, the housing can be fixed to the base 23201 by means of snap-fit ​​or the like.

[0130] In one possible implementation, the housing may be provided with clearance space for the inner fixing pin 300 to pass through. The clearance space may be provided at both ends of the clamping channel 2321.

[0131] like Figure 6 As shown, the clamping channel 2321 can be formed by a first groove provided on a first clamping part 23202 and a second groove provided on a second clamping part 23203, which are arranged opposite to each other. The first clamping surface of the first clamping part 23202 and the second clamping surface of the second clamping part 23203 are respectively provided with a first groove and a second groove. The first clamping surface and the second clamping surface are arranged facing each other. An elastic member pushes the second clamping part 23203 towards the first clamping part 23202, causing the first clamping surface and the second clamping surface to abut against each other, and the first groove and the second groove constitute the clamping channel 2321.

[0132] The clamping channel 2321 has at least a portion with an inner diameter smaller than the outer diameter of the inner fixing pin 300. Therefore, when the inner fixing pin 300 is inserted into the clamping channel 2321, the thrust of the elastic component causes the clamping channel 2321 to continuously exert a radial force on the inner fixing pin 300, thereby clamping the inner fixing pin 300.

[0133] In one possible implementation, the elastic component can be a separate component disposed between the inner wall of the second clamping part 23203 and the clamping housing 23204. For example, the elastic component can be a spring or the like.

[0134] In one possible implementation, the elastic member and the second clamping part 23203 are integrally formed, and both the elastic member and the second clamping part 23203 can be made of an elastic material. For example, the elastic member and the second clamping part 23203 can be made of a rubber material.

[0135] In one embodiment, such as Figure 2 As shown, the first drive assembly 220 includes: a drive motor 221 and a transmission assembly 222, wherein,

[0136] The drive motor 221 is fixedly mounted on the first end of the support arm 210.

[0137] The housing 231 is connected to the transmission assembly 222;

[0138] The drive motor 221 drives the housing 231 to rotate through the transmission assembly 222.

[0139] Here, the needle cartridge 230 can be connected to the transmission assembly 222 via the cartridge body 231.

[0140] The drive motor 221 may include a stepper motor, etc. The stepper motor can drive the housing 231 to rotate in steps with the included angle between two adjacent inner fixing pins 300, so that each inner fixing pin 300 can be aligned with the pin placement component 110 in sequence.

[0141] The transmission assembly 222 is used to transmit the driving force of the motor to the rotation of the housing 231.

[0142] In one possible implementation, the transmission assembly 222 may include a coupling device for connecting the drive shaft 2211 of the drive motor 221 and the housing 231.

[0143] In one possible implementation, the transmission assembly 222 may include a speed-changing device, such as a gear set, for changing the speed and torque transmitted from the drive motor 221 to the housing 231.

[0144] In one embodiment, such as Figure 2 As shown, the housing 231 and the transmission assembly 222 are detachably connected via the first connecting assembly 400;

[0145] The transmission assembly 222 is detachably connected to the first end of the support arm 210 via a second connecting assembly 500.

[0146] Here, the number of internal fixing needles 300 that the needle cartridge 230 can hold is limited. Therefore, the needle cartridge 230 and the transmission assembly 222 can be made detachable. The needle cartridge 230 can be removed for reloading during use, or the needle supply device 200 can have multiple needle cartridges 230 for alternating use. Therefore, the needle cartridge 230 can be detachably connected to the transmission assembly 222 via the first connecting assembly 400. This allows the user to easily install and remove the needle cartridge 230 during use.

[0147] Since the needle supply device 200 needs to perform disinfection, isolation and other operations, the transmission component 222 and the support arm 210 can be detachably connected by the second connecting component 500 to facilitate the placement of an isolation cloth or other similar material between the transmission component 222 and the support arm 210 to isolate a sterile environment or to perform disinfection and other operations.

[0148] In one possible implementation, the first connecting component 400 and / or the second connecting component 500 may be quick-release connecting components for easy assembly and disassembly.

[0149] The needle cartridge 230 and the transmission assembly 222 can be easily disassembled through the first connecting component 400 and the second connecting component 500 to meet the usage requirements of different scenarios.

[0150] In one embodiment, such as Figure 3 As shown and Figure 7 As shown, the transmission assembly 222 includes: a bearing housing 2221, a bearing 2222, and a transmission shaft 2223;

[0151] The first end 211 of the support arm 210 includes: a first surface 2111 and a second surface 2112, wherein the first surface 2111 and the second surface 2112 are opposite to each other;

[0152] The first end of the support arm 210 is also provided with a through hole 212 that penetrates the first surface 2111 and the second surface 2112;

[0153] The drive motor 221 is disposed on the first surface 2111

[0154] The bearing housing 2221 detachably fixes the transmission assembly 222 to the second surface 2112 via the second connecting assembly 500;

[0155] The drive shaft 2223 is rotatably mounted in the fixed seat via the bearing 2222. The drive shaft 2223 passes through the through hole 212. The first end of the drive shaft 2223 is connected to the housing 231, and the second end of the drive shaft 2223 is connected to the drive motor 221.

[0156] Figure 7 for Figure 4 A magnified view of a portion (box a).

[0157] For example, such as Figure 7 As shown, the axes of bearing 2222, drive shaft 2223, and through hole 212 overlap. Drive motor 221 drives the second end of drive shaft 2223, and the first end of drive shaft 2223 is connected to housing 231. Thus, drive motor 221 located on the first surface 2111 can transmit driving force to housing 231 through drive shaft 2223.

[0158] In one possible implementation, there may be multiple bearings 2222, such as two, to support the drive shaft 2223, reduce the radial sway of the drive shaft 2223, and improve the stability of the drive shaft 2223.

[0159] In one possible implementation, a first isolation layer for environmental isolation can be provided between the first surface 2111 and the drive motor 221, and / or a second isolation layer for environmental isolation can be provided between the second surface 2112 and the transmission assembly 222. The first and second isolation layers are used to meet the isolation requirements of the medical device. That is, an isolation layer can be established between the drive motor 221 and the driven device (such as the transmission assembly 222, needle cartridge 230).

[0160] In one embodiment, such as Figure 7 As shown, the drive shaft 2211 of the drive motor 221 is connected to the transmission shaft 2223 via a coupling sleeve 2212 to drive the transmission shaft 2223. The drive shaft 2211 is fixedly connected to the coupling sleeve 2212, and the coupling sleeve 2212 is detachably sleeved on the transmission shaft 2223. The inner wall of the coupling sleeve 2212 includes a first plane extending axially along the transmission shaft 2223, and the outer wall of the transmission shaft 2223 includes a second plane extending axially along the transmission shaft 2223. The first plane and the second plane abut against each other.

[0161] The first end of the coupling sleeve 2212 is sleeved on the outer surface of the drive shaft 2211, and the second end of the coupling sleeve 2212 is sleeved on the outer surface of the transmission shaft 2223.

[0162] In one possible implementation, the coupling sleeve 2212 and the drive shaft 2211 can be fixedly connected by bolts or other means.

[0163] In one possible implementation, the coupling sleeve 2212 is fitted onto the outer surface of the drive shaft 2223, and the inner wall of the coupling sleeve 2212 and the outer wall of the drive shaft 2223 can be fitted together using a feed-fit or center-fit method. This allows the user to remove the drive shaft 2223 from the sleeve without tools, thereby improving the ease of removing the transmission assembly 222 from the first end of the support arm 210.

[0164] The inner wall of the coupling sleeve 2212 may have at least one first plane. The outer wall of the drive shaft 2223 may have at least one second plane. The first plane is fitted with one second plane. Through the contact between the first plane and the second plane, the coupling sleeve 2212 can drive the drive shaft 2223 to rotate, reducing the possibility of the drive shaft 2223 spinning inside the coupling sleeve 2212.

[0165] In one possible implementation, the inner wall of the second end of the coupling sleeve 2212 has a polygonal cross-section, and the cross-section of the portion of the drive shaft 2223 located inside the coupling sleeve 2212 is a polygon that fits the coupling sleeve 2212.

[0166] In one possible implementation, the front end of the portion of the drive shaft 2223 inside the coupling sleeve 2212 is a cone. When the drive shaft 2223 is inserted into the coupling sleeve 2212, the cone can act as a guide, improving the ease of insertion of the drive shaft 2223 into the coupling sleeve 2212.

[0167] In one embodiment, such as Figure 8 As shown, the housing 231 includes a connecting portion 2311 disposed at a first end of the housing 231, the connecting portion 2311 having a first abutting surface 23111 extending axially along the housing 231.

[0168] The drive shaft 2223 has a second abutment surface 22231 extending axially along the housing 231;

[0169] The first connecting component 400 is used to: lock the first abutting surface 23111 and the second abutting surface 22231 so that the drive shaft 2223 drives the housing 231 to rotate; or release the locking of the first abutting surface 23111 and the second abutting surface 22231 so that the drive shaft 2223 and the housing 231 disengage from each other.

[0170] In one possible implementation, the axis of the housing 231 is located on the first contact surface 23111, and the axis of the transmission shaft 2223 is located on the second contact surface 22231. Since both the first contact surface 23111 and the second contact surface 22231 are located on the axis, the stability of rotational transmission can be improved, thus improving the rotational stability of the housing 231.

[0171] In one possible implementation, the first abutment surface 23111 is provided with a positioning post protruding from the first abutment surface 23111, and the second abutment surface 22231 is provided with a positioning hole corresponding to the guide post. The drive shaft 2223 and the connecting part 2311 are positioned by the cooperation of the positioning post and the positioning hole. Alternatively, the second abutment surface 22231 is provided with a positioning post protruding from the second abutment surface 22231, and the first abutment surface 23111 is provided with a positioning hole corresponding to the guide post. The drive shaft 2223 and the connecting part 2311 are positioned by the cooperation of the positioning post and the positioning hole.

[0172] In one possible implementation, the locking or releasing of the first abutment surface 23111 and the second abutment surface 22231 can be achieved by threaded holes and bolts through the connecting portion 2311 at the first end of the housing 231 and the drive shaft 2223, so as to install the needle housing 230 onto the drive shaft 2223 or remove the needle housing 230 from the drive shaft 2223.

[0173] In one embodiment, such as Figure 9As shown, the transmission shaft 2223 includes a first shaft body 22201 and a second shaft body 22202 that are detachably connected; the first shaft body 22201 is connected to the drive shaft 2211 through the connecting sleeve 2212, and the second shaft body 22202 is provided with the second abutment surface 22231.

[0174] In one possible implementation, the first shaft 22201 has a smaller radial dimension, which reduces the diameter of the through hole 212 on the support arm 210. The second shaft 22202 has a larger radial dimension, which increases the dimension of the second abutment surface 22231 in the radial direction of the drive shaft 2223, thereby increasing the lever arm when the drive shaft 2223 drives the housing 231 to rotate and improving the driving efficiency of the housing 231.

[0175] In one possible implementation, the second shaft 22202 has a mounting hole at one end, and one end of the first shaft 22201 is disposed in the mounting hole. Here, a pin hole can radially penetrate the mounting hole of the second shaft 22202 and one end of the first shaft 22201, and a pin can be installed in the pin hole to fix the relative displacement of the first shaft 22201 and the second shaft 22202. The pin hole and the pin can be threaded together.

[0176] In one possible implementation, the radial dimension of the second shaft 22202 is the same as the radial dimension of the connecting portion 2311 at the first end of the housing 231. Thus, when the first abutting surface 23111 and the second abutting surface 22231 abut against each other, the second shaft 22202 and the abutting portion of the first end of the housing 231 form a column, thereby reducing the eccentric force during rotation.

[0177] In one embodiment, the first connecting component 400 and the second connecting component 500 are quick-release connecting components.

[0178] The quick-release connection assembly includes a first component 610, a second component 620, a handle 630, a shaft 640, and a cross pin 650;

[0179] The handle 630 is fixed to the first end of the shaft 640;

[0180] The first component 610 is provided with a first through hole 611, and the second component 620 is provided with a second through hole 621.

[0181] The shaft 640 can be sequentially inserted into the first through hole 611 and the second through hole 621;

[0182] The transverse pin 650 protrudes radially from the shaft 640. The second through hole 621 has a relief portion 622 that allows the transverse pin 650 to pass through in the circumferential direction, and a stop portion 623 that restricts the transverse pin 650 from passing through.

[0183] After the shaft 640 passes through the first through hole 611 and the second through hole 621 in sequence, the bottom side of the handle 630 abuts against the first component 610. The handle 630 is used to drive the shaft 640 to rotate, so that the cross pin 650 rotates to abut against the stop part 623 to lock the relative movement of the first component 610 and the second component 620 along the axial direction of the shaft 640, or to rotate the cross pin 650 to the relief part 622 to release the restriction on the relative movement of the first component 610 and the second component 620 along the axial direction of the shaft 640.

[0184] like Figure 2 As shown, the housing 231 is connected to the drive shaft 2223 in the transmission assembly 222 via the first connecting assembly 400; the bearing seat 2221 in the transmission assembly 222 is connected to the first end of the support arm 210 via the second connecting assembly 500.

[0185] like Figure 10 and Figure 11 As shown, the first component 610 can be fixed to the housing 231, and the second component 620 can be fixed to the drive shaft 2223. Alternatively, the second component 620 can be fixed to the housing 231, and the first component 610 can be fixed to the drive shaft 2223. Thus, when the first component 610 and the second component 620 are locked, the housing 231 and the drive shaft 2223 are locked. When the first component 610 and the second component 620 are released, the housing 231 can be removed from the drive shaft 2223.

[0186] like Figure 12 and Figure 13 As shown, the first component 610 can be fixed to the bearing housing 2221, and the second component 620 can be fixed to the support arm 210. Alternatively, the second component 620 can be fixed to the support arm 210, and the first component 610 can be fixed to the bearing housing 2221. Thus, when the first component 610 and the second component 620 are locked, the bearing housing 2221 and the support arm 210 are locked, that is, the transmission assembly 222 and the support arm 210 are locked. When the first component 610 and the second component 620 are released, the bearing housing 2221 can be removed from the support arm 210, that is, the transmission assembly 222 can be removed from the support arm 210.

[0187] The clearance section 622 can be based on the cross pin 650. For example... Figures 10 to 13As shown, two transverse pins 650 are radially arranged along the shaft 640, and two relief portions 622 are radially arranged along the corresponding second through hole 621. The relief portions 622 are configured such that when the shaft 640 is inserted into the first through hole 611 and the second through hole 621 at a specific angle, the transverse pins 650 can pass through the relief portions 622. After the transverse pins 650 pass through the relief portions 622, the shaft 640 can rotate a certain angle, allowing the transverse pins 650 to rotate to the stop portion 623. The stop portion 623 stops the transverse pins 650 to prevent the shaft 640 from moving in the opposite direction of inserting into the first through hole 611 and the second through hole 621, thereby locking the first component 610 and the second component 620.

[0188] In one possible implementation, an elastic member (such as a spring) can be provided between the handle 630 and the first component 610, so that when the stop portion 623 stops the cross pin 650, the elastic member can generate a pushing force on the handle 630, thereby generating a force that brings the first component 610 and the second component 620 closer to each other, thereby locking the housing 231 and the drive shaft 2223, and / or locking the transmission assembly 222 and the support arm 210.

[0189] In one embodiment, the shaft 640 is provided with a limiting post 660 that protrudes radially along the shaft 640;

[0190] The sidewall of the first through hole 611 is formed with a rotation limiting groove 612 in the circumferential direction to cooperate with the limiting post 660, so as to limit the rotation range of the limiting post 660 when the shaft 640 rotates.

[0191] like Figure 11 and Figure 13 As shown, the limiting groove 612 is fan-shaped, thereby limiting the angle at which the limiting post 660 rotates with the shaft 640.

[0192] In one possible implementation, the position of one sector of the sector-shaped limiting groove 612 is such that the horizontal pin 650 can pass through the clearance portion 622.

[0193] In one embodiment, the needle supply device 200 further includes a second drive assembly 240.

[0194] The second end 212 of the support arm 210 is connected to the second drive assembly 240;

[0195] The second drive assembly 240 is used to drive the support arm 210 to rotate with the first end of the support arm 210 as the free end and the second end 212 of the support arm 210 as the rotation center.

[0196] like Figure 3As shown, the needle cartridge 230 supplies needles to the needle placement component 110, and the needle cartridge 230 needs to be located behind the needle placement component 110. The needle placement component 110 moves along the guide rail 120 during operation. If the needle cartridge 230 is located behind the needle placement component 110, it will collide with the needle cartridge 110. Therefore, the needle cartridge 230 needs to be moved away from the movement range of the needle placement component 110.

[0197] Here, the support arm 210 can rotate in a plane perpendicular to the guide rail 120. This allows the needle cartridge 230, located at its free end, to move behind the needle placement component 110 when needle feeding is needed. When the needle cartridge 230 needs to be refilled with the inner fixing needle 300, or when the needle placement component 110 needs to move extensively along the track and may collide with the needle cartridge 230, the support arm 210 can rotate to a position that prevents the needle cartridge 230 from colliding with the needle placement component 110. This improves both the ease of movement of the needle cartridge 230 and the safety of movement of the needle placement component 110.

[0198] In one possible implementation, the second drive assembly 240 may include components such as a motor. The second drive assembly 240 may be mounted on a component such as a robotic arm.

[0199] This disclosure also proposes a needle placement device, which includes the needle supply device described in any of the above embodiments.

[0200] In one possible implementation, the needle placement device includes a needle placement device and a needle supply device.

[0201] In one possible implementation, the needle placement device may include at least one of the following: a robotic arm and a control device. The needle placement device and the needle supply device may be mounted on the robotic arm. The control device is used to control the movement of the needle placement device, the needle supply device, and / or the robotic arm.

[0202] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0203] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A needle feeding device, characterized in that, The needle supply device includes: a support arm, a first drive assembly, a first connecting assembly, and a needle cartridge, wherein... The first drive assembly is disposed at the first end of the support arm, and the needle cartridge body is detachably connected to the first drive assembly via the first connecting assembly. The first drive assembly is used to drive the cartridge body to rotate the needle cartridge around the axis of the cartridge body. The cartridge has M clamping positions around its circumference, each used to clamp an internal fixing needle; when the needle cartridge rotates, each clamping position corresponds to a needle placement device in sequence, so as to provide an internal fixing needle to the needle placement device in sequence.

2. The needle feeding device according to claim 1, characterized in that, The first drive component includes: a drive motor and a transmission component, wherein, The drive motor is fixedly mounted on the first end of the support arm; The drive motor drives the box to rotate via the transmission assembly; The transmission assembly is detachably connected to the first end of the support arm via a second connecting assembly.

3. The needle feeding device according to claim 2, characterized in that, The transmission assembly includes: a bearing housing, a bearing, and a transmission shaft; The first end of the support arm includes: a first surface and a second surface, wherein the first surface and the second surface are opposite to each other; The first end of the support arm is also provided with a through hole that penetrates the first surface and the second surface; The drive motor is disposed on the first surface; The bearing housing detachably fixes the transmission assembly to the second surface via the second connecting assembly; The drive shaft is rotatably mounted in the fixed seat via the bearing, the drive shaft passes through the through hole, the first end of the drive shaft is connected to the housing, and the second end of the drive shaft is connected to the drive motor.

4. The needle feeding device according to claim 3, characterized in that, The drive shaft of the drive motor is connected to the transmission shaft via a coupling sleeve to drive the transmission shaft. The drive shaft is fixedly connected to the coupling sleeve, and the coupling sleeve is detachably fitted onto the transmission shaft. The inner wall of the coupling sleeve includes a first plane extending along the axial direction of the transmission shaft, and the outer wall of the transmission shaft includes a second plane extending along the axial direction of the transmission shaft. The first plane and the second plane abut against each other.

5. The needle feeding device according to claim 4, characterized in that, The casing includes a connecting portion disposed at a first end of the casing, the connecting portion having a first abutment surface extending along the axial direction of the casing. The drive shaft has a second abutment surface that extends axially along the casing. The first connecting component is used to: lock the first abutting surface and the second abutting surface together so that the drive shaft drives the housing to rotate; or release the locking of the first abutting surface and the second abutting surface so that the drive shaft and the housing disengage from each other.

6. The needle feeding device according to claim 5, characterized in that, The drive shaft includes a first shaft and a second shaft that are detachably connected; the first shaft is connected to the drive shaft through the connecting sleeve, and the second shaft is provided with the second abutment surface.

7. The needle feeding device according to claim 1 or 2, characterized in that, The first and second connecting components are quick-release connecting components. The quick-release connection assembly includes a first component, a second component, a handle, a shaft, and a cross pin; The handle is fixed to the first end of the shaft; The first component has a first through hole, and the second component has a second through hole. The shaft can be inserted into the first through hole and the second through hole in sequence; The cross pin protrudes radially from the shaft, and the second through hole sidewall is formed circumferentially with a clearance portion that allows the cross pin to pass through, and a stop portion that restricts the passage of the cross pin. After the shaft passes through the first through hole and the second through hole in sequence, the bottom side of the handle abuts against the first component. The handle is used to drive the shaft to rotate, so that the cross pin rotates to abut against the stop part to lock the relative movement of the first component and the second component along the axial direction of the shaft, or to rotate the cross pin to the relief part to release the restriction on the relative movement of the first component and the second component along the axial direction of the shaft.

8. The needle feeding device according to claim 7, characterized in that, The shaft is provided with a limiting post that protrudes radially along the shaft. The first through hole sidewall has a circumferentially formed rotation limiting groove that cooperates with the limiting post to limit the rotation range of the limiting post when the shaft rotates.

9. The needle feeding device according to claim 1, characterized in that, The casing is cylindrical, and N clamping member groups are arranged circumferentially on the outer wall of the casing. Each clamping member group includes M clamping members arranged along the axial direction of the casing. The clamping members are used to clamp the internal fixation needle. The M clamping members in one clamping member group are used to clamp the same internal fixation needle, so that the internal fixation needle is arranged parallel to the axis of the casing. N and M are integers greater than or equal to 1.

10. The needle feeding device according to claim 9, characterized in that, The needle supply device also includes a protective cover; The first end of the protective cover is connected to the second end of the housing, and the protective cover is at least used to cover the portion of the inner fixing pin that extends out of the second end of the housing.

11. A needle placement device, characterized in that, The needle placement device includes the needle supply device as described in any one of claims 1 to 10.

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