1029 results about "Needle insertion" patented technology

A holographic augmented reality ultrasound needle guide system and method includes an augmented reality display such as a headset wearable by a user. The augmented reality display is configured to depict a virtual ultrasound image. The augmented reality display is further configured to allow a user to select a desired reference point on the virtual ultrasound image. The system is configured to depict a holographic needle guide based on the selection of the desired reference point. The system is also configured to adjust a trajectory of the holographic needle guide to avoid intersecting undesired anatomical structures. The augmented reality display is further configured to stamp the holographic needle guide into a selectively locked trajectory and position.

The invention belongs to the technical field of medical robots, and particularly relates to a mammary gland puncture surgical robot navigation system and device based on multi-modal image fusion. The multi-mode image data are registered and fused, high-precision three-dimensional reconstruction of the mammary gland tissue is achieved, more visual and accurate surgical navigation information is provided for doctors, the position of the puncture needle is tracked in real time, space registration is conducted on the puncture needle and the image data, and therefore the precision and safety of the surgery are improved, and the operation efficiency is improved. Meanwhile, puncture force feedback information of a puncture needle in the needle moving process is collected in real time, the implementation effectiveness of a puncture navigation path is evaluated, when it is found that the puncture path has risks, dynamic adjustment is conducted immediately, a new puncture path bypassing an obstacle area and reaching a focus is planned again, and the risk of the puncture path is avoided. And if the safe path cannot be obtained, the system automatically stops needle insertion and gives an acousto-optic early warning prompt, so that the surgical risk caused by manual misoperation in the traditional surgery is avoided.

An auto-injector for administering a dose of a liquid medicament (M) is present having a tubular chassis telescopable in a tubular case, a carrier subassembly comprising a tubular carrier slidably arranged relative to the chassis inside the case, where the carrier is adapted to contain a syringe with a hollow injection needle. The injector also has a drive spring and a plunger for forwarding load of the drive spring to a stopper of the syringe, wherein the syringe is lockable for joint axial translation with the carrier. A control spring is arranged around the carrier for translating the carrier in a proximal direction (P) for insertion of the needle through the chassis into an injection site.

The invention discloses an intelligent auxiliary acupuncture system based on the AR technology, and the system comprises the following modules: a multi-modal sensing module which is used for collecting a multi-modal sensing data set containing the surface information of a patient; the visual SLAM guiding module is used for outputting a relative pose between the camera and the skin of the patient; the three-dimensional reconstruction module is used for generating a three-dimensional skin grid model; the candidate acupoint generation module is used for generating a candidate acupoint set under the condition that the density threshold value and the minimum spacing are met; the stable matching module is used for outputting a stable matching result set; the trajectory planning module is used for binding the needle insertion trajectory to the three-dimensional skin grid model to form a needle insertion guide set; and the augmented reality rendering module is used for carrying out real-time visual rendering on the virtual acupuncture point target and the needle inserting track through an augmented reality display terminal. The invention constructs an intelligent acupuncture guide system which is oriented to a real clinical scene and has a real-time correction capability and a medical significance interpretation capability.

An auto-injector for administering a dose of a liquid medicament (M) is present having a tubular chassis telescopable in a tubular case, a carrier subassembly comprising a tubular carrier slidably arranged relative to the chassis inside the case, where the carrier is adapted to contain a syringe with a hollow injection needle. The injector also has a drive spring and a plunger for forwarding load of the drive spring to a stopper of the syringe, wherein the syringe is lockable for joint axial translation with the carrier. A control spring is arranged around the carrier for translating the carrier in a proximal direction (P) for insertion of the needle through the chassis into an injection site.

Rapidly insertable central catheters (“RICCs”), RICC assemblies, and methods thereof. A RICC can include a catheter tube, a suture wing disposed over a medial portion of the catheter tube, a hub coupled to a proximal portion of the catheter tube, and a number of extension legs extending from the hub. The catheter tube can include a first section in a distal portion of the catheter tube and a second section proximal of the first section. The suture wing can include a projection opposite a patient-facing side of the suture wing and a needle through hole through the projection. The needle through hole can be configured to accept a needle therethrough for insertion of the needle into a primary lumen of the catheter tube, which passes through a catheter-tube through hole through the suture wing.

A method of inserting a catheter into a vasculature of a patient can include disposing the catheter into a housing. The housing can include a blood flash indicator, having a syringe plunger fixed to the housing and a syringe barrel slidable relative to the syringe plunger. The method can further include positioning the housing adjacent the vasculature, inserting a needle into the housing and through a lumen of the catheter until a distal tip of the needle extends from a distal end of the catheter, and accessing the vasculature via the distal tip of the needle. The method can further include sliding the syringe barrel in a proximal direction relative to the syringe plunger to create a vacuum in a lumen of the needle to thereby draw blood through the lumen of the needle and into the syringe barrel.

The present disclosure may include: an electrode unit including a plurality of needle-type electrodes that repeatedly perform insertion and withdrawal operations into and out of the skin; a drug injection unit for injecting a drug into the skin; an energy supply unit for selectively applying, to the plurality of electrodes, a first high-frequency current of a monopolar type and a second high-frequency current of a bipolar type; a transport unit for moving the electrode unit so that the plurality of electrodes reach different target depths in the skin through repeated insertion and withdrawal operations at the same position; and a processor that, when the plurality of electrodes reach the different target depths through repeated insertion and withdrawal operations, controls the energy supply unit to apply, to the plurality of electrodes, the first high-frequency current and the second high-frequency current at current intensities corresponding to the different target depths reached, and controls the drug injection unit to inject the drug at the different target depths.

An ultrasound probe for sustained spatial attention. The ultrasound probe can include a display screen on a visible side of the ultrasound probe, the display screen coupled to ultrasound imaging components in the ultrasound probe, the ultrasound imaging components configured to capture live subcutaneous images and render the live subcutaneous images on the display screen. The ultrasound probe can further include one or more needle trajectories depicted on the display over the live subcutaneous images, the one or more needle trajectories configured to assist a user in guided insertion of a needle into an anatomical target under the ultrasound probe. The ultrasound probe can further include a light-pattern projector on the visible side of the ultrasound probe adjacent the display screen, the light-pattern projector configured to project a light pattern corresponding to a subcutaneous depth accessible by a needle.

Provided are a needle-assisting device, an implantable analyte monitoring device, and an implantable analyte monitoring system. The needle-assisting device comprises a housing assembly, and a needle insertion support, a fixing plate and an implantation needle assembly that are arranged in the housing assembly. The needle insertion support comprises a sleeve, an accommodating groove, and at least two elastic clamping jaws arranged in the sleeve. A groove opening of the accommodating groove and a sleeve opening of the sleeve are oriented away from each other, and the accommodating groove is configured to accommodate a sensor assembly. The needle insertion support is arranged in the housing assembly, such that the needle insertion support can move in a first direction and can be limited to a first position and a second position of the housing assembly. The housing assembly and the needle insertion support can be separated by means of a trigger button on the housing assembly, and a through hole is formed at the bottom of the sleeve. The fixing plate can be locked to the elastic clamping jaws, and the housing assembly enables the separation of the fixing plate from the elastic clamping jaws. The implantation needle assembly comprises a needle base and an implantation needle connected to the needle base. The needle base is circumferentially clamped between the elastic clamping jaws and arranged between the elastic clamping jaws and the bottom of the sleeve, and the needle base can move towards the fixing plate.

This application discloses a renal puncture guidance method, system and computer device based on multi-modal fusion, the method comprises: acquiring a medical image sequence of an object to be examined, and performing three-dimensional reconstruction based on the medical image sequence to obtain a three-dimensional reconstruction model; obtaining a slice corresponding to an ultrasonic probe currently in the three-dimensional reconstruction model; displaying a fusion image obtained from a real-time ultrasound image acquired by the ultrasonic probe and the slice in a first region of a puncture guidance interface; acquiring a needle insertion angle of a puncture needle, and displaying a puncture guide line in the fusion image in real time; and displaying the ultrasonic probe model, the puncture needle model and the three-dimensional reconstruction model in real time in a second region of the puncture guidance interface.

The invention relates to the technical field of medical teaching aids, and provides an acupoint acupuncture manipulation auxiliary training system special for bone fracture rehabilitation, which comprises the following steps: acquiring acupuncture depths and change angles of a plurality of detection time periods under multiple acupuncture; analyzing the variation difference relationship of the acupuncture depths of adjacent detection time periods, and dividing a plurality of segmentation time periods; based on the variation trend and the variation amplitude of the acupuncture depth in each segmentation time period, quantifying the force application unbalance degree of each acupuncture; analyzing the change relation of the change angle along with the change of the detection time period when the needle is inserted and after the needle is stopped in the needling process, and determining the out-of-control degree of the angle of each needling; in combination with the force application unbalance degree and the needling depth change difference between needle insertion starting and needle insertion stopping in the needling process, the mold deformation degree of each time of needling is obtained; and the suggested needle application depth of subsequent needling is determined, and auxiliary prompting is carried out. The invention aims to solve the problem that the non-uniform mold material affects the judgment of the uniformity of needle applying force by students.

A spiral excitation assembly of a prefilled automatic injection pen and a prefilled automatic injection pen comprising the spiral excitation assembly. The spiral excitation assembly of the prefilled automatic injection pen comprises: a cavity (6) for changing a rotary motion of a threaded push rod (5) into an axial forward movement; a nut (9), which is capable of being rotatably mounted in the cavity (6) relative to the cavity (6), with a torsion spring (7) capable of driving the nut (9) to rotate being arranged between the nut (9) and the cavity (6); the threaded push rod (5), which is in threaded connection with the interior of the nut (9) and driven by the rotation of the nut (9) to move forward and then drive a prefilled syringe (4) to move to complete automatic needle insertion; a clutch member (10), which is sleeved outside the nut (9) and capable of being driven by an excitation sleeve (3) of the prefilled automatic injection pen to move from an engaged position to an excitation position, wherein the clutch member engages with the nut (9) to stop the nut (9) when in the engaged position, and the nut (9) can rotate when the clutch member is in the excitation position; and a clutch spring (8), which is mounted between the clutch member (10) and an end cover (11) and is used for driving the clutch member (10) from the excitation position into a limiting position to limit backward movement of the excitation sleeve (3) to achieve needle protection post-injection, and to cause the clutch member (10) to collide with the nut (9) to produce a sound.

The invention discloses a buccal needle positioning navigation method and system based on multi-mode perception driving, and the method comprises the steps: collecting the image information and depth information of the face of a patient; generating an individualized face three-dimensional model according to the image information and the depth information; determining a standard meridian map according to a meridian database, and registering the standard meridian map to the individualized face three-dimensional model through non-rigid deformation to obtain acupuncture point positioning; according to the acupuncture point positioning and a pre-stored organization hierarchy model, needle insertion path guiding information is calculated and generated, and in an interactive interface, the acupuncture point positioning and the needle insertion path guiding information are displayed in an overlapped mode so as to execute the needle insertion guiding process; and in the needle insertion guiding process, collision detection is carried out according to the needle insertion path guiding information and the organization level model, and safety early warning is carried out when a collision risk is detected. The precision and safety of the acupuncture treatment process can be effectively improved.

The invention discloses a liver, gall and pancreas clinical puncture sampling device in the technical field of medical instruments, which comprises a base, a mechanical arm is fixedly connected to the base, a puncture needle is arranged at the top end of the mechanical arm, a guide rail for mounting the puncture needle is fixedly connected to the top end of the mechanical arm, a pushing part is slidably matched with one side of the guide rail, and the puncture needle is fixedly connected with the pushing part. The base is further fixedly connected with a pump assembly and a fixed arm, the top end of the fixed arm is fixedly connected with a multi-mode integrated sensor, and the side wall of the fixed arm is fixedly connected with a controller. By integrating a plurality of functional layers, the puncture needle can achieve a plurality of functions in single puncture, the mechanical arm is controlled to guide the puncture process of the puncture needle and compensate respiratory movement displacement through model construction and displacement prediction of the controller, and bleeding stopping gel is sprayed in a self-adaptive mode through resistance borne during needle insertion, so that massive bleeding is avoided; therefore, the efficiency of the hepatobiliary pancreas puncture operation is improved, the possibility of tissue bleeding infection is reduced, and the painless treatment experience of a patient is improved.

The embodiment of the invention provides a particle implantation planning system, method and device, and the system comprises a processor which is used for executing the following operations: obtaining medical image data of a target object; determining object features of the target object based on the medical image data; the object feature comprises a target region; determining a needle insertion path of a reference puncture needle based on the object characteristics of the target object; determining a candidate puncture needle group meeting a preset condition at least based on the needle entering path of the reference puncture needle; particle distribution optimization and needle group optimization are carried out on puncture needles in the candidate puncture needle group, and a target puncture needle group is determined; the target puncture needle group comprises a puncture path of a target puncture needle and particle distribution in the target puncture needle.

The invention discloses a wafer electrical property test method, a storage medium and a terminal. The wafer electrical property test method comprises the following steps: acquiring a standard acupuncture image; obtaining a to-be-detected acupuncture image of the current test structure; judging whether the to-be-detected acupuncture image accords with expectation or not based on the standard acupuncture image; if so, completing the electrical test of the current test structure, and carrying out the electrical test of the next test structure; if not, increasing the insertion depth of the probe card of the current test structure once or multiple times; and after the needle insertion depth of the probe card is increased each time, re-acquiring a to-be-detected needle insertion image of the current test structure, and judging whether the re-acquired to-be-detected needle insertion image conforms to expectation or not. In the process of performing the electrical test on the current test structure, whether the needle insertion of the current test structure meets the expectation or not can be detected, so that the time of re-testing due to abnormal test data caused by the needle insertion problem after the test is completed is saved, and the efficiency of the electrical test of the wafer is effectively improved.

The invention provides an ultrasonic-guided out-of-plane positioning and guiding method, system and device, a medium and a program product, and relates to the field of intelligent medical treatment. The method comprises the steps that an ultrasonic image containing a to-be-punctured target C is obtained, and the distance between the to-be-punctured target C and skin A is measured according to the image; the projection point of the edge midpoint of the detection end of the narrow surface of the ultrasonic probe in the transverse axis direction of the ultrasonic probe is a point A; acquiring one half of the length of the narrow surface of the ultrasonic probe as AB; lines of the AB and the AC are perpendicular to each other; calculating a predicted puncture depth BC according to AB and AC; the line segment AD is equal to the line segment AC on the basis that the image extends to the point D in the reverse direction of the AC; making a line segment DE perpendicular to the line segment AD, wherein the length of the line segment DE is twice that of the line segment AB; the puncture needle punctures the target object to be punctured in the directions of the point E and the point B, and the puncture depth is the BC length. The method calculates the predicted needle insertion depth through the right triangle function principle, does not need to calculate the needle insertion angle, is simple and effective, and is high in success rate.

The utility model relates to the technical field of sewing machines, in particular to an outer shuttle frame and a rotating shuttle, which comprise an outer shuttle main body with an integral structure, a mounting cavity arranged in the middle of the outer shuttle main body, a guide groove concavely arranged on the side wall of the mounting cavity and a mounting surface arranged on the top end surface of the guide groove, and at least one arc-shaped limiting piece detachably arranged on the mounting surface. The arc-shaped limiting piece is used for limiting the guide rail of the inner shuttle frame in the guide groove, the side wall of the outer shuttle body is provided with at least one dust discharging hole communicated with the guide groove, the top edge of the outer shuttle body is provided with a thread pushing protrusion, a needle inserting groove located below the thread pushing protrusion and a needle protecting face connected with the needle inserting groove, and the needle inserting groove is used for insertion of a machine needle. The outer shuttle body is of an integrated structure, the structural stability is good, the upper threads are pushed outwards through the thread pushing protrusions, the upper threads are convenient to loosen, the needle protection faces are arranged for limiting and protecting the machine needles, dust in the guide grooves is discharged through the dust discharging holes, heat dissipation is facilitated, and the fault probability that the inner shuttle frame is clamped in the outer shuttle body is reduced.

The invention provides a method for high-precision positioning of an orifice plate of a sampling system, and belongs to the technical field of orifice plate positioning, and the method comprises the following steps: randomly moving a sample needle above a sample injector platform of a flow cytometer, and controlling two groups of laser correlation sensors arranged on the sample injector platform to move; shooting and acquiring a current image after movement, determining the position difference between a laser correlation point of the current image and the sample needle, and judging whether the position difference meets a set standard or not; if the set standard is not met, continuously controlling the two groups of laser correlation sensors to finely move according to the standard error until the set standard is met; and when a set standard is met, performing closed-loop control on the stepping motor based on the obtained first hole coordinate and the whole-disc hole position coordinate system, and further inserting the sample needle into the corresponding hole position. According to the invention, fine adjustment of the sensor is realized, the accuracy of coordinate acquisition is ensured, visual errors are avoided, and improvement of automatic production efficiency is facilitated.

The application provides a prostate precise puncture system, comprising: an image acquisition module configured to acquire anus image data of a patient; an anus detection module configured to receive the anus image data to detect the anus position of the patient in real time based on the anus image data; the posture adjustment module is configured to control the mechanical arm to perform posture adjustment, so that the mechanical arm pushes the ultrasonic probe to pass through the anus position to obtain prostate ultrasonic image data; and the needle insertion correction module is configured to obtain a needle insertion puncture position based on the needle insertion parameters and transmit the needle insertion puncture position to the posture adjustment module, so that the posture adjustment module performs needle insertion puncture on the focus planning point of the prostate based on the needle insertion puncture position and the prostate ultrasonic image data. The difficulty of manually placing the probe and the posture of the mechanical arm in the prostate puncture operation is improved, the needle inserting position is corrected, the sampling precision is improved, anatomical structures such as the urethra and the pubis are avoided, and the occurrence rate of puncture related complications and the puncture failure rate are reduced.

The invention discloses an interactive indwelling needle simulation training model which comprises a venipuncture model body and an interactive control system. The venipuncture model main body comprises a simulation skin layer, a simulation blood vessel and a simulation subcutaneous tissue layer; two miniature cameras are arranged close to the proximal end of the venipuncture model main body and can record puncture pictures at the same time, and the puncture angles are interactively output; a puncture inlet of the simulated skin layer is provided with a plurality of first sensors for acquiring a first position of the remaining needle, the periphery of the simulated blood vessel is provided with a plurality of second sensors for acquiring a second position of the remaining needle, and the inner wall of the simulated blood vessel is provided with a plurality of third sensors for acquiring a third position of the remaining needle; the interactive control system compares data of operation training according to standard operation parameters in a preset puncture mode, can feed back the puncture angle and the puncture speed of the operation training to a trainee, and can also provide data of puncture strength and needle insertion depth to the trainee.

The invention discloses an auxiliary acupuncture and moxibustion device for a single-hand needle inserting technique. The auxiliary acupuncture and moxibustion device comprises a thumb sleeve, an index finger sleeve and a middle finger sleeve which are detachably arranged on the foremost finger sections of the thumb, the index finger and the middle finger of an operator in a sleeving mode respectively and have elasticity. The acupuncture needle device further comprises an ejection assisting mechanism for assisting an operator to carry out a single-hand needle feeding method. The ejection auxiliary mechanism comprises an outer U-shaped elastic sheet, an inner U-shaped elastic sheet and an elastic arc sheet; two arms of the outer U-shaped elastic sheet abut against the index finger and the thumb respectively, the bottom of the outer U-shaped elastic sheet abuts against the jaw, and the ends of the two arms on the two sides of the opening are connected with the thumb sleeve and the index finger sleeve respectively; the inner U-shaped elastic sheet is smaller than the outer U-shaped elastic sheet and is positioned in the outer U-shaped elastic sheet; according to the acupuncture needle device, the structural design, the operation convenience and the treatment effect are all optimized, automatic synchronization, mechanical balance and current conduction in acupuncture operation are achieved through the innovative structure and functions, and the defects of traditional acupuncture, electric acupuncture therapy and fingerstall type devices are overcome.

The invention discloses a prostate ablation operation needle insertion position construction method and a navigation system, and the method employs a three-dimensional model constructed by an MRI image, and determines the position of a needle insertion point and the number of inserted needles according to the ratio of the longitudinal axis distance between cystamen and verufugu to the diameter of a cylinder of single ablation needle ablation. If the upper and lower diameters of the prostate lateral lobes of the horizontal section corresponding to a single needle insertion point are smaller than 4cm, one needle is inserted into the horizontal plane; if the upper diameter and the lower diameter are greater than or equal to 4cm, entering two stitches; if the maximum diameter of the prostate lateral lobe at a certain longitudinal axis position in the horizontal direction is larger than 1 cm, a needle inserting point is additionally added, and if the length of the part protruding to the middle lobe of the bladder is larger than 1 cm, the needle inserting point is additionally added. The needle inserting point is utilized to enter a surgical navigation system, and the operation is accurately carried out in a unified mode under the guidance of the navigation system. A good treatment effect can be achieved when the hot steam ablation needle is punctured into a hyperplastic prostate near the urethra through the needle insertion point for ablation, the needle insertion point is constructed on the coronal section to ensure the ablation range, and the surgical risk is reduced.

The invention relates to a chromatographic device, a chromatographic system and a chromatographic column replacement method, the chromatographic device comprises a chromatographic box and a quick-insertion quick-change mechanism, the chromatographic box comprises a box body and a chromatographic column arranged in the box body, the two ends of the chromatographic column are connected with an adapter assembly penetrating through the side wall of the box body, the adapter assembly is provided with a first channel communicated with the chromatographic column, and the first channel is communicated with the chromatographic column. The quick-inserting and quick-changing mechanism comprises a support and a sample feeding and discharging unit arranged on the support, the support is provided with a positioning assembly used for positioning the chromatographic box, the sample feeding and discharging unit comprises two movable sample needles, the two sample needles are used for being connected with the two switching assemblies respectively, and when the chromatographic box is positioned on the support, the two switching assemblies are connected with the two movable sample needles. The sample needle can move between a first position and a second position; when the sample needle moves to the first position, the sample needle is inserted into the first channel of the switching assembly, so that the sample needle is communicated with the first channel; and when the sample needle moves to the second position, the sample needle is separated from the switching assembly. According to the invention, the chromatographic column can be rapidly replaced from the chromatographic device in a mode of replacing the chromatographic box.

A device comprises an ultrasound probe housing containing ultrasound probes configured to produce images inside a body of a patient and having an ambient side, a body side, a first side that connects the ambient side to the body side, and a second side that connects the ambient side to the body side and is substantially opposite to the first side, and wherein the ultrasound probes are positioned to provide a field of view beneath the body side of the ultrasound probe housing. The device further includes a first clamping arm that extends from the first side and a second clamping arm that extends from the second side, wherein the first clamping arm and the second clamping arm are configured to secure the ultrasound probe housing to a body of the patient such that the body side of the ultrasound probe is facing toward the body of the patient.

The invention provides an electric tungsten fire needle tumor ablation system, and the system comprises an image navigation module which is used for integrating CT / MRI / ultrasonic images, constructing a three-dimensional tumor model in real time, tracking a target region through electromagnetic positioning, and dynamically calibrating a needle insertion path; the insulating tungsten fire needle execution module is used for adopting a high-density tungsten alloy needle body and a multi-axis mechanical arm to control multi-angle puncture; the energy output module is used for intelligently adjusting radio frequency / microwave power and releasing energy in a pulse mode; and the temperature control feedback module is used for monitoring the temperature in real time and automatically terminating overheating energy. According to the technical scheme, accurate, safe and effective ablation of tumors is achieved.

This disclosure is directed to needle arrays, wearable medicament delivery devices, and targeted methods of medicament delivery into the skin utilizing sensing microneedles. The needle array includes an injection needle that can deliver the medicament to a patient and a sensing microneedle that can sense a characteristic. The characteristic can be associated with a depth that the sensing microneedle is inserted into the patient. A tip of the sensing microneedle is offset from a tip of the injection needle.

The invention provides an automatic navigation method and system for ablation, and relates to the technical field of computer-aided medicines.The method comprises the steps that hard constraint conditions and soft constraint conditions of an ablation path are set; based on a hard constraint condition, initializing a plurality of preliminary ablation paths meeting the hard constraint condition; calculating a risk index of each preliminary ablation path based on a soft constraint condition; sorting the initial ablation paths according to the risk indexes from low to high, and selecting the initial ablation path in the front as an initial solution of a sea gull optimization algorithm; optimizing the ablation path through a seagull optimization algorithm, and determining a plurality of candidate ablation paths; sorting the candidate ablation paths according to the fitness from low to high, and selecting the candidate ablation paths in the front for organ injury evaluation; determining an optimal ablation path from the candidate ablation paths according to an organ injury evaluation result; and performing ablation navigation according to the needle insertion position, angle and depth determined by the optimal ablation path.

The utility model relates to the technical field of pasture processing equipment, in particular to a square bale collecting machine. Comprising a dip angle pickup device, a horizontal transmission device, a straw bale leading-in device, a straw bale jacking device, a needle threading device assembly, a knotter assembly, a straw bale leading-out device and a bale collecting bin which are installed on a chassis assembly. The dip angle pickup device picks up small square bales on the ground and sends the small square bales to the horizontal transmission device, the horizontal transmission device sends the small square bales to an inlet of the bale collecting bin, the bale guiding device pushes the small square bales into the bale collecting bin, and the bale jacking device jacks the small square bales to the upper portion of the bale collecting bin. When the number of the small square bales in the bale collecting bin reaches a set value, the needle threading device assembly and the knotter assembly work at the same time to bundle the small square bales into a large square bale, the bale guiding device pushes the large square bale out of the bale collecting bin, and the large square bale falls on the ground. Small square bales can be picked up, stacked, extruded and bundled into large square bales, the operation efficiency is improved, and the cost is greatly reduced.