CN110279439B - Biopsy needle and puncture device for mechanical arm puncture - Google Patents

Abstract

The present invention relates to a biopsy needle and a puncturing device for puncturing by a mechanical arm, comprising a main needle and an auxiliary needle capable of passing through the inner space of the main needle, wherein the main needle is arranged inside an outer tube, and the main needle and a connecting piece fixed in the outer tube Sliding connection, the main needle can move freely along the axis direction of the outer tube, the outer tube is connected with the universal piece, the universal piece can drive the outer tube to rotate in a universal direction, the universal piece is fixed with a fixing piece, the fixing piece The puncture device of the invention is used for fixed connection with the human body, and the puncturing device of the present invention is convenient to operate, has high precision, and reduces the pain of the patient.

Description

Biopsy needle and puncture device for robotic arm puncture

technical field

The invention relates to the technical field of medical equipment, in particular to a biopsy needle and a puncturing device used for puncturing by a robotic arm.

Background technique

With the advancement of medical technology, medical operations continue to develop in the direction of minimally invasive, especially for tumor diseases, which require puncture and sampling of tissue for diagnosis. For histopathological examination, the tumor tissue in the body cavity is generally biopsied with a biopsy needle. The traditional method is to first determine the puncture point, puncture depth and angle by means of CT scanning, and then the doctor uses the experience to hold the biopsy needle for puncture. The accuracy of this method is poor, the operation process is long, and the patient's body position should not be changed during the puncture process. The patient feels fatigued, often occurs puncture errors, and sometimes requires repeated positioning and puncture, resulting in local tumor metastasis and complications.

With the method of control technology, robotic arm technology is being used more and more in medical field. The robotic arm has the characteristics of convenient operation and high accuracy, but the inventor found that the current biopsy needle cannot be combined with the robotic arm. The manipulation resulting in the biopsy needle also requires manual manipulation.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art, and provide a biopsy needle device for robotic arm puncture, which can effectively reduce the damage caused by the lack of doctor's experience and improper operation during the operation, and greatly reduce the patient's pain. Pain, improve the success rate of surgery.

To achieve the above object, the present invention adopts the following technical solutions:

A biopsy needle for robotic arm puncture, comprising a main needle and an auxiliary needle that can pass through the inner space of the main needle, the main needle is arranged inside an outer tube, the main needle is slidably connected with a connector fixed in the outer tube, and the main needle is used for It is connected to the drive mechanism, and can move freely along the axis direction of the outer tube under the action of the drive mechanism. The outer tube is connected with the universal member, which can drive the outer tube to rotate in a universal direction, and the universal member is fixed. There are fixing pieces, which are used for fixed connection with the human body.

Further, the outer tube is made of transparent material.

Further, the connecting piece includes a first connecting plate and a second connecting plate fixed on the inner circumferential surface of the outer tube, the first connecting plate and the second connecting plate are provided with a gap matching the main needle, and the main needle can pass through. Two notches, two notches are used to guide the movement of the main needle.

Further, the first connecting plate and the second connecting plate are made of flexible materials.

Further, the universal member adopts a spherical roller bearing, the inner ring part of the spherical roller bearing is fixedly connected with the outer tube, and the outer ring part is fixedly connected with the fixing member.

Further, the fixing member adopts a fixing plate, and the edge end face of the fixing plate is fixed with a double-sided adhesive tape, which is used for sticking and fixing the fixing plate and the human body.

A puncture device, comprising the biopsy needle for robotic arm puncturing, the end of the main needle being threadedly connected to one end of an outer cylinder, and the end of the main needle being threadedly connected to the outer cylinder and a drive provided inside the outer cylinder The driving mechanism can drive the main needle to rotate, and then drive the main needle to move along the axis of the outer cylinder. The auxiliary needle is inserted into the main needle and extends to the outside of the outer cylinder. The outer cylinder is connected with the mechanical arm. The robotic arm can drive the movement of the outer cylinder.

Further, the drive mechanism includes a drive motor fixed inside the outer cylinder, the output shaft of the drive motor is fixedly connected with the first gear, the first gear is meshed with the second gear, and the second gear is connected to the main gear through a connecting rod. The needle end face is fixedly connected, and the connecting rod is rotatably connected with the connecting plate fixed inside the outer cylinder.

Further, the connecting rod is a hollow rod with a cavity allowing the auxiliary needle to pass through.

Further, a push handle is fixed at the end of the auxiliary needle extending to the outside of the outer cylinder, and the push handle is convenient for the operator to push the auxiliary needle.

Beneficial effects of the present invention:

1. The puncture device of the present invention can combine a robotic arm with a biopsy needle, and use the manipulator to pierce the biopsy needle into human tissue, which can effectively reduce the trauma caused by the lack of doctor's ability to operate, and reduce the pain of the patient.

2. The puncture device of the present invention can arbitrarily adjust the puncture angle through the arrangement of the mechanical arm and the universal member, thereby improving the biopsy accuracy, with few operation steps and convenient sampling.

3. In the puncture device of the present invention, the main needle is advanced by threaded connection, which can be pushed to the vicinity of the target tissue stably and slowly for accurate positioning, and the auxiliary needle is manually advanced, which can quickly enter the tissue for sampling.

Description of drawings

The accompanying drawings that constitute a part of the present application are used to provide further understanding of the present application, and the schematic embodiments and descriptions of the present application are used to explain the present application and do not constitute a limitation to the present application.

1 is a schematic diagram of the overall structure of the biopsy needle in Example 1 of the present invention;

2 is a schematic structural diagram of the main needle in Embodiment 1 of the present invention;

3 is a schematic structural diagram of a secondary needle in Embodiment 1 of the present invention;

4 is a schematic diagram of the assembly of the outer tube and the connector in Embodiment 1 of the present invention;

5 is a schematic structural diagram of a spherical roller bearing according to Embodiment 1 of the present invention;

6 is a schematic diagram of the overall structure of Embodiment 2 of the present invention;

Among them, 1. Main needle, 2. Secondary needle, 3. Outer tube, 4. First connecting plate, 5. Second connecting plate, 6. Notch, 7. Spherical roller bearing, 8. Fixed plate, 9. outer cylinder, 10. threaded connection cylinder, 11. drive motor, 12. first gear, 13. second gear, 14. connecting rod, 15. connecting plate, 16. push handle.

Detailed ways

It should be noted that the following detailed description is exemplary and intended to provide further explanation of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components and/or combinations thereof.

For the convenience of description, if the words "up", "down", "left" and "right" appear in the present invention, it only means that the directions of up, down, left and right are consistent with the drawings themselves, and do not limit the structure. It is for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as a limitation of the present invention.

As described in the background art, the existing biopsy needle cannot be combined with a robotic arm, the accuracy of the puncturing process is poor, and sometimes repeated positioning and puncturing are required.

In Example 1 of a typical implementation of the present application, as shown in FIGS. 1-5 , a biopsy needle for robotic arm puncture includes a main needle 1 and an auxiliary needle 2 that can pass through the inner space of the main needle. Both the ends of the main needle and the auxiliary needle are provided with needle heads, and the needle heads have the same structure as the main needle and the auxiliary needle head of the existing biopsy needle, and are not described in detail here.

The main needle passes through the inner space of the outer tube 3 and is slidably connected to the connecting piece fixed inside the outer tube. The main needle and the outer tube are coaxially arranged, and the main needle can move freely along the axis of the outer tube.

The connecting piece includes a first connecting plate 4 and a second connecting plate 5 fixed on the inner circumferential surface of the outer tube. The first connecting plate and the second connecting plate are provided with a gap 6, and the main needle can pass through the first connecting plate. And the notch of the second connecting plate, the circumferential surface of the main needle is in contact with the inner side of the notch, which can guide the movement direction of the main needle and make the main needle move along the axis direction of the outer tube.

The first connecting plate and the second connecting plate are made of flexible materials, preferably rubber materials, which can use the elastic force of rubber to support the main needle, prevent the main needle from shaking during movement, and have high guiding accuracy.

The outer tube is made of transparent material, which is convenient for the operator to observe the movement of the main needle in the outer tube.

The outer peripheral surface of the outer tube is connected with the universal member, the universal member adopts a spherical roller bearing 7, the inner ring part of the spherical roller bearing is fixedly connected with the outer tube, the outer ring part is fixed with a fixing member, and the outer The tube can be rotated in any direction through the spherical roller bearing, thereby realizing the rotation of the main needle in any direction.

The fixing member is used to connect the universal member, the outer tube and the main needle to the human body, and the fixing member adopts a fixing plate 8, and the edge end face of the fixing plate is fixed with double-sided tape, and the double-sided tape is used for Attach the fixing plate to the human body.

Example 2:

This embodiment discloses a puncture device. As shown in FIG. 6 , the biopsy needle for robotic arm puncture as described in Embodiment 1 is used. The puncture device further includes an outer cylinder 9 coaxial with the main needle. The end of the outer cylinder is provided with a threaded connection cylinder 10, the threaded connection cylinder is threadedly connected with the threaded structure provided at the end of the main needle, and the end of the main needle is connected with a drive mechanism arranged inside the outer cylinder, and the drive mechanism can drive the main needle. Rotate, and then drive the main needle to move along the axis of the outer cylinder. The auxiliary needle passes through the inner space of the main needle and extends to the outside of the outer cylinder through the through hole provided at the end of the outer cylinder. The hole is in contact with the surface, the through hole can guide the movement of the auxiliary needle, the operator can manually push the auxiliary needle forward, the outer cylinder is connected with the mechanical arm, and the mechanical arm adopts the existing medical mechanical arm. It can drive the outer cylinder and its inner main needle and auxiliary needle to move along multiple degrees of freedom.

The drive mechanism includes a drive motor 11 fixed inside the outer cylinder, the output shaft of the drive motor is fixedly connected with the first gear 12, the first gear is meshed with the second gear 13, and the second gear is fixed in the connection. On the rod 14, the connecting rod is coaxially arranged with the main needle and the outer cylinder, the end of the connecting rod is fixedly connected with the end face of the main needle, the second gear can drive the connecting rod to rotate, and then the connecting rod can drive the main needle to rotate , the connecting rod is rotatably connected with two connecting plates 15 fixed inside the outer cylinder, the connecting plates are used to support the connecting rod, the connecting rod adopts a hollow rod, and the auxiliary needle can pass through its inner cavity.

A push handle 16 is fixed at the end of the auxiliary needle extending out of the outer cylinder, so that the operator can push the auxiliary needle easily.

In the puncture device of this embodiment, the main needle is advanced by threaded connection, which can be stably and slowly pushed to the vicinity of the target tissue for accurate positioning, and the auxiliary needle is manually advanced, which can quickly enter the tissue for sampling.

The working method of the puncture device described in this embodiment 2 is:

The spherical roller bearing is fixed on the surface of the human body through the fixed plate. The mechanical arm and the spherical roller bearing work together to adjust the puncture angle of the main needle and the auxiliary needle, drive the motor to work, and drive the main needle to rotate along its axis direction at the same time. Move until it moves to the periphery of the target tissue and does not penetrate the tissue. The operator manually pushes the auxiliary needle so that the diameter of the auxiliary needle penetrates the tissue for sampling. If the sampling is successful, the main needle and the auxiliary needle are under the action of the operator and the drive motor. Co-exit, if the auxiliary needle fails to obtain the target tissue, the main needle can pierce the tissue for sampling. After the sampling is completed, the main needle and the auxiliary needle exit together, avoiding the pain caused by multiple punctures to the patient.

The puncture device of this embodiment can combine a robotic arm with a biopsy needle, use the robotic arm to operate the biopsy needle, and pierce the biopsy needle into human tissue, which can effectively reduce the trauma caused by the lack of doctor's ability to operate, reduce the pain of the patient, and reduce the pain of the patient. The puncture angle can be adjusted arbitrarily, thereby improving the biopsy accuracy, with fewer operation steps and convenient sampling.

Although the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, they do not limit the scope of protection of the present invention. Those skilled in the art should understand that on the basis of the technical solutions of the present invention, those skilled in the art do not need to pay creative work. Various modifications or variations that can be made are still within the protection scope of the present invention.

Claims (6)

1. A puncture device is characterized by comprising a biopsy needle for mechanical arm puncture, wherein the biopsy needle for mechanical arm puncture comprises a main needle and an auxiliary needle capable of penetrating through the inner space of the main needle, the main needle is arranged in an outer tube and is in sliding connection with a connecting piece fixed in the outer tube, the main needle is connected with a driving mechanism and can freely move along the axial direction of the outer tube under the action of the driving mechanism, the outer tube is connected with a universal piece, the universal piece can drive the outer tube to rotate in a universal way, and a fixing piece is fixed on the universal piece and is used for being fixedly connected with a human body; the end parts of the main needle and the auxiliary needle are provided with needle heads; the universal piece adopts a self-aligning roller bearing, the inner ring part of the self-aligning roller bearing is fixedly connected with the outer pipe, and the outer ring part of the self-aligning roller bearing is fixedly connected with the fixing piece;

the end part of the main needle is in threaded connection with one end of the outer barrel, the end part of the main needle in threaded connection with the outer barrel is connected with a driving mechanism arranged in the outer barrel, the driving mechanism can drive the main needle to rotate so as to drive the main needle to move along the axis of the outer barrel, the auxiliary needle is arranged in the main needle and extends out of the outer barrel, the outer barrel is connected with a mechanical arm, and the mechanical arm can drive the outer barrel to move;

actuating mechanism is including fixing the driving motor in the urceolus is inside, driving motor's output shaft and first gear fixed connection, first gear meshes with the second gear mutually, the second gear is fixed on the connecting rod, the connecting rod and the coaxial setting of king-needle, urceolus, the terminal surface fixed connection of connecting rod tip and king-needle, the second gear can drive the connecting rod and rotate, and then the connecting rod can drive the rotation of king-needle, the connecting rod rotates with two connecting plates of fixing in the urceolus is connected, and the connecting plate is used for supporting the connecting rod, the connecting rod adopts hollow rod, and the auxiliary needle can pass through its inside cavity.

2. The lancing device of claim 1, wherein the outer tube is formed of a transparent material.

3. The puncture device according to claim 1, wherein the connecting member comprises a first connecting plate and a second connecting plate fixed to an inner circumferential surface of the outer tube, the first connecting plate and the second connecting plate being provided with notches matching with the main needle, the main needle being capable of passing through the two notches, and the two notches being used to guide the movement of the main needle.

4. The lancing device of claim 3, wherein the first and second webs are formed of a flexible material.

5. The puncturing device as claimed in claim 1, wherein the fixing member is a fixing disk, and a double-sided tape is fixed to an edge end face of the fixing disk for adhering and fixing the fixing disk to the human body.

6. The lancing device of claim 1, wherein the end of the secondary needle that extends outside the outer barrel has a push handle affixed thereto, the push handle facilitating pushing of the secondary needle by an operator.

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