CN114788724A - Needle insertion robot - Google Patents

Abstract

The invention provides a needle insertion robot, comprising: a first connecting plate; a first drive assembly mounted to the first linkage plate; the winding reel is sleeved outside the transmission shaft of the first driving assembly; the flexible needle penetrates through the first connecting plate, an eccentric hole is formed in one end of the flexible needle, and the eccentric hole is connected with a transmission wire connected to the winding drum. According to the needle inserting robot provided by the invention, the eccentric hole is formed at one end of the flexible needle, and the first driving assembly drives the flexible needle to perform bending motion when driving the winding drum to rotate, so that the needle inserting direction of the flexible needle is changed, the problem that a rigid minimally invasive instrument cannot be bent is solved, and the minimally invasive needle inserting with multiple degrees of freedom is realized. Meanwhile, the needle inserting robot provided by the invention performs an operation by using the millimeter-scale flexible needle, increases the treatment range of a minimally invasive operation, improves the accuracy of the operation, and reduces the pain of a patient and the working strength of an operator.

Description

Needle insertion robot

technical field

The invention relates to the technical field of precision intelligent medical tools, in particular to a needle feeding robot.

Background technique

In the process of minimally invasive surgery, due to the compression, damage, adhesion and other symptoms of the tiny nerves, it is extremely difficult to perform minimally invasive surgery on the microscopic lesions, and it is difficult to use the existing ISO minimally invasive standard 5mm instruments for surgery. However, the types of minimally invasive surgery on the peripheral nervous system are more complicated and more difficult. The traditional rigid minimally invasive instruments cannot be bent, and the destructive damage to the human body during the operation is very serious, which greatly increases the pain of patients and medical staff. work difficulty. Therefore, in order to reduce the risk of surgery, relieve the pain of patients, and reduce the work intensity of medical staff, it is urgent to develop a new type of needle insertion robot.

SUMMARY OF THE INVENTION

The present invention provides a needle insertion robot, which is used to solve the defect that rigid minimally invasive instruments cannot be bent in the prior art.

The present invention provides a needle feeding robot, comprising: a first connecting plate; a first driving component installed on the first connecting plate; a bobbin, the bobbin is sleeved on the The outside of the transmission shaft of the first drive assembly; a flexible needle, the flexible needle penetrates the first connecting plate, an eccentric hole is opened at one end of the flexible needle, and the eccentric hole is connected to the transmission on the bobbin wire connection.

According to a needle feeding robot provided by the present invention, the first driving component includes: a first stepping motor, which is installed on the first connecting plate; a worm, which is connected to the first stepping motor. The transmission shaft of the further motor is connected; the turbine wheel is engaged with the worm; wherein, the bobbin is sleeved on the transmission shaft of the turbine wheel.

A needle feeding robot provided according to the present invention further includes a first fixing component, wherein the first fixing component includes: a fixing plate, the fixing plate is mounted on the first connecting plate, and a center of the fixing plate is provided with a first through hole; a pair of first fixing sleeves, a pair of the first fixing sleeves are arranged oppositely and located in the first through hole, the first fixing sleeves have a semicircular structure; the top wire is sleeved Outside a pair of the first fixing sleeves, the flexible needle located between the pair of the first fixing sleeves is fixed; wherein, the first connecting plate is formed with a stepped through hole, and the step The through hole is coaxial with the first through hole, the fixing plate is installed in the stepped through hole, and a pair of the first fixing sleeves extend to the outside of the stepped through hole.

A needle feeding robot provided according to the present invention further comprises a second driving assembly mounted on the first connecting plate; one end of the pair of first fixing sleeves extending to the outside of the first connecting plate is mounted with a first a gear, the first gear is drivingly connected with the second drive assembly.

According to a needle feeding robot provided by the present invention, the second driving component comprises: a second stepping motor mounted on the first connecting plate; a second gear mounted on the transmission shaft of the second stepping motor , and meshes with the first gear.

A needle feeding robot provided according to the present invention further includes a first sliding table assembly, and the first sliding table assembly includes: a first sliding table; a sliding table, the first connecting plate is installed on the second connecting plate; a first supporting plate, the first supporting plate is installed on the first sliding table, and the first supporting plate is formed with a second through hole , the second through hole and the stepped through hole are coaxially arranged, and the flexible needle passes through the second through hole and extends to the outside of the first support plate.

A needle feeding robot provided according to the present invention further includes a second sliding table assembly, and the second sliding table assembly includes: a second sliding table; a third connecting plate, and the third connecting plate is installed on the second sliding table A sliding table, the first sliding table is slidably connected with the third connecting plate; a second supporting plate, the second supporting plate is vertically arranged with the third connecting plate, and the second supporting plate is formed with a third A through hole, the third through hole and the second through hole are coaxially disposed, and the flexible needle passes through the third through hole and extends to the outside of the second support plate.

A needle feeding robot provided according to the present invention further includes a second fixing component, wherein the second fixing component includes: a second fixing sleeve, the second fixing sleeve is mounted on the first support plate, and is connected with the The second through holes are coaxially arranged; an outer needle, one end of the outer needle is installed in the second fixed sleeve; wherein, the flexible needle is sleeved in the outer needle and can slide in the first sliding Driven by the stage assembly, it extends to the outside of the outer needle.

A needle insertion robot provided according to the present invention further includes a cover, the cover includes: a first cover, the first cover includes a connected first body and a pair of second bodies, a pair of the second bodies along the The length direction of the first body is arranged at both ends of the first body; a plurality of connecting gussets, each of which is respectively installed on the edge of the second body; the second cover, the first The second cover includes a connected third body and a pair of fourth bodies, a pair of fourth bodies are disposed at both ends of the third body along the width direction of the third body, and the fourth body and the Connecting gussets, so that the first cover and the second cover form a whole; wherein, the second sliding table is installed on the first body, and the second supporting plate is installed on any of the first Two bodies, the second body on which the second support plate is mounted is provided with a fourth through hole, the fourth through hole is coaxial with the third through hole, and the other end of the outer needle passes through The fourth through hole extends beyond the second body.

A needle feeding robot provided according to the present invention further comprises a guide sleeve, one end of the guide sleeve is installed in the fourth through hole, the other end extends to the outside of the fourth through hole, and the outer needle penetrates extend through the guide sleeve to the outside of the guide sleeve.

In the needle feeding robot provided by the present invention, an eccentric hole is provided at one end of the flexible needle, and when the first driving component drives the bobbin to rotate, the flexible needle is driven to bend, thereby changing the needle feeding direction of the flexible needle, and solving rigid and minimally invasive problems. The problem that the instrument cannot be bent enables multi-degree-of-freedom minimally invasive needle insertion. At the same time, the needle insertion robot provided by the present invention uses millimeter-level flexible needles to perform surgery, which increases the treatment range of minimally invasive surgery, improves the precision of surgery, and reduces the pain of patients and the work intensity of the operator.

Description of drawings

In order to explain the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are the For some embodiments of the invention, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the structural representation of the needle feeding robot provided by the present invention;

Fig. 2 is the partial enlarged view of A place in Fig. 1;

Reference number:

10: flexible needle; 21: first fixing sleeve; 22: fixing plate;

31: First connecting plate; 32: Worm; 33: Turbine;

34: bobbin; 35: drive shaft; 36: first step motor;

41: The second stepper motor; 42: The first gear; 43: The second gear;

51: The first sliding table; 52: The second connecting plate; 53: The first supporting plate;

61: The second sliding table; 62: The third connecting plate; 63: The second supporting plate;

71: Second fixed sleeve; 72: Outer needle; 73: Guide sleeve;

101: the first cover; 102: the connecting gusset; 103: the second cover.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention. , not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The needle feeding robot of the present invention will be described below with reference to FIG. 1 and FIG. 2 .

As shown in FIG. 1 and FIG. 2 , in one embodiment of the present invention, the needle insertion robot includes: a first connecting plate 31 , a first driving component, a bobbin 34 and a flexible needle 10 . The first driving assembly is mounted on the first connecting plate 31 , the bobbin 34 is sleeved on the outside of the transmission shaft 35 of the first driving assembly, and the flexible needle 10 penetrates the first connecting plate 31 . One end of the flexible needle 10 is provided with an eccentric hole, and the eccentric hole is connected with the transmission wire connected to the bobbin 34 .

Specifically, the bobbin 34 is sleeved on the outside of the transmission shaft 35 of the first driving assembly, and is fixedly connected with the transmission shaft 35 . One end of the transmission wire is connected to the bobbin 34 , and the other end is connected to the eccentric hole of the flexible needle 10 . Under the driving of the first driving component, the bobbin 34 rotates coaxially with the transmission shaft 35 to drive the transmission wire to tighten or loosen. When the transmission wire is tightened, under the action of eccentric force, the transmission wire drives the flexible needle 10 to bend, thereby realizing flexible needle insertion with multiple degrees of freedom; when the transmission wire is loosened, the flexible needle 10 returns to its original state.

Further, the diameter of the flexible needle 10 may be 1.0-2.6 mm, optionally, in an embodiment of the present invention, the diameter of the flexible needle 10 is 1.6 mm.

In the needle feeding robot provided by the embodiment of the present invention, by opening an eccentric hole at one end of the flexible needle, when the first driving component drives the bobbin to rotate, it drives the flexible needle to bend, which changes the needle feeding direction of the flexible needle and solves the problem of rigidity. The problem that minimally invasive instruments cannot be bent enables multi-degree-of-freedom minimally invasive needle insertion. At the same time, the needle insertion robot provided by the embodiment of the present invention uses a millimeter-level flexible needle to perform surgery, which increases the treatment range of minimally invasive surgery, improves the accuracy of surgery, and reduces the pain of patients and the work intensity of the operator.

As shown in FIG. 2 , in one embodiment of the present invention, the first drive assembly includes: a first stepping motor 36 , a worm 32 and a turbine 33 . The first stepping motor 36 is installed on the first connecting plate 31, the worm 32 is connected with the transmission shaft of the first stepping motor 36, the turbine 33 is engaged with the worm 32, and a bobbin is sleeved on the transmission shaft 35 of the turbine 33. 34.

Specifically, the first step motor 36 drives the worm 32 to rotate, and the worm 32 meshes with the turbine 33 to drive the turbine 33 to rotate.

As shown in FIG. 2, in an embodiment of the present invention, the needle insertion robot further includes a first fixing component. The first fixing assembly includes: a pair of first fixing sleeves 21 , a fixing plate 22 and a top wire. A stepped through hole is formed on the first connecting plate 31, the fixing plate 22 is installed in the larger diameter hole of the stepped through hole, and a first through hole is opened in the center of the fixing plate 22. The through holes are arranged coaxially. A pair of first fixing sleeves 21 are disposed opposite to each other and are located in the first through holes, wherein the first fixing sleeves 21 are semicircular structures.

Specifically, one end of the fixing plate 22 is installed in the stepped through hole, and a pair of first fixing sleeves 21 are disposed in the first through hole of the fixing plate 22 and extend to the outside of the stepped through hole. The flexible needle 10 is disposed between a pair of first fixed sleeves 21 . Under the action of the tightening force of the top wire, a pair of first fixing sleeves 21 can be clamped, and the flexible needle 10 can be clamped by a pair of first fixing sleeves 21, so as to clamp the flexible needle 10. The flexible needle 10 is fixed in the first fixing sleeve 21 . Further, one end of the flexible needle 10 protrudes to the outside of the first fixing sleeve 21 , and this end is provided with an eccentric hole for connecting with the transmission wire of the bobbin 34 . The other end of the flexible needle 10 passes through the first connecting plate 31 and extends to the outside of the first connecting plate 31 .

As shown in FIG. 2, in an embodiment of the present invention, the needle insertion robot further includes a second driving component. The second driving assembly is mounted on the first connecting plate 31 , and one end of the pair of first fixing sleeves 21 extending to the outside of the first connecting plate 31 is mounted with a first gear 42 , the first gear 42 is drivingly connected with the second driving assembly.

Specifically, the second driving assembly includes: a second stepping motor 41 and a second gear 43 . The second stepping motor 41 is mounted on the first connecting plate 31 , and the second gear 43 is mounted on the transmission shaft of the second stepping motor 41 and meshes with the first gear 42 . Driven by the second stepping motor 41, the second gear 43 drives the first gear 42 to rotate, the first gear 42 drives the pair of first fixed sleeves 21 to rotate, and the pair of first fixed sleeves 21 drives the flexible needle 10 to rotate, thereby The rotation action of the flexible needle 10 is realized.

The needle insertion robot provided by the embodiment of the present invention controls the rotation and bending motion of the flexible needle respectively by using a plurality of stepping motors, so as to precisely control the movement of the flexible needle, improve the accuracy of minimally invasive surgery, and reduce the pain of the patient.

As shown in FIG. 1 , in an embodiment of the present invention, the needle feeding robot further includes a first sliding table assembly. The first sliding table assembly includes: a first sliding table 51 , a second connecting plate 52 and a first supporting plate 53 . The second connecting plate 52 is installed on the first sliding table 51 , and the first connecting plate 31 is installed on the second connecting plate 52 and is perpendicular to the second connecting plate 52 . The first supporting plate 53 is mounted on the second connecting plate 52 and is disposed perpendicular to the second connecting plate 52 , and the first supporting plate 53 is disposed parallel to the first connecting plate 31 . Further, the first support plate 53 is formed with a second through hole, the second through hole is coaxial with the stepped through hole of the first connecting plate 31 , and the flexible needle 10 passes through the second through hole and extends to the first support plate 53's exterior.

Further, in an embodiment of the present invention, the needle feeding robot further includes a second sliding table assembly. The second sliding table assembly includes: a second sliding table 61 , a third connecting plate 62 and a second supporting plate 63 . The third connecting plate 62 is mounted on the second sliding table 61 , and the first sliding table 51 is slidably connected to the third connecting plate 62 . The second supporting plate 63 is mounted on the third connecting plate 62 and is perpendicular to the third connecting plate 62 . At this time, the first connecting plate 31 , the first supporting plate 53 and the second supporting plate 63 are arranged in parallel, the second supporting plate 63 is formed with a third through hole, and the third through hole and the second through hole of the first supporting plate 53 are formed. Coaxially arranged, the flexible needle 10 passes through the third through hole and extends to the outside of the second support plate 63 . At this time, one end of the flexible needle 10 is connected to the bobbin 34 , and the upper part of the flexible needle 10 is held by the first fixing sleeve 21 For fixing, the other end of the flexible needle 10 passes through the first connecting plate 31 , the first supporting plate 53 and the second supporting plate 63 , and extends to the outside of the second supporting plate 63 .

Specifically, a lead screw is installed on the third connecting plate 62, and the first sliding table 51 is connected with the lead screw, and can reciprocate and linearly move along the lead screw. When the first sliding table 51 moves, it drives the first connecting plate 31 to reciprocate linearly, and further drives the flexible needle 10 to move linearly back and forth, so that the flexible needle 10 can be inserted or narrowed in a straight line.

As shown in FIG. 1 , in an embodiment of the present invention, the needle insertion robot further includes a second fixing component, and the second fixing component includes: a second fixing sleeve 71 and an outer needle 72 . The second fixing sleeve 71 is installed on the first support plate 53 and located above or below the second through hole, and one end of the outer needle 72 is installed in the second fixing sleeve 71 . Specifically, one end of the outer needle 72 is fixed in the second fixing sleeve 71 by the optical axis fixing ring. By adjusting the top wire of the optical axis fixing ring, the outer needle 72 can be fixed in the second fixing sleeve 71 to prevent its Rotation occurs. Further, a stepped through hole is formed inside the second fixing sleeve 71 , and the end surface of the outer needle 72 is pressed against the bottom surface of the stepped through hole to prevent the outer needle 72 from moving upward. The flexible needle 10 is sheathed in the outer needle 72 and can be extended to the outside of the outer needle 72 under the driving of the first sliding table 51 .

It can be understood that: according to the relative arrangement direction of the flexible needle 10 and the first connecting plate 31 , the second fixing sleeve 71 can be located above or below the second through hole.

Further, in an embodiment of the present invention, the inner diameter of the outer needle 72 is 2 mm.

In the needle insertion robot provided by the embodiment of the present invention, the flexible needle is sheathed in the outer needle, and the outer needle provides a guiding function for the flexible needle, thereby realizing precise positioning of the flexible needle in minimally invasive surgery.

As shown in FIG. 1 , in an embodiment of the present invention, in order to ensure the stability and safety of the operation of the needle insertion robot, the needle insertion robot further includes a cover. The cover includes: a first cover 101 , a plurality of connecting gussets 102 and a second cover 103 . The first housing 101 includes a connected first body and a second body, and a pair of second bodies are disposed at both ends of the first body along the length direction of the first body. Each connecting gusset 102 is installed on the edges of the two second bodies respectively. The second cover 103 includes a connected third body and a pair of fourth bodies, the pair of fourth bodies are arranged at both ends of the third body along the width direction of the third body, and the fourth body and the connecting gusset 102 are connected by bolts, In order to combine the first cover 101 and the second cover 103 into a whole.

Specifically, the second sliding table 61 is installed on the first body, and the second support plate 63 is installed on any second body. The second body on which the second support plate 63 is installed is provided with a fourth through hole, the fourth through hole is coaxial with the third through hole, and the other end of the outer needle 72 passes through the fourth through hole and extends to the second body The flexible needle 10 is arranged in the outer needle 72 , and the flexible needle 10 can be extended out of the outer needle 72 or retracted into the outer needle 72 under the driving of the first sliding table 51 .

Further, with the exception of the needle 72 , all the components described above are installed in the whole formed by the first housing 101 and the second housing 103 . Further, the second body on which the second support plate 63 is not installed is provided with a wire outlet hole for wiring the sliding table and the stepping motor.

As shown in FIG. 1 , in an embodiment of the present invention, the needle insertion robot further includes a guide sleeve 73 . One end of the guide sleeve 73 is installed in the fourth through hole, the other end extends to the outside of the fourth through hole, and the outer needle 72 passes through the guide sleeve 73 and extends to the outside of the guide sleeve 73 . The guide sleeve 73 provides guidance and support for the entry and exit of the trocar.

Specifically, driven by the first sliding table 51, the first support plate 53 can reciprocate linearly, thereby driving the outer needle 72 to reciprocate linearly along the guide sleeve 73, so as to realize the linear advancement of the trocar during minimally invasive surgery. Needle and narrow functions.

Further, in one embodiment of the present invention, the diameter of the outer needle 72 is 2.4 mm.

The working process of the needle feeding robot of the present invention will be described in detail below by taking the embodiment shown in FIG. 1 as an example.

Driven by the first sliding table 51, the first connecting plate 31 and the first supporting plate 53 can perform a reciprocating linear motion. Correspondingly, the outer needle 72 can perform linear reciprocating motion along the guide sleeve 73 under the driving of the first support plate 53, thereby realizing the linear needle advancement or narrowing of the outer needle 72.

The second stepping motor 41 can drive the second gear 43 to rotate, the second gear 43 drives the first gear 42 to rotate, and then drives the first fixed sleeve 21 to rotate, and the first fixed sleeve 21 drives the flexible needle 10 to rotate, so that the flexible needle 10 can be rotated. Rotation action.

The first step motor 36 drives the worm 32 to rotate, the worm 32 drives the turbine 33 to rotate, the bobbin 34 is sleeved on the transmission shaft 35 of the turbine ³³ , and rotates synchronously with the transmission shaft 35 to drive the transmission connected on the bobbin 34. The wire is tightened. When the transmission wire is tightened, the flexible needle 10 is driven to bend and move, and the needle feeding direction of the flexible needle 10 is changed, thereby realizing multi-degree-of-freedom minimally invasive surgery. When the drive wire is loosened, the flexible needle 10 returns to its original shape.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. a needle feeding robot, is characterized in that, comprises: the first connection board; a first drive assembly, the first drive assembly is mounted on the first connecting plate; a bobbin, the bobbin is sleeved on the outside of the transmission shaft of the first drive assembly; The flexible needle penetrates through the first connecting plate, and one end of the flexible needle is provided with an eccentric hole, and the eccentric hole is connected with the transmission wire connected on the bobbin. 2. The needle feeding robot according to claim 1, wherein the first drive assembly comprises: a first step motor, the first step motor is installed on the first connection board; a worm, the worm is connected with the drive shaft of the first stepping motor; a worm gear engaged with the worm; Wherein, the bobbin is sleeved on the transmission shaft of the turbine. 3. The needle feeding robot according to claim 1, further comprising a first fixing component, the first fixing component comprising: a fixing plate, the fixing plate is installed on the first connecting plate, and the center of the fixing plate is provided with a first through hole; a pair of first fixing sleeves, the pair of first fixing sleeves are arranged opposite to each other and are located in the first through holes, and the first fixing sleeves have a semicircular structure; a top wire, sleeved on the outside of a pair of the first fixing sleeves, so as to fix the flexible needle located between the pair of the first fixing sleeves; Wherein, the first connecting plate is formed with a stepped through hole, the stepped through hole and the first through hole are coaxially arranged, the fixing plate is installed in the stepped through hole, and a pair of the The first fixing sleeve extends to the outside of the stepped through hole. 4. The needle feeding robot according to claim 3, further comprising a second drive assembly, mounted on the first connecting plate; One end of a pair of the first fixing sleeves extending to the outside of the first connecting plate is mounted with a first gear, and the first gear is drivingly connected with the second driving assembly. 5. The needle feeding robot according to claim 4, wherein the second driving assembly comprises: a second stepper motor, mounted on the first connection board; The second gear is mounted on the transmission shaft of the second stepping motor and meshes with the first gear. 6. The needle feeding robot according to claim 3, further comprising a first sliding table assembly, the first sliding table assembly comprising: the first slide; a second connecting plate, the second connecting plate is installed on the first sliding table, and the first connecting plate is installed on the second connecting plate; a first support plate, the first support plate is mounted on the first sliding table, the first support plate is formed with a second through hole, and the second through hole is coaxially arranged with the stepped through hole, The flexible needle passes through the second through hole and extends to the outside of the first support plate. 7. The needle feeding robot according to claim 6, further comprising a second sliding table assembly, the second sliding table assembly comprising: the second slide; a third connecting plate, the third connecting plate is mounted on the second sliding table, and the first sliding table is slidably connected with the third connecting plate; A second supporting plate, the second supporting plate and the third connecting plate are vertically arranged, the second supporting plate is formed with a third through hole, and the third through hole and the second through hole are arranged coaxially , the flexible needle extends to the outside of the second support plate through the third through hole. 8. The needle insertion robot according to claim 7, further comprising a second fixing component, the second fixing component comprising: a second fixing sleeve, the second fixing sleeve is mounted on the first support plate and coaxially arranged with the second through hole; an outer needle, one end of the outer needle is installed in the second fixing sleeve; Wherein, the flexible needle is sheathed in the outer needle, and can be extended to the outside of the outer needle under the driving of the first sliding table assembly. 9 . The needle insertion robot according to claim 8 , further comprising a cover, the cover comprising: 10 . a first cover, the first cover includes a connected first body and a pair of second bodies, and a pair of the second bodies are arranged at both ends of the first body along the length direction of the first body; a plurality of connecting gussets, each of which is respectively mounted on the edge of the second body; A second cover, the second cover includes a connected third body and a pair of fourth bodies, and a pair of the fourth bodies are arranged at both ends of the third body along the width direction of the third body, so the fourth body is connected with the connecting gusset, so that the first cover and the second cover form a whole; Wherein, the second sliding table is installed on the first body, the second supporting plate is installed on any of the second bodies, and the second body on which the second supporting plate is installed is provided with a fourth channel. The fourth through hole is coaxial with the third through hole, and the other end of the outer needle passes through the fourth through hole and extends outside the second body. 10 . The needle insertion robot according to claim 9 , further comprising a guide sleeve, one end of the guide sleeve is installed in the fourth through hole, and the other end extends to the outside of the fourth through hole. 11 . , the outer needle extends through the guide sleeve to the outside of the guide sleeve.

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