WO2022247837A1 - 一种穿刺装置及穿刺系统 - Google Patents

一种穿刺装置及穿刺系统 Download PDF

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Publication number
WO2022247837A1
WO2022247837A1 PCT/CN2022/094783 CN2022094783W WO2022247837A1 WO 2022247837 A1 WO2022247837 A1 WO 2022247837A1 CN 2022094783 W CN2022094783 W CN 2022094783W WO 2022247837 A1 WO2022247837 A1 WO 2022247837A1
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WO
WIPO (PCT)
Prior art keywords
clamping
puncture
assembly
block
needle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2022/094783
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English (en)
French (fr)
Inventor
黄戬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhan United Imaging Healthcare Surgical Technology Co Ltd
Original Assignee
Wuhan United Imaging Healthcare Surgical Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wuhan United Imaging Healthcare Surgical Technology Co Ltd filed Critical Wuhan United Imaging Healthcare Surgical Technology Co Ltd
Priority to EP22810561.5A priority Critical patent/EP4327764B1/en
Priority to CN202280037944.9A priority patent/CN117396146A/zh
Priority to EP26158673.9A priority patent/EP4717223A2/en
Publication of WO2022247837A1 publication Critical patent/WO2022247837A1/zh
Priority to US18/518,936 priority patent/US20240081860A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B90/57—Accessory clamps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3405—Needle locating or guiding means using mechanical guide means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3405—Needle locating or guiding means using mechanical guide means
    • A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3413—Needle locating or guiding means guided by ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0807—Indication means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/374—NMR or MRI
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms

Definitions

  • the present application relates to the field of puncture technology, and in particular to a puncture device and a puncture system.
  • a puncture device that can assist the operator to perform puncture surgery remotely, so as to achieve real-time image assistance during the puncture surgery, thereby improving puncture accuracy and fluency.
  • a puncture device including: a puncture needle mechanism; a moving mechanism; and a clamping mechanism, the clamping mechanism is arranged on the moving mechanism, and can clamp or release the puncture needle mechanism .
  • the moving mechanism includes a base, a slide assembly and a puncture drive assembly
  • the slide assembly is slidably disposed on the base
  • the puncture drive assembly is disposed on the base and connected to the slide assembly , for driving the sliding assembly to move linearly relative to the base
  • at least part of the clamping mechanism is arranged on the sliding assembly.
  • the clamping mechanism includes a first clamping assembly and a clamping drive assembly, the first clamping assembly is arranged on the slide assembly, and the clamping drive assembly is arranged on the base and connected to The first clamping component is used to drive the first clamping component to clamp or release the puncture needle mechanism.
  • the clamping mechanism further includes a drive shaft, the clamping drive assembly is connected to the drive shaft, and is used to drive the drive shaft to rotate along its own axis, so as to drive the first clamping assembly Clamp or release the needle mechanism.
  • the first clamping assembly includes a first clamping claw, the first clamping claw is hinged to the sliding assembly, and the clamping drive assembly is connected to the drive shaft for driving The drive shaft rotates along its own axis to drive the first clamping claw to open or close.
  • the first clamping assembly further includes a cam, the cam is connected to the drive shaft, and the first clamping claw abuts against the cam.
  • the first clamping assembly further includes a first push rod and a second push rod, and one end of the first push rod and the second push rod are respectively hinged to the first clamping claw At the first hinge point and the second hinge point, the other ends of the first push rod and the second push rod are respectively hinged on the first end and the second end of the cam along the long axis direction of the cam .
  • the cam includes a stopper, and a stop pin is provided on the sliding assembly, and when the stopper abuts against the stopper, the rotation of the cam is restricted.
  • the length of the first push rod is less than the length of the second push rod.
  • the included angle between the first push rod and the first clamping claw is an acute angle
  • the second push rod and the first clamping claw The angle between the holding claws is an obtuse angle
  • the angle between the first push rod and the first clamping claw is an obtuse angle
  • the second push rod and the first clamping claw are obtuse.
  • the included angle between the first clamping claws is an acute angle.
  • the first clamping assembly further includes a first elastic member, one end of the first elastic member is connected to the first clamping claw, and the other end is connected to the sliding assembly; when the When the first elastic member is in an undeformed state, the first clamping claw is in an open state.
  • the clamping mechanism further includes a second clamping assembly, the second clamping assembly is connected to the base, and the clamping driving assembly drives the second clamping assembly through the drive shaft.
  • An assembly grips or releases the introducer needle mechanism.
  • the puncture needle mechanism includes a puncture needle and an auxiliary assembly;
  • the auxiliary assembly includes a sleeve and a guide, and the sleeve includes a first clamping positioning structure that cooperates with the first clamping assembly , the guide portion includes a second clamping positioning structure matched with the second clamping assembly.
  • the sleeve includes a first block and a second block, and the first block and the second block are oppositely arranged to form a first cavity;
  • the guide part includes a first guide A block and a second guide block, the first guide block and the second guide block are arranged oppositely to form a second cavity;
  • the puncture needle includes a needle handle and an outer needle, and the needle handle is located in the first cavity Inside, the outer needle passes through the second cavity.
  • the first block includes a first pin hole
  • the second block includes a first detent
  • the first detent can be inserted into the first pin hole to form a fit.
  • the first clamping and positioning structure is a positioning groove opened on the outer wall of the sleeve.
  • the positioning groove is an annular groove disposed along the circumference of the sleeve.
  • the positioning groove is a groove provided on the outer wall of the first block or the second block.
  • a first marker is provided on the sleeve at a position opposite to the groove.
  • the outer surface of the guide part includes an abutment surface, and the abutment surface is set as a plane.
  • the guide part is provided with a second marker.
  • the puncture drive assembly includes a shielding box, a first transmission rope, and a puncture driver; wherein, the shielding box is connected to the base for shielding external radiation; the first transmission rope is connected to The sliding assembly, the piercing driver is built in the shielding box and connected to the first transmission rope, and the piercing driver drives the sliding assembly to move linearly relative to the base through the first transmission rope .
  • the sliding assembly includes a traction block, and the traction block is fixedly connected with the first transmission rope;
  • the puncture drive assembly further includes a guide wheel arranged on the base, and the first transmission The rope is connected with the guide wheel.
  • the moving mechanism further includes a guide shaft, the guide shaft is arranged along the length direction of the base and is rotatably connected to the base around its own axis, and the sliding assembly is slidably sleeved on the guide shaft.
  • the clamping drive assembly further includes a second transmission rope and a clamping driver, the second transmission rope is connected to the drive shaft, the clamping driver is built into the shielding box and Connected to the second transmission rope, the drive shaft is driven to rotate along its own axis through the second transmission rope.
  • One of the embodiments of this specification provides a puncture system, including an imaging device, a mechanical arm, and the puncture device in any of the above-mentioned embodiments, the imaging device is used to obtain the position of the patient's lesion, and the mechanical arm is connected to the puncture device.
  • the puncture device is used to drive the puncture device to a designated position, and the puncture device is used to drive the puncture needle to puncture the lesion position and/or release the puncture needle so that the puncture needle is separated from the mechanical arm.
  • Fig. 1 is a schematic diagram of an exploded structure of a puncture device according to some embodiments of the present specification
  • Fig. 2 is a schematic exploded structure diagram of an auxiliary component according to some embodiments of the present specification
  • Fig. 3 is a partially enlarged schematic diagram of the E place in Fig. 1;
  • Fig. 4 is a partially enlarged schematic diagram under another viewing angle at the E place in Fig. 1;
  • Fig. 5 is a schematic structural view of the sleeve and the needle handle in the puncture needle mechanism according to some embodiments of the present specification
  • Fig. 6 is a schematic structural view of the sleeve and the needle handle in the puncture needle mechanism according to some embodiments of the present specification
  • Fig. 7 is a schematic diagram of the exploded structure of the guide part and the outer needle part of the puncture needle mechanism according to some embodiments of the present specification
  • Fig. 8 is a schematic exploded view of the guide part and the outer needle part of the puncture needle mechanism according to some embodiments of the present specification
  • Fig. 9 is a schematic structural diagram of a guide part according to some embodiments of the present specification.
  • Fig. 10 is a schematic diagram of assembly when a sleeve is installed according to some embodiments of the present specification
  • Fig. 11 is a schematic diagram of assembly when the guide part is installed according to some embodiments of the present specification.
  • Fig. 12 is a schematic structural view of a puncturing device according to some embodiments of the present specification.
  • Fig. 13 is a cross-sectional view along line F-F in Fig. 12 according to some embodiments of the present specification;
  • Fig. 14 is a schematic cross-sectional view along line F-F in Fig. 12 when the first clamping assembly is in an open state according to some embodiments of the present specification;
  • Fig. 15 is a schematic cross-sectional view along line F-F in Fig. 12 when the first clamping assembly is in a closed state according to some embodiments of the present specification;
  • Fig. 16 is a cross-sectional view along line G-G in Fig. 12 shown in some embodiments of the basic specification;
  • Fig. 17 is a perspective view of the puncture device according to some embodiments of the present specification with the base and bracket hidden;
  • Fig. 18 is a partially enlarged schematic diagram at H in Fig. 17;
  • Fig. 19 is a partially enlarged schematic diagram of place I in Fig. 17;
  • Fig. 21 is a top view of the puncture device shown in Fig. 20;
  • Fig. 22 is a partially enlarged schematic diagram of J in Fig. 20;
  • Fig. 23 is a partially enlarged schematic diagram at K in 20;
  • Fig. 24 is a perspective view of the puncture device according to some embodiments of the present specification with the base and bracket hidden;
  • 25 is a block diagram of a lancing system according to some embodiments of the present specification.
  • real-time acquisition of image assistance during puncture is of great help to improve the accuracy, safety and smoothness of puncture in interventional surgery.
  • image assistance it is possible to confirm whether the puncture is in place during the puncture process, which can avoid the repeated process of confirming whether the puncture is in place after performing a puncture operation, which affects the accuracy and smoothness of the puncture.
  • imaging devices such as X-ray machines, computerized tomography equipment, magnetic resonance equipment, etc.
  • the medical staff directly perform the puncture operation at the puncture site, the radiation from the imaging device will inevitably endanger the health of the medical staff.
  • the medical staff can remotely operate the puncture device to perform the puncture operation, which requires the puncture device to have the function of remote operation to complete the puncture.
  • the embodiment of the present specification provides a puncture device, which includes a puncture needle mechanism, a linearly movable moving mechanism, and a clamping mechanism.
  • the clamping mechanism can be arranged on the moving mechanism, and can clamp or release the puncture needle mechanism.
  • the puncture device provided in the embodiment of this specification controls the puncture needle in the puncture needle mechanism to puncture through the moving mechanism, and clamps or releases the puncture needle mechanism through the clamping mechanism, without the need for the operator to directly operate the puncture needle manually for puncture, the clamping mechanism and
  • the moving mechanism can be controlled remotely, so that the operator can remotely operate the puncture device to perform puncture surgery without being at the puncture site.
  • An imaging device with radiation can be set up at the puncture site without an operator, and the operator can conveniently obtain real-time image support when operating the puncture device remotely outside the puncture site to perform puncture surgery, thereby improving the accuracy of puncture surgery and smooth work sex. And by remotely controlling the clamping mechanism to release the clamping state, the puncture needle mechanism is released from the clamping mechanism, thereby allowing the puncture needle mechanism to leave the operation area, which facilitates the follow-up operation process.
  • the puncture needle mechanism can include a puncture needle and an auxiliary assembly, and the clamping mechanism can clamp or release the puncture needle mechanism by clamping or releasing the auxiliary assembly, and the auxiliary assembly can control the puncture of the puncture needle.
  • Direction guidance, through the auxiliary component, the position and axis direction of the puncture needle during the puncture process can be accurately determined, so that the puncture accuracy can be better improved.
  • Fig. 1 is an exploded schematic view of a puncturing device according to some embodiments of the present specification.
  • the puncture device 100 may include a puncture needle mechanism 1 , a moving mechanism 2 and a clamping mechanism 3 .
  • the clamping mechanism 3 can be arranged on the moving mechanism 2 and can carry the puncture needle mechanism 1 . Further, the clamping mechanism 3 can clamp or release the puncture needle mechanism 1 .
  • the clamping mechanism 3 can clamp the puncture needle mechanism 1, and the linear motion of at least part of the moving mechanism 2 (for example, a slider) can drive at least part of the clamping mechanism 3 to perform a linear motion, thereby driving the clip
  • the puncture instrument for example, puncture needle
  • the linear movement of the moving mechanism 2 and/or the clamping or releasing action of the clamping mechanism 3 on the puncture needle mechanism 1 can be remotely controlled by the operator, so that the puncture operation can be performed remotely.
  • the puncture needle mechanism 1 may include an auxiliary assembly 10 and a puncture needle 11 , and the auxiliary assembly 10 may be sleeved outside the puncture needle 11 . Serves as an aid in positioning and/or guidance.
  • the puncture needle 11 can be a biopsy puncture needle, an injection puncture needle, a drainage puncture needle, etc., and the puncture needle 11 can be used to accurately puncture the patient's lesion position, and then perform an operation, and can be used for kidney, liver, Lung, breast, thyroid, prostate, pancreas, testis, uterus, ovary, body surface, abdomen and other organs for sampling, injection, implantation, fluid extraction and other operations.
  • introducer needle 11 may include a shaft 111 and an outer needle 112 . Wherein, the cross-sectional dimension of the needle handle 111 may be greater than the diameter of the outer needle 112 .
  • the cross-sectional dimension of the needle shaft 111 may be the cross-sectional dimension of the pointer shaft 111 along an axis perpendicular to the outer needle 112 .
  • the cross section of the needle handle 111 is a rectangle, and its cross-sectional dimension can be the length, width or diagonal length of the rectangle.
  • the cross-section of the needle handle 111 is a circle, and its cross-sectional dimension may be the diameter of the circle.
  • the cross-sectional dimension of the needle handle 111 is larger than the diameter of the outer needle 112 may be that the smallest cross-sectional dimension of the pointer handle 111 is larger than the diameter of the outer needle 112 .
  • the cross-sectional dimension may be the diameter of an equivalent circle (eg, an inscribed circle or a circumscribed circle) of the irregular shape.
  • the puncture needle 11 can also include a needle cap 113, the needle cap 113 is located above the needle handle 111, an inner needle (not shown) can be accommodated in the outer needle 112, and one end of the inner needle can be connected to Needle cap 113.
  • Fig. 2 is a schematic exploded view of an auxiliary component according to some embodiments of the present specification.
  • the auxiliary assembly 10 may include a sleeve 12 and a guide portion 13 .
  • the sleeve 12 may include a first block 121 and a second block 122, the first block 121 and the second block 122 may be oppositely arranged to form a first cavity, and the sleeve 12 may include a first clamping and positioning structure 125.
  • the guide part 13 may include a first guide block 131 and a second guide block 132 , the first guide block 131 and the second guide block 132 may be oppositely arranged to form a second cavity, and the guide part 13 may include a second clamping and positioning structure 135 .
  • the puncture needle mechanism 1 can be constituted by assembling the auxiliary assembly 10 to the puncture needle 11 .
  • the first block 121 and the second block 122 can be relatively engaged to accommodate the needle handle 111 in the first cavity
  • the first guide block 131 and the second guide block 132 can be relatively engaged to accommodate the outer needle 112 in the first cavity.
  • the puncture needle mechanism 1 is formed.
  • the clamping mechanism 3 can clamp or release the puncture needle 11 by clamping or releasing the auxiliary assembly 10. When the puncture needle 11 is clamped by the clamping mechanism 3, it can be inserted or withdrawn in a linear motion with the moving mechanism 2 Human body for puncture. Further, as shown in FIG.
  • the clamping mechanism 3 can include a first clamping assembly 31 and a second clamping assembly 34, and the first clamping assembly 31 and the second clamping assembly 34 can respectively guide the sleeve 12 and The part 13 is clamped or released, thereby realizing the clamping or releasing of the auxiliary component 10 .
  • the first clamping and positioning structure 125 can cooperate with the first clamping assembly 31 so that the first clamping assembly 31 can clamp and/or position the sleeve 12 more stably
  • the second clamping and positioning structure 135 It can cooperate with the second clamping component 34 so that the second clamping component 34 can clamp and/or position the guide part 13 more stably.
  • FIG. 3 is a partially enlarged schematic diagram at E in FIG. 1 .
  • FIG. 4 is a partially enlarged schematic view of E in FIG. 1 at another viewing angle.
  • the first block 121 and the second block 122 can be assembled to the needle handle 111 so that the sleeve is sleeved on the needle handle 111 of the puncture needle 11 .
  • the first block 121 and the second block 122 can be respectively arranged on both sides of the puncture needle 11 and have installation grooves opposite to the puncture needle 11, and the first block 121 and the second block 122 can be covered by the installation grooves.
  • Set on the puncture needle 11 (for example, the needle handle 111).
  • the installation groove opened on the first block 121 is the first groove 1211
  • the installation groove opened on the second block 122 is the second groove 1221 .
  • the spatial shape of the first cavity can be adapted to the shape of the needle handle 111, so as to increase the reliability of assembly between the sleeve 12 and the needle handle 111, and prevent the sleeve 12 from appearing opposite to the needle handle 111.
  • the situation of sliding or loosening is beneficial to the axial positioning of the puncture needle during the puncture process and can ensure that the puncture needle 11 can advance along the puncture direction when the puncture device 100 (moving mechanism 2) provides or transmits bidirectional axial puncture power Or retreat, that is, to make a linear motion under the drive of the moving mechanism 2, so as to facilitate the puncture track of the puncture device, and the accuracy and convenience of puncture can be improved.
  • the needle handle 111 is composed of cylinders, squares and cylinders along its axial direction, and correspondingly, the first cavity formed by the first groove 1211 and the second groove 1221 are arranged opposite to each other.
  • the spatial shape of the cavity also includes cylinders, squares and cylinders with the same or substantially the same size along the axial direction.
  • the spatial shape of the first cavity can be adjusted to fit the shafts of different types or specifications of puncture needles.
  • the needle cap 113 is exposed outside the sleeve 12 and is located above the sleeve 12.
  • the operator can insert the inner needle through the needle cap 113.
  • the needle is withdrawn from the outer needle 112 for subsequent surgical procedures.
  • the inner needle can be automatically pulled out from the needle track in the outer needle 112 by the operator holding the needle cap 113 manually or by holding the needle cap 113 with a mechanical arm.
  • the needle track of the needle 112 becomes a pipeline connecting the target tissue and the body surface, and the operator (for example, a doctor) can use this pipeline to directly send the biopsy instrument to a designated position for biopsy operation.
  • a section of the first cavity perpendicular to the axis may at least include a non-circular section.
  • the spatial shape of the first cavity formed by the relative arrangement of the first groove 1211 and the second groove 1221 along its axial direction is a square body, and the part of the square body along the vertical direction
  • the section on the axis is rectangular rather than circular.
  • the first cavity at least include a non-circular section along the section perpendicular to the axis
  • the relative rotation between the sleeve 12 and the needle handle 111 can be effectively restricted, avoiding The rotation direction of the puncture needle 11 (or the orientation of the outer needle 112 ) changes during the puncture process, thereby improving the puncture accuracy.
  • the shape of the non-circular cross-section may include regular or other irregular shapes such as triangle, rectangle, regular pentagon, regular hexagon.
  • the first cavity may include a first sub-cavity, a second sub-cavity and a third sub-cavity arranged in sequence along the axial direction.
  • the inner diameter of the second sub-cavity is larger than the inner diameters of the first sub-cavity and the third sub-cavity.
  • the cross section of the first sub-cavity, the second sub-cavity and the third sub-cavity is a circular section along the axis
  • the first sub-cavity, the second sub-cavity and the third sub-cavity may be a diameter corresponding to a circular section.
  • the inner diameters of the first sub-cavity, the second sub-cavity and the third sub-cavity may be the diameter of the equivalent circle of the corresponding non-circular section.
  • the equivalent circle of a non-circular cross-section may refer to a circumscribed circle, an inscribed circle, etc. of a non-circular cross-sectional shape. For example, when the shape of the non-circular section is a triangle, its equivalent circle may be the circumcircle or inscribed circle of the triangle.
  • the movement of the needle handle 111 in the second sub-cavity along the axis direction of the second sub-cavity can be effectively restricted, that is, the gap between the puncture needle 11 and the sleeve 12
  • the axial (that is, the axial direction of the puncture needle 11 or the sleeve 12) puncture power provided or transmitted by the moving mechanism 2 can be transmitted through the sleeve 12
  • the puncture needle 11 is given such that the puncture needle 11 can move in its axial direction for puncturing.
  • the sleeve 12 may further include a first detent 123 disposed between the first block 121 and the second block 122 .
  • the side of the first block 121 opposite to the second block 122 is provided with a first pin hole 124 adapted to the first bayonet pin 123.
  • One end of the bayonet pin 123 can be connected to the second block body 122, and the other end can be inserted.
  • the first pin hole 124 is provided for matching, so that the first block 121 and the second block 122 are assembled into the sleeve 12 .
  • the first block 121 and the second block 122 can be assembled into a sleeve 12 sets
  • the needle handle 111 of the puncture needle 11 is not easy to disassemble (that is, the first block 121 and the second block 122 are separated), and the sleeve 12 is prevented from being separated from the needle handle 111 by itself, and the clamping mechanism 3 is clamping
  • the first bayonet pin 123 can be clamped indirectly, so that the first bayonet pin 123 is not easy to disengage from the first pin hole 124 , so as to further improve the structural reliability of the sleeve 12 .
  • the first block 121 and the second block 122 are assembled into the sleeve 12 through the insertion fit between the first bayonet pin 123 and the first pin hole 124, which can facilitate the operator to disassemble the sleeve 12 into second parts as needed.
  • the first block 121 and the second block 122 can be removed from the shaft 111 of the puncture needle 11 . After the first block 121 and the second block 122 are separated, the operator can respectively sterilize the first groove 1211 and the second groove 1221 to achieve the purpose of fully sterilizing the first cavity, so that the sleeve Cartridge 12 is reusable after sterilization.
  • the first pin hole 124 may be a groove structure provided on the surface of the first block 121 opposite to the second block 312, and correspondingly, the first bayonet 123 may be provided on the second block.
  • 122 is a protruding structure adapted to the groove structure on the surface opposite to the first block 121 .
  • the size of the protruding structure can be slightly larger than the size of the groove structure, so that the protruding structure and the groove structure can form a relatively tight insertion fit to improve the first block 121 and the second block.
  • 122 is assembled into the structural reliability of the sleeve 12 while ensuring that the operator can easily and quickly disassemble the sleeve 12 into the first block 121 and the second block 122 .
  • the shape of the protruding structure may be a regular or irregular shape such as a square or a cylinder.
  • the first block 121 and the second block 122 can also be assembled to form the sleeve 12 by means of bolt connection.
  • the first block 121 and the second block 122 are provided with through holes at the same position, and the operator can pass bolts of corresponding sizes through the through holes on the first block 121 and the second block 122, Then the nuts are tightened so that the first block 121 and the second block 122 are assembled into the sleeve 12 .
  • the sleeve 12 can be clamped by the first clamping assembly 31 .
  • the first clamping component 31 may include a first clamping claw 311 and a sleeve installation groove 315 , and the sleeve 12 may be located in the sleeve installation groove 315 and be clamped by the first clamping claw 311 .
  • the first clamping component 31 can be disposed on the moving mechanism 2 . Specifically, the first clamping claw 311 is fixedly connected with the sliding block 221 shown in FIG.
  • the outer contour of the sleeve 12 can match the sleeve installation groove 315 .
  • the outer contour of the sleeve 12 can be an arc surface
  • the sleeve installation groove 315 can be an arc installation groove adapted to the arc surface or a V-shaped groove tangent to the arc surface, which can reduce the size of the sleeve 12. Risk of falling out of the socket mounting groove 315 or shaking in the socket mounting groove 315 .
  • the first clamping claw 311 can clamp the first clamping positioning structure 125 in the sleeve 12, so that the sleeve 12 can be pressed tightly in the sleeve installation groove 315, and can ensure
  • the moving mechanism 2 for example, the slider 221 shown in FIG. 18
  • the moving mechanism 2 can drive the sleeve 12 to move linearly through the clamping mechanism 3 (first clamping assembly 31 ), thereby driving the puncture needle 11 to move linearly in the puncture direction. movement to perform the piercing.
  • the first clamping and positioning structure 125 may be a positioning groove opened on the outer wall of the sleeve 12 .
  • the first clamping claw 311 can fit into the positioning groove, and the first clamping claw 311 can be directly snapped into the positioning groove to clamp the sleeve 12 .
  • the sleeve installation groove 315 is provided with a positioning structure (for example, a positioning protrusion) that cooperates with the positioning groove, and the sleeve 12 can be determined to be in the sleeve installation groove 315 by snapping the positioning structure into the positioning groove. Whether it is installed in place.
  • a positioning structure that cooperates with the positioning groove can be provided on the first clamping claw 311 , and the cooperation between the positioning structure and the positioning groove can ensure that the first clamping claw can better clamp the sleeve 12 .
  • the positioning groove may be an annular groove opened on the outer wall of the sleeve 12 along the circumferential direction of the sleeve 12 .
  • the outer walls of the first block 121 and the second block 122 are provided with semi-annular grooves.
  • the two semi-annular grooves can This annular groove is formed.
  • the first positioning structure 313 is configured as an annular groove, so that the sleeve 12 can be installed in the sleeve installation groove 12 at any angle (for example, any angle of rotation around its own axis).
  • the cross-section of one side of the annular groove is V-shaped or trapezoidal (that is, the notch of the annular groove is V-shaped or trapezoidal).
  • Fig. 5 and Fig. 6 are structural schematic diagrams of the sleeve and the needle handle in the puncture needle mechanism according to some embodiments of the present specification.
  • the positioning groove may be a groove 1251 provided on the outer wall of the first block 121 or the second block 122 .
  • the left and right opposite sides of the groove 1251 are parallel to each other, and the upper and lower opposite sides are inclined planes (for example, the cross-sectional shape of the groove 1251 parallel to the axis of the sleeve 12 is trapezoidal, V-shaped, etc. ).
  • the rotation direction of the puncture needle 11 for example, the orientation of the outer needle 112 is the desired direction during the puncture process.
  • the design of the groove 1251 can effectively limit the rotation of the sleeve 12, thereby ensuring that the rotation direction of the puncture needle 11 does not change, and preventing the rotation direction of the puncture needle from changing and affecting the puncture accuracy.
  • a first marker 126 may be provided on the sleeve 12 at a position radially opposite to the groove 1251 .
  • the groove 1251 and the first marker 126 can be respectively arranged on the outer walls of the first block 121 and the second block 122, wherein the position of the first marker 126 and the position of the groove 1251 are aligned with each other.
  • the barrels 12 are diametrically opposed.
  • the position of the first marker 126 and the groove 1251 are radially opposite to each other in the sleeve 12 may mean that the first marker 126 and the groove 1251 are radially opposite in the same section of the sleeve 12 perpendicular to its axis, That is, there is no distance between the groove 1251 and the first marker 126 in the axial direction of the sleeve 12. It may also mean that the first marker 126 and the groove 1251 are radially opposite in different sections of the sleeve 12 perpendicular to its axis, that is There is a certain distance between the groove 1251 and the first marker 126 in the axial direction of the sleeve 12 .
  • the first marker 126 can be used to mark the puncture needle 11 during the puncture, so as to position the needle handle 111 during the puncture.
  • the first marker 126 can be a target ball of an optical tracking device or other markers that can be tracked and identified by the optical tracking device, and the optical tracking device can track and identify the first marker 126, so that it can be determined in real time
  • the position of the needle handle 111 is so that the axial positioning of the puncture needle 11 can be more accurately realized during the puncture process.
  • the first marker 126 and the groove 1251 are diametrically opposite, when the sleeve 12 is installed in the sleeve installation groove 315 and clamped by the first clamping claw 311, the first marker The direction of rotation (or orientation) of 126 is determined so that the first marker 126 can face the optical tracking device, and will not be blocked by the sleeve mounting groove 315 and/or the first clamping claw 311, so as to facilitate optical tracking The device is better able to recognize the first marker 126 .
  • the auxiliary assembly 10 may only include the sleeve 12 , and the sleeve 12 may fix the puncture needle 11 .
  • the auxiliary assembly 10 may also include a guide part 13 in addition to the sleeve 12. By setting the guide part 13, the sliding of the puncture needle 11 can be guided, that is, the puncture direction of the puncture needle 11 can be guided to avoid The tip of the puncture needle 11 vibrates to improve the puncturing accuracy.
  • the guide part 13 is slidably connected to the puncture needle 11 . The guide part 13 will be described in detail below with reference to the accompanying drawings.
  • Fig. 7 and Fig. 8 are exploded structure diagrams of the guide part and the outer needle part in the puncture needle mechanism according to some embodiments of the present specification.
  • the first guide block 131 and the second guide block 132 can be assembled into the guide part 13 .
  • the first guide block 131 may be provided with a first pipe groove 1311
  • the second guide block 132 may be provided with a second pipe groove 1321 .
  • the first pipe groove 1311 and the second pipe groove 1321 can be arranged oppositely to form a second cavity, and the outer needle 112 can pass through the second cavity and Can move in the second cavity, that is, the guide part 13 is slidably connected to the puncture needle 11 .
  • the section perpendicular to the axis of the second cavity can be a circular section, and the diameter of the circular section can correspond to the diameter of the outer needle 112, so that the outer needle 112 located in the second cavity can only It can advance or retreat along the axial direction of the second cavity, so as to play the role of guiding the puncture needle 11 .
  • a series of guide parts 13 can be provided according to the different specifications of the puncture needles to be installed, wherein the diameters of the second cavities of each guide part 13 are different, so as to adapt to different outer surfaces of puncture instruments of different specifications. needle diameter.
  • the first guide block 131 may include a second pin hole 1312
  • the second guide block 132 may include a second bayonet pin 1322 .
  • the second bayonet pin 1322 can be inserted into the second pin hole 1312 to form a fit, so that the first guide block 131 and the second guide block 132 are assembled into the guide part 13 .
  • the structure of the second pin hole 1312 and the second detent 1322 can be similar to the structure of the first pin hole 124 and the first detent 123 respectively, more about the second pin hole 1312 and the second detent 1322 and the first guide block 131 and the second guide block 132 are assembled into the description of the guide part 13, you can refer to the first pin hole 124 and the first detent 123 and how the first block 121 and the second block 122 are assembled into the sleeve 12 Relevant descriptions will not be repeated here. Since the outer needle 112 will pass through the second cavity and be inserted into the human body, in order to prevent the outer needle 112 from being contaminated and causing patient infection, the second cavity needs to be sterilized frequently, and the guide part 13 can be detached into the first cavity.
  • the design of the guide block 131 and the second guide block 132 can facilitate the operator to sterilize the first tube groove 1311 and the second tube groove 1321, so that the second cavity can be fully sterilized, which can also facilitate The guide part 13 can be reused after sterilization.
  • the first guide block 131 and the second guide block 132 may be an integrated structure, that is, the guide part 320 is an inseparable integral structure.
  • the guide part 13 is provided with a through hole (equivalent to the second cavity) relative to the puncture needle 11, and the guide part 13 is slidably sleeved on the puncture needle 11 through the through hole.
  • Direction for linear motion is provided.
  • the second clamping assembly 34 may include a second clamping claw 342 and a guide part installation groove 346 , and the guide part 13 may be located in the guide part installation groove 346 and be clamped by the second clamping claw 342 .
  • the second clamping component 34 can be disposed on the moving mechanism 2 .
  • the second clamping claw 342 can be fixedly connected with the base 211 shown in FIG.
  • the guide part installation groove 346 can be directly opened on the base 211 or fixedly connected with the base 211 .
  • the second clamping claw 342 can clamp the second clamping positioning structure 135 in the guide part 13 .
  • the contact surface between the guide part installation groove 346 and the guide part 13 can be a plane, which can limit the rotation of the guide part 13 .
  • the second clamping and positioning structure 135 may be a positioning groove opened on the outer wall of the guide part 13 .
  • the second clamping claw 342 is provided with a positioning structure (for example, a positioning protrusion) adapted to the positioning groove, and by making the positioning structure snap into the positioning groove, it can be determined that the guide part 13 is positioned on the guide part.
  • the installation position in the installation groove 346 is confirmed to be installed in place, and it can also ensure that the second clamping claw 342 can better clamp the guide part 13 .
  • the positioning groove may be an annular groove disposed along the circumference of the guide part 13 .
  • the guide part 13 may further include a protrusion 140 disposed on the outer wall of the first guide block 131 or the second guide block 132 , correspondingly , the guide part installation groove 346 is provided with a groove structure adapted to the raised part 140, and the snap fit between the raised part 140 and the groove structure can ensure that the guide part 13 is installed in place in the guide part installation groove 346, And it can effectively restrict the axial movement of the guide part 13 in the guide part installation groove 346, so as to ensure the puncturing accuracy.
  • the guide part 13 may include an insertion structure 136 .
  • the area of the cross section of the insertion structure 136 perpendicular to the axis (the axis of the second cavity) gradually decreases from top to bottom (that is, the direction from the needle cap to the needle tip of the puncture needle 11), for example, the insertion structure 136
  • the shape can be wedge-shaped, conical, etc.
  • Fig. 9 is a schematic structural diagram of a guide part according to some embodiments of the present specification.
  • an auxiliary needle 137 may be connected to the end of the insertion structure 136 , and the auxiliary needle 137 has a certain extension length and a sharp front end.
  • the auxiliary needle 137 can be formed by the first guide block 131 and the second guide block 132 being oppositely arranged. Specifically, the first guide block 131 and the second guide block 132 are respectively provided with auxiliary needles with a semicircular cross section. When the first guide block 131 and the second guide block 132 are assembled into the guide part 13, the first guide block 131 and the second guide block 132 The auxiliary needle with a semicircular cross-section on the second guide block 132 can form a complete auxiliary needle 325 .
  • the puncture device 100 can be operated to move towards the puncture site of the patient, and the auxiliary needle 137 can be used to perform the skin-breaking operation on the puncture site of the patient. If the puncture device directly punctures the skin and is bent and deformed, it can ensure that the puncture device can reach the target position smoothly, and because the deformation of the puncture device is reduced, it is beneficial to improve the puncture accuracy.
  • the outer surface of the guide part 13 may include an abutment surface 138 , and the abutment surface 138 may be set as a plane.
  • the abutment surface 138 can abut against the bottom surface 3461 of the guide part installation groove 231, and the abutment surface 138 is set as a plane, so that the abutment surface 138 can fully abut against the bottom surface 3461 of the guide part installation groove 231, so that the rotation of the guide part 13 can be effectively restricted to improve the puncturing accuracy.
  • a second marker 139 may be provided on the guide part 13 .
  • the second marker 139 may be disposed on a side of the guide portion 320 opposite to the abutment surface 138 .
  • the line connecting the center of the first marker 126 to the center of the second marker 139 may be parallel to the axial direction of the puncture needle 11 .
  • the second marker 139 and the first marker 126 can be tracked and identified by the same optical tracking device.
  • the puncture depth of the puncture needle 11 can be obtained in real time by identifying the first marker 126 and the second marker 139 with an optical tracking device.
  • the variation of the distance between the first marker 126 and the second marker 139 is the puncture depth of the puncture instrument.
  • the axis direction of the puncture needle 11 (outer needle 112 ) can be obtained in real time by identifying the first marker 139 and the second marker 126 with an optical device, so as to prevent the puncture needle 11 from deviating from the predetermined puncture direction.
  • the axis direction of the puncture needle 11 can be determined according to the line connecting the center of the first marker 126 to the center of the second marker 139 . Further, obtaining the puncture depth and axis direction of the puncture needle 11 in real time during the puncture process is beneficial to improve the puncture accuracy.
  • the guide part 13 can be installed in the mounting groove 346 of the facing part and held by the second clamping claw 342.
  • the position of the second marker 139 is determined, and the second marker 139 can face the optical tracking device, and will not be blocked by the guide part installation groove 346 and/or the second clamping claw 342, so that The second marker 139 can be better identified by the optical tracking device.
  • the abutment surface 138 as a plane to limit the rotation of the guide part 13, it is possible to avoid the change of the orientation of the second marker 139 from affecting the puncturing accuracy. For example, if the orientation of the second marker changes during the puncturing process, the puncture depth and puncture direction acquired by the optical tracking device to identify the first marker 126 and the second marker 139 will be deviated.
  • the first guide block 131 may include a first handle 1313
  • the second guide block 132 may include a second handle 1323
  • the first handle 1313 and the second handle 1323 may be convenient for the operator to grasp To apply force, it is convenient to split the guide part 13 into the first guide block 131 and the second guide block 132 before or after the operation.
  • the puncture needle 11 and the auxiliary assembly 10 are assembled into the puncture needle mechanism 1 .
  • the first block 121 and the second block 122 are assembled so that the sleeve 12 is sleeved on the needle handle 111 of the puncture needle 11, and the first guide block 131 and the second guide block 132 are assembled into the guide part 13
  • the puncture needle mechanism 1 can be fixed to the clamping mechanism 3 sequentially according to the assembly process shown in FIGS. 10-11 .
  • Fig. 10 is an assembly schematic diagram when a sleeve is installed according to some embodiments of the present specification.
  • Fig. 11 is a schematic diagram of assembly when the guide part is installed according to some embodiments of the present specification.
  • the sleeve 12 is placed in the sleeve installation groove 315, and the first clamping positioning structure 125 (positioning groove) is in contact with the sleeve installation groove 315 or the first clamping claw 311 (or the first clamping The positioning structure on the claw 311) is aligned, and then the first clamping claw 311 is controlled to be closed.
  • the guide part 13 is located between the sleeve 12 and the guide part installation groove 346 (or the second clamping claw 342), and can be used in the puncture Slide on the outer needle 112 of the needle 11.
  • the insertion structure 136 of the guide part 13 faces the guide part installation groove 346 (or the second clamping claw 342 ).
  • the first clamping claw 311 and the second clamping claw 342 can be opened and closed synchronously, so when the first clamping claw 311 is closed, the second clamping claw 342 is also in the closed state. Therefore, in order to enable the guide part 13 to enter the second clamping claw 342 and be clamped by the second clamping claw 342 when the second clamping claw 342 is in the closed state, after the installation of the sleeve 12 is completed, the The guide part 13 slides down along the outer needle 112, and since the area of the cross-section perpendicular to the axis of the plug-in structure 136 gradually decreases from top to bottom, the guide part 13 can be pushed hard to push the guide part 13 into the second clamping claw 342, when the second clamping positioning structure 135 (positioning groove) is aligned with the second clamping claw 342 (or the positioning structure on the second clamping claw 342), the installation of the guide part 13 can be completed.
  • the opening and closing actions of the first clamping claw 311 and the second clamping claw 342 can also be asynchronous, and at this time, the second clamping positioning structure 135 (positioning groove) can be directly connected to the second clamping claw 342 (or the positioning structure on the second clamping jaw 342 ) are aligned, and then the closing of the second clamping jaw 342 is individually controlled to clamp the guide part 13, thereby completing the installation of the guide part 13. After the installation of the sleeve 12 and the guide part 13 is completed, the puncture needle mechanism 1 is clamped by the clamping mechanism 3 .
  • the moving mechanism 2 may include a base 21 , a slide assembly 22 and a piercing drive assembly 23 .
  • the base 21 can play a bearing role for carrying the puncturing drive assembly 23, the sliding assembly 22, and the like.
  • the sliding assembly 22 is slidably disposed on the base 21
  • the puncture driving assembly 23 is disposed on the base 21 and connected to the sliding assembly 22
  • the clamping mechanism 3 is disposed on the sliding assembly 22 .
  • the sliding assembly 22 may include a sliding block 221 slidably disposed on the base 21 , and at least part of the clamping mechanism 3 is disposed on the sliding block 221 .
  • the first clamping component 31 of the clamping mechanism 3 is disposed on the slider 221 , that is, the first clamping component 31 can be connected to the slider 221 .
  • the second clamping component 34 and the clamping driving component 32 of the clamping mechanism 3 can be disposed on the base 21 .
  • the slider 221 drives the first clamping component 31 to move, so that the clamping mechanism 3 can drive the clamped puncture
  • the needle mechanism 1 moves.
  • the sliding assembly 22 may further include a guide shaft 222, the guide shaft 222 is arranged along the length direction of the base 21 and is rotatably connected to the base 21 around its own axis, and the slider 221 slides along it A first through hole 2211 is opened in the direction, and the slider 221 is slidably sleeved on the guide shaft 222 through the first through hole 2211 , and the slider 221 can slide along the guide shaft 222 .
  • the number of guide shafts 222 may be two, and correspondingly, the number of first through holes opened by the slider 221 along its sliding direction may be two. By setting the number of guide shafts 222 to two, the sliding stability of the slider 221 is improved. In some embodiments, the number of guide shafts 222 may also be 3, 4, 5 and so on.
  • the puncturing drive assembly 23 can be connected to the slider 221 and used to drive the slider 221 to move linearly relative to the base 21 .
  • the piercing drive assembly 23 can be an air cylinder, a hydraulic cylinder, an electric push rod, a linear drive chain, a transmission belt, etc., and the piercing drive assembly 23 can be any mechanism that can drive the slider 221 to move linearly.
  • the piercing drive assembly 23 may include a first transmission rope 23a and a piercing driving member 23b.
  • the first transmission rope 23 a is connected to the sliding assembly 22
  • the piercing driver 23 b drives the sliding assembly 22 to move linearly relative to the base 21 through the first transmission rope 23 a.
  • the sliding assembly 22 can include a traction block (for example, the traction block 232 shown in FIG. 18 or FIG. 24 ), the traction block is fixed on the slider 221, and the traction block can be fixedly connected with the first transmission rope 23a
  • the puncture drive assembly 23 may also include a guide wheel (for example, the third pulley b5 shown in FIG. 19 and/or FIG. 22 ) disposed on the base 21, and the first transmission rope 23a may be connected with the guide wheel.
  • the piercing drive member 23b may include a first motor b1, a first rope reel b2, a first pulley b3, a second pulley b4, a third pulley b5, a first Four pulleys b6 and fifth pulley b7
  • the first motor b1 is fixed on the base 21
  • the first rope drum b2 is rotatably connected to the output shaft of the first motor b1 around its axis
  • the first pulley b3 and the second pulley b4 are arranged on One end of the base 21 is respectively arranged on both sides of the guide shaft 222
  • the first pulley b3 and the second pulley b4 are respectively connected to the base 21 rotatably around their own axes
  • the third pulley b5 is arranged on the other end of the base 21 and is arranged on the slide Below the block 221, the third pulley b5 is rotatably connected
  • one end of the base 21 may refer to the end of the base 21 above the slider 221, the base The other end of 21 (for example, the end where the third pulley b5 is disposed) may refer to the end of the base 21 located below the slider 221 .
  • the first transmission rope 23a may include a first rope body a1 and a second rope body a2. Wherein, one end of the first rope body a1 is wound around the first rope winding drum b2, and the other end is connected to the slider 221 via the first pulley b3 and the fourth pulley b6.
  • the traction block 232 may include a first traction block 2231 and a second traction block 2232 respectively arranged on both sides of the slider 221, and the other end of the first rope a1 passes through the first pulley.
  • the pulleys b7 are respectively connected to the sliders 221.
  • the first rope winding barrel b2 rotates clockwise, the first rope body a1 can be continuously wound on the first rope winding barrel b2, and the first rope body a1 wound on the first rope winding barrel b2
  • the second rope body a2 is loosened, and the first rope body a1 drives the slider 221 to slide upwards.
  • the slider 221 stretches the second rope body a2 that bypasses the third pulley b5, so as to realize the constant tension of the second rope body a2 , when the first rope reel b2 rotates counterclockwise, the second rope body a2 is continuously wound on the first rope reel b2, and the first rope a1 wound on the first rope reel b2 is loosened and wound around
  • the second rope body a2 passing through the third pulley b5 drives the slider 221 to slide downward, and the first rope body a2 is continuously wound around the first rope cylinder b2 by the first rope winding drum b2, and the first rope is always tightened.
  • the slider 221 can move up and down under the guidance of the guide shaft 222 under the action of the first transmission rope 23a. Specifically, when the first motor b1 drives the first rope drum b2 to rotate clockwise, the slider 221 can move upward along the guide shaft 222 under the traction of the first rope body a1; When the rope drum b2 rotates counterclockwise, the slider 221 can move down along the guide shaft 222 under the traction of the second rope body a2.
  • the piercing drive 23b may include a first motor (not shown in FIG. 24), a first rope reel b2, a first pulley b3, a second pulley b4, a third pulley b5 .
  • the first pulley b3 and the second pulley b4 are arranged on one end of the base 21 (that is, the end of the base 21 above the slide block 221) and are arranged on the same side of the guide shaft 222, and the first pulley b3 and the second pulley b4 respectively rotate around their own axis It is rotatably connected to the base 21 , the third pulley b5 is disposed on the other end of the base 21 and below the slider 221 , and the third pulley b5 is rotatably connected to the base 21 around its own axis.
  • One end of the first rope body a1 is wound around the first rope winding drum b2 , and the other end is wound around the first pulley b3 and then connected to the traction block 223 on the slider 221 .
  • One end of the second rope body a2 is wound on the first rope drum b2, and the winding direction of the second rope body a2 on the first rope drum b2 is the same as that of the first rope body a1 on the first rope drum b2.
  • the winding direction is opposite, and the other end of the second rope body a2 goes around the second pulley b4 and then goes around the side of the third pulley b5 away from the slider 221 and then connects to the traction block 223 .
  • the traction block 223 , the first pulley b3 and the second pulley b4 are located on the same side of the slider 221 .
  • the puncture driving member 23b may also include a fourth pulley (not shown in FIG. 24 ) and a fifth pulley (not shown in FIG.
  • the fourth pulley and the fifth pulley It can be respectively arranged between the first rope winding drum b2 and the first pulley b3, between the first rope winding drum b2 and the second pulley b4, so as to be wound by the first rope body a1 and the second rope body a2 respectively, so that The twisting of the first rope body a1 and the second rope body a2 can be avoided, so that the first rope body a1 and the second rope body a2 can drive the slider 221 to move more stably.
  • the first rope body a1 and the second rope body a2 By setting the first rope body a1 and the second rope body a2, and making the first rope body a1 pass through a pulley b3, the second pulley b4 and the second rope body a2 through the first pulley b3, the second pulley b4, and the third pulley b5 is connected to the same side of the slider 221.
  • the first rope winding drum b2 rotates clockwise, the first rope body a1 can be continuously wound on the first rope winding cylinder b2 and wound on the first rope winding cylinder b2
  • the second rope body a2 is loosened, and the first rope body a1 drives the slider 221 to slide upwards.
  • the slider 221 stretches the second rope body a2 that bypasses the third pulley b5 to realize the constant tightness of the second rope body a2.
  • the first rope reel b2 rotates counterclockwise
  • the second rope body a2 is continuously wound on the first rope reel b2
  • the first rope a1 wound on the first rope reel b2 is loosened.
  • the second rope body a2 bypassing the third pulley b5 drives the slider 221 to slide downward, and the first rope body a2 is continuously wound around the first rope body b2 by the first rope winding drum b2, and the first rope body is always tightened.
  • the rope body a1 realizes the constant tension of the second rope body a2.
  • the slider 221 can move up and down under the guidance of the guide shaft 222 under the action of the first transmission rope 23a .
  • the slider 221 can move upward along the guide shaft 222 under the traction of the first rope body a1;
  • the slider 221 can move down along the guide shaft 222 under the traction of the second rope body a2.
  • the puncture driving member 23b may further include a first rotating shaft b8 and a first gear b9 and the second gear b10, the first rotating shaft b8 is rotatably connected to the base 21 around its own axis, the first rope reel b2 is fixedly sleeved on the first rotating shaft b8, the first gear b9 is fixedly sleeved on the first rotating shaft b8, and the second The gear b10 is fixedly sleeved on the output shaft of the first motor b1 and meshed with the first gear b9.
  • no transmission mechanism may be provided between the first motor b1 and the first rope winding drum b2 to drive the first rope winding drum b2 to rotate, but the first motor b1 directly drives the first rope winding drum b2 to rotate.
  • the first rope drum b2 may be directly connected to the output shaft of the first motor b1, and the output shaft directly drives the first rope drum b2 to rotate.
  • the piercing drive assembly 23 may further include a shielding box 23c.
  • the shielding box 23c is connected to the base 21 for shielding external radiation, and the piercing driver 23b is built in the shielding box 23c and connected to the first transmission rope 23a. Further, by setting the shielding box 23c, the shielding box 23c can cover the puncture driver 23b, so as to prevent the scattered X-rays from being destructive to the precision drive circuit and the first motor b1 and other components in the external radiation environment. It can avoid high-density metal parts from forming artifacts in imaging, and prevent the first motor b1 from interfering with medical users' identification and reading of images.
  • the puncture drive assembly 23 may further include a bracket 23d, the bracket 23d is connected to the base 21, the shielding box 23c is connected to the base 21 through the bracket 23d, and the first motor b1
  • the casing is connected to the bracket 23d, the first rotating shaft b8 is rotatably connected to the bracket 23d around its own axis, and the first rotating shaft b8 is rotatably connected to the base 21 via the bracket 23d.
  • the first motor b1 and the shielding box 23c can be fixed by setting the bracket 23d.
  • the first motor b1 may be a servo motor including an encoder and a reduction box, and the output shaft of the servo motor drives the first rope winding drum b2 to rotate clockwise or counterclockwise.
  • the transmission is carried out in the form of a transmission mechanism composed of a rope and a pulley.
  • the rope transmission mechanism will cause less artifacts in the imaging, which can prevent the artifacts from interfering with medical users' recognition and reading of images.
  • the puncture device 100 can achieve a high degree of fusion with imaging equipment, realize puncture in the aperture and real-time image monitoring, thereby improving the accuracy and smoothness of puncture surgery.
  • the clamping mechanism 3 can be arranged on the moving mechanism 2 and can clamp or release the puncture needle mechanism 1 .
  • the clamping mechanism 3 can be any device that can clamp or release the puncture needle mechanism 1 .
  • the clamping drive assembly 32 is disposed on the base 21 and connected to the first clamping assembly 31 for driving the first clamping assembly 31 to clamp or release the puncture needle mechanism 1 .
  • the clamping mechanism 3 may further include a drive shaft 33 arranged along the sliding direction of the sliding assembly 22 and rotatably connected to the base 21 And the first clamping assembly 31, the clamping drive assembly 32 is connected to the drive shaft 33, and is used for the drive shaft 33 to rotate along its own axis, and the rotatable drive shaft 33 can drive the first clamping assembly 31 to clamp or release the puncture needle mechanism 1.
  • the driving shaft 33 can slide along with the slider 221 , or can slide relative to the slider 221 .
  • the slider 221 is provided with a second through hole 2212 along the sliding direction, and the two ends of the drive shaft 33 are rotatably connected to the base 21 through bearings.
  • the drive shaft 33 The slider 221 can slide through the second through hole 2212 and can rotate relative to the slider 221 .
  • the first clamping assembly 31 clamps the puncture needle mechanism 1 through the first clamping and positioning structure 125 of the sleeve 12 . More descriptions about how the first clamping assembly 31 clamps the puncture needle mechanism 1 through the first clamping positioning structure 125 of the sleeve 12 can be found elsewhere in this specification (for example, FIGS. 1-11 and related description) and will not be repeated here.
  • the driving assembly 32 can be connected to the driving shaft 33 for driving the driving shaft 33 to rotate around its own axis, so as to drive the first clamping claw 311 to open or close.
  • the first clamping claw 311 may include two first clamping pieces 3111 , and the two first clamping pieces 3111 are symmetrically distributed along the axis of the drive shaft 33 and are connected to the sliding assembly 22 respectively. hinged.
  • the sliding assembly 22 (slider 221) may be provided with two clip rotating pins 3112, and the two first clips 3111 are respectively rotatably connected to the two clip rotating pins 3112.
  • the drive shaft 33 When its own axis rotates, it can drive the two first clamping parts 3111 to rotate in opposite directions around the axis of the corresponding clamping part rotating pin, so that the two first clamping parts 3111 are closed or opened to each other, so that the first clamping claws 311 closed or open.
  • the first clamping assembly 31 may further include a cam 312 (also referred to as a first cam 312 ), the cam 312 is connected to the drive shaft 33 , and the first clamping claw 311 may contact with the cam 312 .
  • a cam 312 also referred to as a first cam 312
  • the first cam 312 is slidably sleeved on the drive shaft 33 along the axial direction of the drive shaft 33 and is rotatably disposed in the first clamping claw 311 , that is, two first clamps Between pieces 3111.
  • both sides of the driving shaft 33 are provided with chamfered edges, and the first cam 312 is sleeved on the driving shaft 33 .
  • the first cam 312 cannot rotate relative to the drive shaft 33, and when the drive shaft 33 rotates, the first cam 312 will be driven to rotate. , to prevent the first cam 312 from slipping relative to the drive shaft 33 .
  • the driving shaft 33 is driven to rotate, and the driving shaft 33 can drive the first cam 312 to rotate.
  • the radial ends of the first cam 312 can abut against the two first clips 3111 respectively, so that the first cam 312 can drive the two first clips 3111 to rotate around their own rotation axes (that is, the corresponding clips rotate The axis of the pin 3112) rotates.
  • the first clamping assembly 31 may further include a first elastic member 313 , one end of the first elastic member 313 may be connected to the first clamping claw 311 , and the other end thereof may be connected to the sliding assembly 22 .
  • the first elastic member 313 When the first elastic member 313 is in an undeformed state, the first clamping claw is in an open state.
  • the number of the first elastic member 313 can be two, and one end of the two first elastic members 313 is respectively connected to the two first clamping members 3111, and the other end is connected to the sliding assembly 22, the first The elastic member 313 is used to provide elastic force for the two first clamping members 3111 to release the puncture needle mechanism 1 .
  • the first elastic member 313 may be a spring, elastic rubber, an elastic rope, or the like. In some embodiments, as shown in FIG. 13 , the first elastic member 313 is a spring, one end of the spring is connected to the first clamping member, and the other end of the spring is connected to the slider 221 . In some embodiments, the first clamping assembly 31 may further include two first connecting ropes 314, the first connecting ropes 314 are provided in one-to-one correspondence with the first elastic member 313, and one end of the first elastic member 313 is connected through the first The rope 314 is connected to the first clip, wherein two first connecting ropes 314 are arranged crosswise.
  • the two first clips stretch the corresponding first elastic member through the corresponding first connecting rope 314 313.
  • the first cam 312 rotates to be less than the distance between the two first clips (that is, the radial ends of the first cam 312 no longer abut against the two first clips 3111)
  • the two first The clamping pieces 3111 can be reset under the action of the elastic restoring force of the corresponding first elastic piece 313 , so that the two first clamping pieces loosen the sleeve 12 .
  • the first clamping component 31 may also have a structural form as shown in FIG. 14 or FIG. 15 .
  • the structure of the first clamping assembly 31 shown in FIG. 14 or FIG. 15 may include all components of the first clamping assembly 31 shown in FIG. 13 .
  • FIG. 14 and FIG. 15 may include all components of the first clamping assembly 31 shown in FIG. 13 .
  • the first clamping assembly 31 may further include a first push rod 316 and a second push rod 317, and one ends of the first push rod 316 and the second push rod 317 are respectively
  • the first clamping claw 311 is hinged on the first hinge point P1 and the second hinge point P2, and the other ends of the first push rod 316 and the second push rod 317 are respectively hinged on the cam 312 along the long axis direction of the cam 312. one end and the second end.
  • one end of the first push rod 316 and a first clip 3111 in the first clamping claw 311 are hinged at the first hinge point P1
  • the other end of the first push rod 316 is hinged at the center of the cam 312 in the direction of the long axis.
  • the first end; one end of the second push rod 317 is hinged to the other first clip 3111 in the first clamping claw 311 at the second hinge point P2, and the other end of the second push rod 317 is hinged to the long axis of the cam 312 The second end in the direction.
  • the hinge between the first clip 3111 and the slide assembly 22, the hinge between the first clip 3111 and the first push rod 316 (or the second push rod 317), the first push rod 316 (or the second push rod 317) ) and the cam 312 and the rotation of the cam 312 can make the first clip 3111 and the corresponding first push rod 316 (or second push rod 417) and the cam 312 be regarded as a four-bar linkage device.
  • the part between the hinge position of 3111 and the first push rod 316 (or the second push rod 317) to the hinge position of the first clip 3111 and the sliding assembly 22 and the upper part of the first clip 3111 can be respectively used as a four-bar linkage device of four connecting rods.
  • the cam 312 when the cam 312 rotates counterclockwise under the drive of the rotating shaft 33, the cam 312 can drive the first clip 3111 hinged with the first push rod 31 to rotate around the corresponding clip through the first push rod 316.
  • the axis of 3112 rotates clockwise, and at the same time, the second push rod 317 drives the first clip 3111 hinged with the second push rod 32 to rotate counterclockwise around the corresponding clip rotation pin 3112, so that the two first clips
  • the upper part of 3111 (the part of the first clip 3111 located above the rotating pin of the clip) is relatively closed, so that the first clamping claw 311 is in a closed state.
  • the cam 312 rotates clockwise under the drive of the drive shaft 33, the cam 312 can drive the first clip 3111 hinged with the first push rod 31 through the first push rod 316 to reverse the axis of the corresponding clip rotation pin.
  • the second push rod 317 drives the first clip 3111 hinged with the second push rod 317 to rotate clockwise around the corresponding clip rotation pin 3112, so that the upper parts of the two first clips 3111 (the first The part of a clip 3111 located above the clip rotation pin 3112) is relatively open, so that the first clamping claw 311 is in an open state.
  • the rotation direction of the cam 312 and the opening and closing of the first clamping claw 311 can also be configured in reverse, that is, when the cam 312 rotates clockwise under the driving shaft 33, the first clamping claw 311 is closed.
  • the structure of the first clamping assembly 31 can be a mirror-image symmetrical structure of the structure shown in FIG. 14 .
  • the rotation of the two first clamping parts 3111 can drive the corresponding first elastic part 313 to undergo elastic deformation, and the elastic force generated by the elastic deformation of the first elastic part 313 tends to make the The lower parts of the two first clamping parts 3111 are closed and the upper parts are opened, so that the reliability when the first clamping claws 311 are in an open state can be improved.
  • the cam 312 may include a stopper 3121, and the sliding assembly 22 (slider 221) is provided with a stopper pin 224.
  • the stopper pin 224 abuts against the stopper 221
  • the rotation of the cam 312 may be restricted.
  • the stop pin 224 can be located on the counterclockwise rotation side of the stopper part 3121 , and is used to limit the counterclockwise rotation of the cam 312 when the first clamping claw 311 reaches the closed state. It should be noted that the positions of the stop pins 224 shown in FIGS. 14 and 15 are merely examples and are not intended to be limiting.
  • the stop pin 224 can also be located on one side of the clockwise rotation of the stop portion 3121 for limiting the clockwise rotation of the cam 312 .
  • the counterclockwise rotation of the cam 312 can make the first clamping claw 311 in the closed state, and the clockwise rotation can make the first clamping claw 311 in the open state.
  • the following description of related structures will mainly involve the situation that the stop pin 224 is located on the counterclockwise rotation side of the stopper portion 3121 .
  • the angle between the first push rod 316 and the first clamping claw 311 is an acute angle
  • the second push rod 317 The angle between the first clamping claw 311 and the first clamping claw 311 is an obtuse angle
  • the angle between the first push rod 316 and the first clamping claw 311 is an obtuse angle
  • the second push rod The included angle between 317 and the first clamping claw 311 is an acute angle.
  • the angle between the first push rod 316 and its hinged first clip 3111 turns from an acute angle to an obtuse angle during the process of the first clamping jaw 311 from opening to closing, and the second push rod 317 and its hinged first
  • the included angle between the clamping parts 3111 turns from an obtuse angle to an acute angle when the first clamping jaw 311 is opened to closed.
  • the obtuse angle formed between the first push rod 316 and its hinged first clip 3111 and the second push rod 317 and its The acute angle formed between the hinged first clips 3111 may be close to 90°.
  • the angle range of the obtuse angle formed between the first push rod 316 and its hinged first clip 3111 may be 91° to 100°, and the angle range of the acute angle formed between the second push rod 317 and its hinged first clip 3111 The angle range may be 80°-89°.
  • the angle between the push rod (such as the first push rod 316 or the second push rod 317) and the first clip 3111 is over 90° (for example, the first clip 3111 with the first push rod 316 and its hinge The included angle between them is turned from less than 90° to greater than 90°, and the included angle between the second push rod 317 and its hinged first clip 3111 is turned from greater than 90° to less than 90°), which will cause the cam 312 to pass through the push
  • the force applied by the lever to the first clip 3111 is reversed, and by setting the position of the stop pin 224, the cam 312 can be prevented from driving the first clip 3111 in reverse to make the first clamping claw 311 reopen.
  • the angle between the first push rod 316 and the first clip 3111 is an obtuse angle
  • the second push rod 317 and the first clip The included angle between the pieces 3111 is an acute angle.
  • a counterclockwise rotational moment will be applied to the cam 312 through the first push rod 316 and the second through rod 317.
  • the stopper 3121 abuts against the stop pin 224 at this time, the counterclockwise rotation of the cam 312 has been limited by the abutment of the stopper 3121 and the stop pin 224, and cannot proceed any further.
  • the stop portion 3121 and the stop pin 224 when the first clamping claw 311 is in the closed state, a kind of locking can be realized. That is, under the condition that the first clamping claw 311 is not damaged, the operator can only make the first clamping claw 311 open by driving the drive shaft 33 (for example, the drive shaft 33 rotates clockwise), and cannot The first clamping claw 311 is opened by applying an external force to the two first clips 3111 of the first clamping claw 311, which can reduce the probability of accidental opening of the first clamping claw 311 and improve the clamping mechanism 3. Clamping reliability of the puncture needle mechanism 1.
  • the movement of the two first clips 3111 of the first clamping jaw 311 can be symmetrical, for example, the cam 312
  • the two first clips 3111 can be rotated in opposite directions by the same angle to ensure that when the first clamping claws 311 are in the open state, the sleeve 12 can be put into the first clamping claws along the axial direction of the drive shaft 33 311 or taken out from the first clamping claw 311, so that the clamping mechanism 3 is very convenient to clamp or release the puncture needle mechanism 11.
  • the first end and the second end of the major axis of the cam 312 can be asymmetrical with respect to the drive shaft 33, at this time, the first push rod 316 and the second push rod 317 with different lengths can be designed to make
  • the two first clips 3111 of the first clamping claw 311 are symmetrical about the axial direction of the drive shaft 33 when the first clamping claw 311 is in the open or closed state, and the first clamping claw 311 is switched from the open state to the closed state
  • symmetry or approximately symmetry with respect to the axial direction of the drive shaft 33 is also maintained, so that the grip of the first clamping claw 311 can be improved.
  • the length of the first push rod 316 may be less than the length of the second push rod 317 . In some embodiments, the length of the first push rod 316 may be greater than the length of the second push rod 317 . In some embodiments, by designing the lengths of the first push rod 316 and the second push rod 317, the push rod (for example, the first push rod 316 or the second push rod 317) and the The included angle between the first clamping pieces 3111 can exceed 90°, so as to realize the reverse locking function of the first clamping claw 311 .
  • the holding drive assembly 32 can also drive the second holding assembly 34 to hold or release the puncture needle mechanism 1 through the drive shaft 33 .
  • the second clamping component 34 can clamp or release the guide part 13 . More descriptions about how the second clamping assembly 34 clamps or releases the guide part 13 can be found elsewhere in this specification (FIGS. 1-11 and their related descriptions), and will not be repeated here.
  • the second clamping assembly 34 includes a fixing frame 341 , a second clamping claw 342 , and a second elastic member 343 .
  • the fixing frame 341 is connected to the base 21
  • the second clamping claw 342 may include two second clamping pieces 3421 .
  • the two second clips 3421 are distributed symmetrically along the axis of the drive shaft 33 and are respectively hinged to the fixing frame 341 .
  • the number of the second elastic members 343 can be two. One ends of the two second elastic members 343 are respectively connected to the two second clamping members 3421, and the other ends are connected to the fixing frame 341.
  • the second elastic members 343 are used to provide release puncture needles for the two second clamping claws 342.
  • the elastic force of mechanism 1 guide part 13).
  • the second elastic member 343 may be a spring, elastic rubber, elastic rope, or the like. In some embodiments, the second elastic member 343 is a spring, one end of the second elastic member 343 is connected to the second clamping member, and the other end is connected to the fixing frame 341 .
  • the second clamping assembly 34 may further include two second connecting ropes 344, the second connecting ropes 344 are provided in one-to-one correspondence with the second elastic member 343, and one end of the second elastic member 343 is connected through the second The rope 344 is connected to the second clamping claw 342 , and the two second connecting ropes 344 are intersected.
  • the second clamping assembly 34 further includes a second cam 345 , the second cam 345 is slidably sleeved on the drive shaft 33 along the axial direction of the drive shaft 33 and is rotatably disposed on the second cam 345 . Between the two second clamping pieces 3421 of the two clamping claws 342 .
  • the driving shaft 33 is driven to rotate, and the driving shaft 33 drives the second cam 345 to rotate.
  • the second cam 345 drives the two second clamping parts 3421 to open or close
  • the second The two cams 345 drive the two second clips to rotate around their own rotation axis (that is, the rotation axis where the second clip 3421 and the sliding assembly 22 are hinged).
  • the second clamping claw 342 clamps the guiding part 13, when the two second clamping parts 3421 start to open, the second clamping claw 342 releases the guiding part 13, and the second clamping claw 342 loosens the guiding part 13 and the first clamping claw 311.
  • Opening sleeve 12 can carry out synchronously.
  • the structure of the second clamping component 34 may have the same or similar structure as that of the first clamping component 31 .
  • the second clamping claw 342 realizes opening or closing, please refer to the relevant description about how the first clamping claw 311 realizes opening or closing.
  • the second clamping claw 342 can adopt the structure of the first clamping claw 311 described in FIG. Or the structure of the first clamping claw 311 described in FIG. 15 and/or the manner of realizing opening or closing to realize opening or closing.
  • the two second clips stretch the second elastic member 343 through the corresponding second connecting rope 344 , when the second cam 345 rotates to less than the distance between the two second clips (that is, the second cam 345 and the two second clips 3421 do not abut), the two second clips can be in the second elastic
  • the elastic restoring force of the component 343 is reset, so that the second clamping claw 342 releases the guide part 13 .
  • the clamping drive assembly 32 may further include a second transmission rope 321 and a clamping drive member 322, the second transmission rope 321 is connected to the drive shaft 33, and clamps
  • the driving member 322 is built in the shielding box 23 c and connected to the second transmission rope 321 , and drives the driving shaft 33 to rotate along its own axis through the second transmission rope 321 .
  • the clamping drive 322 can be a motor, a hydraulic motor, etc., the clamping drive 322 can also be a motor plus a belt and a pulley, and the clamping drive 322 can also be a motor with a sprocket and a chain, The clamping drive 322 can also be a motor accelerator and decelerator. In some embodiments, the clamping drive 322 includes a second motor 3221, a second rope reel 3222, and a driven wheel 3223.
  • the housing of the second motor 3221 is connected to The bracket 23d, the second motor 3221 is built in the shielding box 23c, the second rope winding drum 3222 is connected to the output shaft of the second motor 3221 and coaxially arranged with the output shaft of the second motor 3221, and the driven wheel 3223 is fixedly sleeved on the drive shaft 33.
  • the second rope winding drum 3222 and the driven wheel 3223 are connected in transmission through the second transmission rope 321 .
  • the second transmission rope 321 is arranged in an "8" shape, and the two ends of the second transmission rope 321 are sleeved on the second rope winding drum 3222 and the driven wheel 3223 respectively.
  • the clamping driver 322 may also include a second rotating shaft 3224, a third gear 3225 and a fourth gear 3226, the second rotating shaft 3224 is rotatably connected to the bracket 23d around its own axis, and the third gear 3225 is fixedly sleeved on the second The rotating shaft 3224, the fourth gear 3226 is fixedly sleeved on the output shaft of the second motor 3221 and meshed with the third gear 3225, the second rope winding drum 3222 is fixedly sleeved on the second rotating shaft 3224 and connected to the base through the second rotating shaft 3224 twenty one.
  • the output shaft of the second motor 3221 drives the second rotating shaft 3224 to rotate through the fourth gear 3226 and the third gear 3225, and the second rotating shaft 3224 drives the second winding drum 3222 to rotate, and the second winding drum 3222
  • the drive shaft 33 is driven to rotate by the second transmission rope 321, and the transmission is carried out by the second transmission rope 321, which can prevent the scattered X-rays from being destructive to the precision drive circuit and motor and other components, and can avoid scattering high-density metal parts in imaging Artifacts are formed in the middle, which can prevent the scattering clamping driving member 322 from interfering with the identification and reading of images by medical users.
  • the clamping drive assembly 32 may include a clamping drive (not shown in FIG. 24 ), a driving pulley 323 , a driving belt 324 and a driven pulley 325 .
  • the driving pulley 323 is connected with the clamping driver
  • the driven pulley 325 is connected with the driving shaft 33
  • the transmission belt 324 is assembled on the driving pulley 323 and the driven pulley 325 to form a belt transmission mechanism.
  • Drive the driving pulley 323 to rotate by clamping the driving member and drive the drive shaft 33 to rotate in a belt transmission manner.
  • the driving pulley 323 and the driven pulley 325 can be replaced by sprockets, and correspondingly, the transmission belt 324 can be replaced by a transmission chain, which can also drive the drive shaft 33 to rotate through chain transmission.
  • the embodiment of this specification also provides a puncture system 1000, as shown in Figure 25, the puncture system includes an imaging device 200, a mechanical arm 300 and the puncture device 100 in the above embodiment, the imaging device 200 is used to obtain patient lesions position, the mechanical arm 300 is connected to the puncture device 100, and is used to drive the puncture device 100 to a designated position, and the puncture device 100 is used to drive the puncture needle 11 to penetrate into the lesion position and/or release the puncture needle 11 so that the puncture needle 11 and the mechanical arm 300 break away.
  • the puncture system 1000 includes an imaging device 200, a mechanical arm 300 and the puncture device 100 in the above embodiment, the imaging device 200 is used to obtain patient lesions position, the mechanical arm 300 is connected to the puncture device 100, and is used to drive the puncture device 100 to a designated position, and the puncture device 100 is used to drive the puncture needle 11 to penetrate into the lesion position and/or release the puncture needle 11 so that the puncture needle 11 and the mechanical arm 300 break away.
  • the imaging device 200 may be a computed tomography system (CT for short), a magnetic resonance imaging system (MR for short), a positron emission tomography system, a radiotherapy system, an X-ray imaging system, a single photon emission One or a combination of computed tomography imaging systems, ultrasound imaging systems, etc.
  • CT computed tomography
  • MR magnetic resonance imaging system
  • positron emission tomography system positron emission tomography system
  • radiotherapy system a radiotherapy system
  • X-ray imaging system a single photon emission
  • ultrasound imaging systems etc.
  • the patient is scanned and imaged by the imaging device 200 to acquire the coordinates of the lesion in the patient's body and output the coordinates, so that the medical staff or the control device can know the position of the lesion.
  • the robotic arm 300 may be coupled to the piercing device 100 (eg, base 21 , bracket 23d, etc. shown in FIG. 12 ).
  • the mechanical arm 300 is connected to the bracket 23d. By connecting the mechanical arm 300 to the bracket 23d, the movement of the mechanical arm 300 can drive the puncture device 100 to move.
  • the puncture system 100 may further include a control device 400 .
  • the control device 400 for example, a computer, etc.
  • the control device 400 can plan the movement path of the robotic arm 300 according to the target position point.
  • the control device 400 controls the mechanical arm 300 to move according to the motion path, and moves to a designated position.
  • the control device 400 then issues a movement command to the puncturing device 100, and the puncturing drive assembly 23 drives the slider 221 to move along the guide shaft 222.
  • the block 221 drives the puncture to move, so that the puncture needle 11 can gradually move towards the patient's approaching direction, and penetrate from the target point on the patient's body surface until it moves to the lesion position, and then start the first motor b1, and the first motor b1 drives the first clip
  • the holding claw 311 and the second holding claw 342 release the sleeve 12 and the guide part 13 at the same time, so that the first holding claw 311 and the second holding claw 342 release the puncture needle 11, and then the control device 400 drives the mechanical arm to move,
  • the mechanical arm 300 drives the puncture needle 11 device away from the operation area, which is convenient for subsequent operations.

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Abstract

一种穿刺装置（100）及穿刺系统（1000），穿刺装置（100）包括：穿刺针机构（1）；移动机构（2）；以及夹持机构（3），夹持机构（3）设置于移动机构（2）上，并可夹持或者释放穿刺针机构（1）。通过该穿刺装置（100）可以实现穿刺手术远程进行，保证穿刺手术中能够实时获得影响辅助，提高穿刺手术的精度、安全性以及流畅程度。

Description

一种穿刺装置及穿刺系统
交叉引用
本申请要求2021年5月24日提交的申请号为202110566014.X的中国申请的优先权，其全部内容通过引用并入本文。
技术领域
本申请涉及穿刺技术领域，特别涉及一种穿刺装置及穿刺系统。
背景技术
在介入手术中，如果是操作者直接用手控制穿刺器械进行穿刺，将穿刺器械插入人体内，操作者则需要在穿刺现场进行穿刺手术，这也导致穿刺现场无法设置具有一定辐射的成像装置对穿刺位置和病灶位置进行实时成像，使得穿刺过程中无法实时获取影像辅助，造成穿刺后通过CT成像等手段确认穿刺是否到位这一过程重复进行，使得穿刺的精度和流畅度均受到限制。
因此，希望提供一种穿刺装置，能够协助操作者远程实施穿刺手术，以实现在穿刺手术中实时获取影像辅助，从而提高穿刺精度和流畅度。
发明内容
本说明书实施例之一提供一种穿刺装置，包括：穿刺针机构；移动机构；以及夹持机构，所述夹持机构设置于所述移动机构上，并可夹持或者释放所述穿刺针机构。
在一些实施例中，所述移动机构包括底座、滑动组件及穿刺驱动组件，所述滑动组件可滑动设置于所述底座，所述穿刺驱动组件设置于所述底座上并连接于所述滑动组件，用于驱动所述滑动组件相对所述底座做直线运动，所述夹持机构的至少部分设置于所述滑动组件。
在一些实施例中，所述夹持机构包括第一夹持组件和夹持驱动组件，所述第一夹持组件设置于所述滑动组件，所述夹持驱动组件设置于所述底座并连接于所述第一夹持组件，用于驱使所述第一夹持组件夹持或者释放所述穿刺针机构。
在一些实施例中，所述夹持机构还包括驱动轴，所述夹持驱动组件连接于所述驱动轴，用于驱动所述驱动轴沿自身轴线转动，以驱使所述第一夹持组件夹持或释放所述穿刺针机构。
在一些实施例中，所述第一夹持组件包括第一夹持爪，所述第一夹持爪与所述滑动组件铰接，所述夹持驱动组件连接于所述驱动轴，用于驱动所述驱动轴沿自身轴线转动，以带动所述第一夹持爪打开或闭合。
在一些实施例中，所述第一夹持组件还包括凸轮，所述凸轮与所述驱动轴连接，所述第一夹持爪与所述凸轮抵接。
在一些实施例中，所述第一夹持组件还包括第一推杆和第二推杆，所述第一推杆和所述第二推杆的一端分别与所述第一夹持爪铰接于第一铰接点和第二铰接点，所述第一推杆和所述第二推杆的另一端分别铰接于所述凸轮上沿所述凸轮的长轴方向的第一端和第二端。
在一些实施例中，所述凸轮包括止挡部，所述滑动组件上设置有止动销，所述止动销与所述止挡部抵接时限制所述凸轮转动。
在一些实施例中，所述第一推杆的长度小于所述第二推杆的长度。
在一些实施例中，所述第一夹持爪打开时，所述第一推杆与所述第一夹持爪之间的夹角为锐角，所述第二推杆与所述第一夹持爪之间的夹角为钝角；所述第一夹持爪闭合时，所述第一推杆与所述第一夹持爪之间的夹角为钝角，所述第二推杆与所述第一夹持爪之间的夹角为锐角。
在一些实施例中，所述第一夹持组件还包括第一弹性件，所述第一弹性件的一端与所述第一夹持爪连接，另一端与所述滑动组件连接；当所述第一弹性件处于未变形状态时，所述第一夹持爪处于打开状态。
在一些实施例中，所述夹持机构还包括第二夹持组件，所述第二夹持组件连接于所述底座，所述夹持驱动组件通过所述驱动轴驱使所述第二夹持组件夹持或者释放所述穿刺针机构。
在一些实施例中，所述穿刺针机构包括穿刺针和辅助组件；所述辅助组件包括套筒和导向部，所述套筒包括与所述第一夹持组件配合的第一夹持定位结构，所述导向部包括与所述第二夹持组件配合的第二夹持定位结构。
在一些实施例中，所述套筒包括第一块体和第二块体，所述第一块体和所述第二块体相对设置形 成第一空腔；所述导向部包括第一导向块和第二导向块，所述第一导向块和所述第二导向块相对设置形成第二空腔；所述穿刺针包括针柄和外针，所述针柄位于所述第一空腔内，所述外针穿过所述第二空腔。
在一些实施例中，所述第一块体包括第一销孔，所述第二块体包括第一卡销，所述第一卡销能够插设于所述第一销孔内形成配合。
在一些实施例中，所述第一夹持定位结构为开设在所述套筒外壁的定位槽。
在一些实施例中，所述定位槽为沿套筒周向设置的环形槽。
在一些实施例中，所述定位槽为设置于所述第一块体或所述第二块体外壁的凹槽。
在一些实施例中，所述套筒上与所述凹槽相对的位置设置有第一标记物。
在一些实施例中，所述导向部外侧面包括靠接面，所述靠接面设置为平面。
在一些实施例中，所述导向部上设置有第二标记物。
在一些实施例中，所述穿刺驱动组件包括屏蔽盒、第一传动绳和穿刺驱动件；其中，所述屏蔽盒连接于所述底座，用于屏蔽外部辐射；所述第一传动绳连接于所述滑动组件，所述穿刺驱动件内置于所述屏蔽盒并连接于所述第一传动绳，所述穿刺驱动件通过所述第一传动绳驱使所述滑动组件相对所述底座做直线运动。
在一些实施例中，所述滑动组件包括牵引块，所述牵引块与所述第一传动绳固定连接；所述穿刺驱动组件还包括设置于所述底座上的导向轮，所述第一传动绳与所述导向轮饶接。
在一些实施例中，所述移动机构还包括导向轴，所述导向轴沿所述底座的长度方向设置并绕自身轴线可转动连接于底座，所述滑动组件滑动套设于所述导向轴。
在一些实施例中，所述夹持驱动组件还包括第二传动绳和夹持驱动件，所述第二传动绳连接于所述驱动轴，所述夹持驱动件内置于所述屏蔽盒并连接于所述第二传动绳，通过所述第二传动绳驱使所述驱动轴沿自身轴线转动。
本说明书实施例之一提供一种穿刺系统，包括成像装置、机械臂及上述任一实施例中的穿刺装置，所述成像装置用于获取患者病灶的位置，所述机械臂连接于所述穿刺装置，用于驱动所述穿刺装置到达指定位置，所述穿刺装置用于驱动所述穿刺针刺入病灶位置和/或释放所述穿刺针使得所述穿刺针与所述机械臂脱离。
附图说明
本申请将以示例性实施例的方式进一步说明，这些示例性实施例将通过附图进行详细描述。这些实施例并非限制性的，在这些实施例中，相同的编号表示相同的结构，其中：
图1是根据本说明书一些实施例所示的穿刺装置的分解结构示意图；
图2是根据本说明书一些实施例所示的辅助组件的爆炸结构示意图；
图3是图1中的E处的局部放大示意图；
图4是图1中的E处另一视角下的局部放大示意图；
图5是根据本说明书一些实施例所示的穿刺针机构中的套筒与针柄部分的结构示意图；
图6是根据本说明书一些实施例所示的穿刺针机构中的套筒与针柄部分的结构示意图；
图7是根据本说明书一些实施例所示的穿刺针机构中的导向部与外针部分的爆炸结构示意图；
图8是根据本说明书一些实施例所示的穿刺针机构中的导向部与外针部分的爆炸结构示意图；
图9是根据本说明书一些实施例所示的导向部的结构示意图；
图10是根据本说明书一些实施例所示的安装套筒时的装配示意图；
图11是根据本说明书一些实施例所示的安装导向部时的装配示意图；
图12是根据本说明书一些实施例所示的穿刺装置的结构示意图；
图13是根据本说明书一些实施例所示的沿图12中F-F线的剖视图；
图14是根据本说明书一些实施例所示的第一夹持组件处于打开状态时沿图12中F-F线的剖面示意图；
图15是根据本说明书一些实施例所示的第一夹持组件处于闭合状态时沿图12中F-F线的剖面示意图；
图16是根本说明书一些实施例所示的沿图12中G-G线的剖视图；
图17是根据本说明书一些实施例所示的穿刺装置隐藏底座和支架后的立体图；
图18是图17中H处的局部放大示意图；
图19是图17中I处的局部放大示意图；
图20是根据本说明书一些实施例所示的穿刺装置隐藏底座、支架后另一视角的立体图；
图21是图20所示的穿刺装置的俯视图；
图22是图20中J处的局部放大示意图；
图23是20中K处的局部放大示意图；
图24是根据本说明书一些实施例所示的穿刺装置隐藏底座和支架后的立体图；
图25是根据本说明书一些实施例所示的穿刺系统的框图。
具体实施方式
为了更清楚地说明本申请实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单的介绍。显而易见地，下面描述中的附图仅仅是本申请的一些示例或实施例，对于本领域的普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图将本申请应用于其它类似情景。除非从语言环境中显而易见或另做说明，图中相同标号代表相同结构或操作。
在介入手术中，穿刺过程中实时获取影像辅助对于提高介入手术中穿刺的精度、安全性以及流畅程度有很大的帮助。例如，通过实时获取影像辅助可以实现在穿刺过程中就能确认穿刺是否到位，可以避免在执行完一次穿刺操作后再确认穿刺是否到位这一过程重复进行而影响穿刺精度和流畅程度。在实际中，一般可以通过在穿刺现场设置具有一定辐射的成像装置(例如，X光机、电子计算机断层扫描设备、磁共振设备等)对穿刺位置和病灶位置进行实时成像，从而实现在穿刺过程中实时获取影像辅助，如果医护人员直接在穿刺现场进行穿刺手术，成像装置的辐射难免会危害医护人员的身体健康。要想在穿刺过程中实时获取影像辅助的同时保证医护人员不会受到成像装置的辐射，可以让医护人员远程操作穿刺装置实施穿刺手术，这也就需要穿刺装置具备远程操作完成穿刺的功能。
本说明书实施例提供了一种穿刺装置，该穿刺装置包括穿刺针机构、可直线运动的移动机构以及夹持机构。其中，夹持机构可以设置在移动机构上，并可夹持或者释放穿刺针机构。本说明书实施例提供的穿刺装置通过移动机构控制穿刺针机构中的穿刺针进行穿刺，并且通过夹持机构夹紧或者释放穿刺针机构，无需操作者手工直接操作穿刺针进行穿刺，夹持机构和移动机构可以远程控制，使得操作者无需位于穿刺现场能够远程操作穿刺装置进行穿刺手术。穿刺现场在无操作者的情况下可以设置具有辐射的成像装置，操作者位于穿刺现场外远程操作穿刺装置进行穿刺手术时能便捷地获取实时的影像支持，从而可以提高穿刺手术的精度和工作流畅性。并且通过远程控制夹持机构解除夹持状态，使得穿刺针机构从夹持机构上释放，从而允许穿刺针机构离开手术区域，便于后续手术流程。在一些实施例中，穿刺针机构可以包括穿刺针和辅助组件，夹持机构可以通过夹持或释放辅助组件来实现对穿刺针机构的夹持或释放，并且该辅助组件可以对穿刺针的穿刺方向引导，通过该辅助组件还能精确地确定穿刺针在穿刺过程中的位置和轴线方向，进而能够较好地提高穿刺精度。
下面将结合附图对本说明书实施例提供的穿刺装置进行详细介绍。
图1是根据本说明书一些实施例所示的穿刺装置的分解示意图。
如图1所示，穿刺装置100可以包括穿刺针机构1、移动机构2以及夹持机构3。其中，夹持机构3可以设置于移动机构2上，并且可以承载穿刺针机构1。进一步地，夹持机构3可以夹持或者释放穿刺针机构1。当进行穿刺手术时，夹持机构3可以夹持穿刺针机构1，通过移动机构2的至少部分(例如，滑块)的直线运动可以带动夹持机构3的至少部分进行直线运动，从而带动夹持机构3所夹持的穿刺针机构1中的穿刺器械(例如，穿刺针)直线运动插入或退出人体。其中，移动机构2的直线运动和/或夹持机构3对穿刺针机构1的夹持或释放动作可以由操作者远程控制，从而使得穿刺手术可以远程进行。
在一些实施例中，如图1所示，穿刺针机构1可以包括辅助组件10和穿刺针11，辅助组件10可以套设于穿刺针11外，在夹持机构3夹持穿刺针机构1时起辅助定位和/或引导的作用。
在一些实施例中，穿刺针11可以为活检穿刺针、注射穿刺针、引流穿刺针等，通过将穿刺针11准确的刺人患者的病灶位置，进而实手术，可以用于对肾脏、肝脏、肺、乳腺、甲状腺、前列腺、胰腺、睾丸、子宫、卵巢、体表、腹部等多种器官的组织进行取样、注射、植入、积液抽取等手术。在一些实施例中，穿刺针11可以包括针柄111和外针112。其中，针柄111的横截面尺寸可以大于外针112的直径。在一些实施例中，针柄111的横截面尺寸可以是指针柄111沿垂直于外针112的轴线的截面尺寸。在一些实施例中，当针柄120的形状为立方体时，针柄111的横截面为矩形，其横截面尺寸可以是该矩形的长度、宽度或对角线长度。在一些实施例中，当针柄111的形状为球体时，针柄111的横截面为圆形，其横截面尺寸可以为该圆形的直径。在一些实施例中，当针柄111为不规则形状时，针柄111的横截面尺寸大于外针112直径可以是指针柄111的最小横截面尺寸大于外针112的直径。在一些实施例中，当针柄111的横截面的形状为不规则形状时，该横截面尺寸可以为该不规则形状的等效圆(例如，内切圆或外接圆)直径。在一些实施例中，穿刺针11还可以包括针帽113，针帽113位于针柄111的上方，外针112内可以收纳有内针(图中未示出)，内针的一端可以连接至针帽113。
图2是根据本说明书一些实施例所示的辅助组件的爆炸结构示意图。
在一些实施例中，结合图1和图2所示，辅助组件10可以包括套筒12和导向部13。其中，套筒12可以包括第一块体121和第二块体122，第一块体121和第二块体122可以相对设置形成第一空腔，套筒12可以包括第一夹持定位结构125。导向部13可以包括第一导向块131和第二导向块132，第一导向块131和第二导向块132可以相对设置形成第二空腔，导向部13可以包括第二夹持定位结构135。通过将辅助组件10组装至穿刺针11可以构成穿刺针机构1。具体地，第一块体121和第二块体122可以相对接合将针柄111容纳在第一空腔中，第一导向块131和第二导向块132可以相对接合将外针112容纳在第二空腔中，以此构成穿刺针机构1。夹持机构3可以通过夹持或释放辅助组件10来实现对穿刺针11的夹持或释放，穿刺针11可以在夹持机构3的夹持下时，随移动机构2进行直线运动插入或退出人体以进行穿刺。进一步地，如图1所示，夹持机构3可以包括第一夹持组件31和第二夹持组件34，第一夹持组件31和第二夹持组件34可以分别对套筒12和导向部13进行夹持或释放，从而实现对辅助组件10的夹持或释放。进一步地，第一夹持定位结构125可以与第一夹持组件31配合以使得第一夹持组件31能够更稳定地对套筒12进行夹持和/或定位，第二夹持定位结构135可以与第二夹持组件34配合以使得第二夹持组件34更稳定地对导向部13进行夹持和/或定位。更多关于第一夹持组件31、第二夹持组件34、夹持机构3以及移动机构2的描述可以在本说明书其他地方找到，在此不再赘述。下面将结合附图先对套筒12进行详细介绍。
图3是图1中的E处的局部放大示意图。图4是图1中的E处另一视角下的局部放大示意图。
结合图1-图4所示，第一块体121和第二块体122可以组装至针柄111，使得套筒套设于穿刺针11的针柄111上。具体地，第一块体121和第二块体122可以分别设置于穿刺针11的两侧并相对穿刺针11开设有安装槽，第一块体121和第二块体122可以经安装槽套设于穿刺针11(例如，针柄111)上。其中，第一块体121上开设的安装槽为第一凹槽1211，第二块体122上开设的安装槽为第二凹槽1221。当第一块体121和第二块体122组装至针柄111时，第一凹槽1211和第二凹槽1221可以相对设置形成第一空腔，此时针柄111位于第一空腔内。
在一些实施例中，第一空腔的空间形状可以与针柄111的形状适配，以增加套筒12与针柄111之间组装的可靠性，避免套筒12在针柄111上出现相对滑动或松动的情况，有利于在穿刺过程中对穿刺针进行轴向定位并且可以保证穿刺针11在穿刺装置100(移动机构2)提供或传递双向的轴向穿刺动力时，能够沿穿刺方向前进或后退，即在移动机构2的带动下做直线运动，从而便于穿刺器械的穿刺轨迹，穿刺的精度和便捷程度都得以被提高。例如，如图3和图4所示，针柄111沿其轴线方向由圆柱体、方形体以及圆柱体组成，对应地，第一凹槽1211和第二凹槽1221相对设置形成的第一空腔的空间形状沿其轴线方向也包括尺寸相同或基本相同的圆柱体、方形体和圆柱体。在一些实施例中，由于不同种类或规格的穿刺针的针柄的形状或尺寸有所不同，因此可以通过调整第一空腔的空间形状来适配不同种类或规格的穿刺针的针柄。
在一些实施例中，在将套筒12安装到针柄111上后，针帽113暴露在套筒12外并位于套筒12的上方，在进行穿刺时，操作者可以通过针帽113将内针从外针112内抽出，以执行后续手术操作。例如，在将穿刺针11穿刺至指定位置后，可以通过操作者手持针帽113手动或机械臂夹持针帽113的方式自动将内针从外针112内的针道内拔出，此时外针112的针道成为了连接目标组织和体表的管道，操作者(例如，医生)则可以利用此管道将活检器械直接送至指定位置，以进行活检手术。
在一些实施例中，第一空腔沿垂直于轴线的截面至少可以包括非圆形截面。例如，如图3和图4所示，第一凹槽1211和第二凹槽1221相对设置形成的第一空腔的空间形状沿其轴线方向上的部分为方形体，该方形体的沿垂直于轴线的截面则为矩形截面，而非圆形截面。通过使得第一空腔沿垂直于轴线的截面至少可以包括非圆形截面，可以在将套筒12安装到针柄111上后，有效限制套筒12和针柄111之间的相对转动，避免穿刺针11在穿刺过程中的转动方向(或外针112的朝向)发生改变，从而提高穿刺精度。在一些实施例中，非圆形截面的形状可以包括三角形、矩形、正五边形、正六边形等规则或其他不规则形状。
在一些实施例中，第一空腔可以包括沿轴线方向依次设置的第一子腔体、第二子腔体和第三子腔体。其中，第二子腔体的内径大于第一子腔体和第三子腔体的内径。在一些实施例中，当第一子腔体、第二子腔体和第三字腔体沿垂直于轴线的截面为圆形截面时，第一子腔体、第二子腔体和第三子腔体的内径可以为对应圆形截面的直径。在一些实施例中，当第一子腔体、第二子腔体和第三字腔体沿垂直于轴线的截面为非圆形截面(例如，三角形、矩形、五边形、六边形等)时，第一子腔体、第二子腔体和第三子腔体的内径可以为对应的非圆形截面的等效圆的直径。在一些实施例中，非圆形截面的等效圆可以是指非圆形截面形状的外接圆、内切圆等。例如，非圆形截面的形状为三角形时，其等效圆可以为该三角形的外接圆或内切圆。通过这样设置，可以使得针柄120位于第二子腔体内时，有效地限制针柄111在第二子腔体内沿第二子腔体的轴线方向运动，即使得穿刺针11与套筒12之间在第二子腔体的轴线方向上不会产生相 对位移，从而保证移动机构2提供或传递的轴向(即穿刺针11或套筒12的轴线方向)的穿刺动力能够通过套筒12传递给穿刺针11，使得穿刺针11能够沿其轴向运动以进行穿刺。
在一些实施例中，套筒12还可以包括设置于第一块体121和第二块体122之间的第一卡销123。第一块体121相对第二块体122的一侧开设有与第一卡销123适配的第一销孔124，卡销123的一端可以连接于第二块体122，另一端则可以插设于第一销孔124形成配合，从而将第一块体121和第二块体122组装成套筒12。通过第一块体121、第二块体122以及第一卡销123与第一销孔124之间的插设配合，可以将第一块体121和第二块体122组装成套筒12套设于穿刺针11的针柄111，不易发生解体(即第一块体121和第二块体122分离)的情况，避免套筒12自行从针柄111上脱离，而夹持机构3在夹持套筒12时，可以间接夹持第一卡销123，使得第一卡销123不易从第一销孔124内脱离，以进一步提高套筒12的结构可靠性。通过第一卡销123与第一销孔124之间的插设配合将第一块体121和第二块体122组装成套筒12，可以方便操作者根据需要将套筒12拆分为第一块体121和第二块体122以从穿刺针11的针柄111上取下。第一块体121和第二块体122分离后，操作者可以分别对第一凹槽1211和第二凹槽1221进行灭菌处理以达到对第一空腔进行充分灭菌的目的，使得套筒12在灭菌后可以重复使用。
在一些实施例中，第一销孔124可以是设置在第一块体121与第二块体312相对的表面上的凹槽结构，相应地，第一卡销123可以设置在第二块体122与第一块体121相对的表面上与该凹槽结构适配的凸起结构。在一些实施例中，凸起结构的尺寸可以略大于凹槽结构的尺寸，可以在使得凸起结构与凹槽结构能够形成较为紧密的插设配合以提高第一块体121和第二块体122组装成套筒12后的结构可靠性的同时，保证操作者能够轻易、快速地将套筒12拆分为第一块体121和第二块体122。在一些实施例中，凸起结构的形状可以是方形体、圆柱体等规则或不规则的形状。在一些实施例中，第一块体121和第二块体122也可以通过螺栓连接的方式组装形成套筒12。作为示例性说明，第一块体121和第二块体122在相同位置开设有通孔，操作者可以将相应大小的螺栓穿过第一块体121和第二块体122上的通孔，然后螺母拧紧的方式，使得第一块体121和第二块体122组装成为套筒12。
在一些实施例中，结合图1-图4所示，当穿刺针机构1被夹持机构3所夹持时，套筒12可以被第一夹持组件31所夹持。在一些实施例中，第一夹持组件31可以包括第一夹持爪311和套筒安装槽315，套筒12可以位于套筒安装槽315内被第一夹持爪311所夹持。其中，第一夹持组件31可以设置于移动机构2。具体地，第一夹持爪311与图17所示的滑动块221固定连接，套筒安装槽315可以直接开设在滑动块221上或者与滑动块221固定连接。在一些实施例中，套筒12的外轮廓可以与套筒安装槽315相配合。例如，套筒12的外轮廓可以为弧面，则套筒安装槽315可以为与该弧面适配的弧形安装槽或与该弧面相切的V型槽，这样可以减小套筒12脱离套筒安装槽315或在套筒安装槽315内晃动的风险。在一些实施例中，第一夹持爪311可以夹持套筒12中的第一夹持定位结构125，使得套筒12可以压紧于套筒安装槽315内，而且可以保证在穿刺过程中当移动机构2(例如，图18中示出的滑块221)能够通过夹持机构3(第一夹持组件31)带动套筒12做直线运动，从而带动穿刺针11在穿刺方向上进行直线运动，以进行穿刺。
在一些实施例中，第一夹持定位结构125可以为开设在套筒12外壁的定位槽。在一些实施例中，第一夹持爪311可以与定位槽适配，第一夹持爪311可以直接卡入定位槽内以对套筒12进行夹持。在一些实施例中，套筒安装槽315上设置有与定位槽配合的定位结构(例如，定位凸起)，通过使定位结构卡入定位槽内可以确定套筒12在套筒安装槽315内是否安装到位。在一些实施例中，与定位槽配合的定位结构可以设置于第一夹持爪311，通过定位结构与定位槽的配合，可以保证第一夹持爪能够更好地夹持住套筒12。在一些实施例中，如图2-4所示，定位槽可以为沿套筒12的周向在套筒12的外壁上开设的环形槽。作为示例性说明，第一块体121和第二块体122的外壁上均开设有半环形槽，当第一块体121和第二块体122组成套筒12时，两个半环形槽能够形成该环形槽。通过将第一定位结构313设置成环形槽，以便于套筒12以任意角度(例如，绕自身轴线转动的任意角度)安装到套筒安装槽12内。
在一些实施例中，环形槽的一侧的截面呈V形或梯形(即环形槽的槽口为V形或梯形)，通过将环形槽的截面设置呈V形或梯形，可以便于套筒12被第一夹持爪311更好地夹持。
图5和图6是根据本说明书一些实施例所示的穿刺针机构中的套筒与针柄部分的结构示意图。
在一些实施例中，如图5和图6所示，定位槽可以为设置于第一块体121或第二块体122外壁的凹槽1251。在一些实施例中，凹槽1251的左右相对的两个侧面相互平行，上下相对的两个侧面为倾斜平面(例如，凹槽1251与套筒12的轴线平行的截面形状为梯形、V形等)。当套筒安装槽221上的定位结构(例如，与凹槽1251适配的凸起)卡入凹槽1251时,穿刺针11的转动方向(例如，外针112的朝向)为穿刺过程中想要的转动方向。凹槽1251的设计可以有效地限制套筒12的转动，进而保证穿刺针11的转动方向不会发生改变，防止穿刺针的转动方向改变而影响到穿刺的精度。
在一些实施例中，如图5和图6所示，套筒12上与凹槽1251径向相对的位置可以设置有第一标 记物126。作为示例性说明，凹槽1251和第一标记物126可以分别设置在第一块体121和第二块体122的外壁上，其中，第一标记物126的位置与凹槽1251的位置沿套筒12的径向相对。需要说明的是，第一标记物126的位置与凹槽1251在套筒12径向相对可以是指第一标记物126和凹槽1251在套筒12垂直于其轴线的同一截面内径向相对，即凹槽1251和第一标记物126在套筒12的轴线方向上没有间距，也可以是指第一标记物126和凹槽1251在套筒12垂直于其轴线的不同截面内径向相对，即凹槽1251和第一标记物126在套筒12的轴线方向上存在着一定间距。第一标记物126可以用于在穿刺过程中对穿刺针11进行标记，以在穿刺过程中对针柄111进行定位。在一些实施例中，第一标记物126可以为光学跟踪设备的靶球或其他能够被光学跟踪设备跟踪识别的标记物，光学跟踪设备可以对第一标记物126进行跟踪识别，从而可以实时确定针柄111位置，以便于在穿刺过程中能够更准确地实现对穿刺针11的轴向定位。另外，通过将第一标记物126与凹槽1251设置成径向相对，可以在套筒12安装到套筒安装槽315内并被第一夹持爪311所夹持时，将第一标记物126的转动方向(或称为朝向)确定下来，使得第一标记物126能够朝向光学跟踪设备，并且不会被套筒安装槽315和/或第一夹持爪311所遮挡，以便于光学跟踪设备能够更好地识别第一标记物126。
在一些实施例中，辅助组件10可以仅包括套筒12，套筒12可以对穿刺针11起到固定的作用。在一些实施例中，辅助组件10除了包括套筒12以外还可以包括导向部13，通过设置导向部13，可以对穿刺针11的滑动进行导向，即对穿刺针11的穿刺方向进行引导，避免穿刺针11的尖端晃动，从而能够提高穿刺精度。其中，导向部13可滑动连接于穿刺针11。下面将结合附图对导向部13进行详细介绍。
图7和图8是根据本说明书一些实施例所示的穿刺针机构中的导向部与外针部分的爆炸结构示意图。
结合图3、图7和图8所示，第一导向块131和第二导向块132可以组装成导向部13。具体地，第一导向块131上可以设置有第一管槽1311，第二导向块132上可以设置有第二管槽1321。当第一导向块131和第二导向块132组装成导向部13时，第一管槽1311和第二管槽1321可以相对设置形成第二空腔，外针112可以穿过第二空腔并且能够在第二空腔内移动，即导向部13滑动连接于穿刺针11。在一些实施例中，第二空腔沿垂直于轴线的截面可以为圆形截面，圆形截面的直径可以与外针112的直径相对应，以使得位于第二空腔内的外针112只能沿第二空腔的轴线方向前进或后退，从而起到引导穿刺针11的作用。在一些实施例中，可以根据要安装的穿刺针的规格不同，设置一系列导向部13，其中，各个导向部13的第二空腔的直径不同，以适配不同规格的穿刺器械的不同外针直径。
在一些实施例中，结合图7和图8所示，第一导向块131可以包括第二销孔1312，第二导向块132可以包括第二卡销1322。其中，第二卡销1322可以插设于第二销孔1312内形成配合，从而将第一导向块131和第二导向块132组装成导向部13。第二销孔1312和第二卡销1322的结构可以分别与第一销孔124和第一卡销123的结构类似，更多关于第二销孔1312和第二卡销1322以及第一导向块131和第二导向块132是如何组装成导向部13的描述，可以参考第一销孔124和第一卡销123以及第一块体121和第二块体122是如何组装成套筒12的相关描述，在此不再赘述。由于外针112会穿过第二空腔插入人体内，为了避免外针112受到污染而造成患者感染，第二空腔内需要经常进行灭菌处理，而通过导向部13可拆分为第一导向块131和第二导向块132的设计，可以便于操作者对第一管槽1311和第二管槽1321进行灭菌处理，从而能够对第二空腔进行充分灭菌处理，这也能方便导向部13在灭菌处理后可以重复使用。
在一些实施例中，第一导向块131和第二导向块132可以为一体式结构，即导向部320为一个不可拆分的整体结构。其中，导向部13相对穿刺针11开设有贯穿孔(相当于第二空腔)，导向部13经贯穿孔可滑动套设于穿刺针11，贯穿孔可以供外针112穿过并沿其轴线方向进行直线运动。
在一些实施例中，结合图1、图3、图7以及图8所示，当穿刺针机构1被夹持机构3所夹持时，导向部13可以被第二夹持组件34所夹持。在一些实施例中，第二夹持组件34可以包括第二夹持爪342和导向部安装槽346，导向部13可以位于导向部安装槽346内被第二夹持爪342所夹持。其中，第二夹持组件34可以设置于移动机构2。具体地，第二夹持爪342可以与图12中示出的底座211固定连接，导向部安装槽346可以直接开设在底座211上或与底座211固定连接。进一步地，第二夹持爪342可以夹持导向部13中的第二夹持定位结构135。在一些实施例中，导向部安装槽346与导向部13的接触面可以为平面，这样可以限制导向部13发生转动。在一些实施例中，第二夹持定位结构135可以为开设在导向部13外壁的定位槽。在一些实施例中，第二夹持爪342上设置有与该定位槽适配的定位结构(例如，定位凸起)，通过使定位结构可以卡入定位槽内可以确定导向部13在导向部安装槽346内的安装位置并确认是否安装到位，而且还能保证第二夹持爪342能够更好地夹持住导向部13。在一些实施例中，定位槽可以是沿导向部13周向设置的环形槽。
在一些实施例中，结合图1、图3、图7以及图8所示，导向部13还可以包括设置在第一导向块131或第二导向块132外壁上的凸起部140，对应地，导向部安装槽346上设置有与凸起部140适配的凹 槽结构，通过凸起部140与凹槽结构的卡接配合，可以确保导向部13在导向部安装槽346内安装到位，并且能够有效地限制导向部13在导向部安装槽346内发生轴向移动，以此保证穿刺精度。
在一些实施例中，如图7和图8所示，导向部13可以包括插接结构136。其中，插接结构136沿垂直于轴线(第二空腔的轴线)的截面的面积从上到下(即由穿刺针11的针帽到针尖的方向)逐渐减小，例如，插接结构136的形状可以为楔形、锥形等。如此设置，可以在将导向部13安装至导向部安装槽346内时，便于在第二夹持爪342处于闭合状态下时，将导向部13从导向部安装槽13的上方插入导向部安装槽346内以位于第二夹持爪342内被第二夹持爪342所夹持。
图9是根据本说明书一些实施例所示的导向部的结构示意图。
在一些实施例中，如图9所示，插接结构136的末端可以连接有辅助针头137，辅助针头137具备一定的延伸长度和尖锐的前端。在一些实施例中，辅助针头137可以由第一导向块131和第二导向块132相对设置形成。具体地，第一导向块131和第二导向块132分别设置有半圆形截面的辅助针头，当第一导向块131和第二导向块132组装成导向部13时，第一导向块131和第二导向块132上的半圆形截面的辅助针头可以形成完整的辅助针头325。通过设置辅助针头137，可以在使用穿刺针11进行穿刺之前，先操作穿刺装置100朝向患者穿刺部位运动，利用辅助针头137对患者的穿刺部位进行破皮操作，这样可以避免因皮肤比较难穿刺，如果穿刺器械直接对皮肤进行穿刺而发生弯曲形变的情况发生，从而保证穿刺器械可以顺利地到达目标位置，并且由于减少了穿刺器械的形变，有利于提高穿刺精度。
在一些实施例中，结合图1和图9所示，导向部13的外侧面可以包括靠接面138，靠接面138可以设置为平面。在将导向部13安装到导向部安装槽346内并被第二夹持爪342所夹持时，通过将靠接面138可以与导向部安装槽231的底面3461靠接，而将靠接面138设置为平面，可以使得靠接面138与导向部安装槽231的底面3461充分靠接，这样可以有效地限制导向部13发生转动，以提高穿刺精度。
在一些实施例中，如图9所示，导向部13上可以设置有第二标记物139。在一些实施例中，第二标记物139可以设置在导向部320上与靠接面138相对的一侧。在一些实施例中，第一标记物126的中心到第二标记物139的中心的连线可以与穿刺针11的轴线方向平行。在一些实施例中，第二标记物139与第一标记物126能够被同一光学跟踪设备所跟踪识别。在一些实施例中，可以通过光学跟踪设备识别第一标记物126和第二标记物139来实时获取穿刺针11的穿刺深度。在一些实施例中，在穿刺过程中，第一标记物126和第二标记物139之间的距离的变化量即为穿刺器械的穿刺深度。在一些实施例中，可以通过光学设备识别第一标记物139和第二标记物126来实时获取穿刺针11(外针112)的轴线方向，防止穿刺针11偏离预定的穿刺方向。具体地，在穿刺过程中，可以根据第一标记物126的中心到第二标记物139的中心的连线来确定穿刺针11的轴线方向。进一步地，在穿刺过程中实时获取穿刺针11的穿刺深度和轴线方向有利于提高穿刺精度。在本实施例中，通过将第二标记物139设置在导向部13上与靠接面138相对的位置，可以在导向部13安装到向部安装槽346内并被第二夹持爪342所夹持时，将第二标记物139的位置确定下来，并使得第二标记物139能够朝向光学跟踪设备，并且不会被导向部安装槽346和/或第二夹持爪342所遮挡，以便于光学跟踪设备能够更好地识别第二标记物139。而通过将靠接面138设置为平面来限制导向部13的转动，可以避免第二标记物139的朝向发生改变影响穿刺精度。例如，如果在穿刺过程中第二标记物的朝向发生改变，根据光学跟踪设备识别第一标记物126和第二标记物139所获取的到穿刺深度以及穿刺方向就会有所偏差。
在一些实施例中，如图9所示，第一导向块131可以包括第一拉手1313，第二导向块132可以包括第二拉手1323，第一拉手1313和第二拉手1323可以便于操作者抓住以施加作用力，从而便于在手术前或手术后将导向部13拆分为第一导向块131和第二导向块132。
下面将结合附图对穿刺针机构11是如何通过辅助组件10被夹持机构3所夹持以执行穿刺操作进行详细描述。
首先，需要将穿刺针11和辅助组件10组装为穿刺针机构1。具体地，将第一块体121和第二块体122组装为套筒12套设于至穿刺针11的针柄111，并且将第一导向块131和第二导向块132组装为导向部13使外针112穿过导向部13的第二空腔，以组装称为穿刺针机构1。接下来，便可以依次按照图10-11所示的装配流程将穿刺针机构1固定至夹持机构3。
图10是根据本说明书一些实施例所示的安装套筒时的装配示意图。图11是根据本说明书一些实施例所示的安装导向部时的装配示意图。
如图10所示，将套筒12放置于套筒安装槽315内，并且第一夹持定位结构125(定位槽)与套筒安装槽315或第一夹持爪311(或第一夹持爪311上的定位结构)对齐，然后控制第一夹持爪311闭合，此时导向部13位于套筒12和导向部安装槽346(或第二夹持爪342)之间，并且可以在穿刺针11的外针112上滑动。其中，导向部13的插接结构136朝向导向部安装槽346(或第二夹持爪342)。
如图11所示，在一些实施例中，第一夹持爪311和第二夹持爪342能够进行同步开合，所以当 第一夹持爪311闭合时，第二夹持爪342也处于闭合状态。因此，为了能够将导向部13在第二夹持爪342处于闭合状态下能够进入第二夹持爪342内被第二夹持爪342所夹持，可以在完成套筒12的安装后，将导向部13沿外针112向下滑动，由于插接结构136从上到下沿垂直于轴线的截面的面积逐渐减小，用力推动导向部13，可以将导向部13挤进第二夹持爪342内，当第二夹持定位结构135(定位槽)与第二夹持爪342(或第二夹持爪342上的定位结构)对齐时，导向部13的安装即可完成。在一些实施例中，第一夹持爪311和第二夹持爪342的开合动作也可以不同步，此时可以直接将第二夹持定位结构135(定位槽)与第二夹持爪342(或第二夹持爪342上的定位结构)对齐，然后单独控制第二夹持爪342闭合，以将导向部13夹持，从而完成导向部13的安装。在套筒12和导向部13的安装完成后，穿刺针机构1即被夹持机构3所夹持。
下面将结合附图对移动机构2以及移动机构2的直线运动是如何实现的、夹持机构3以及夹持机构3的夹持或释放动作是如何实现的进行详细介绍。
在一些实施例中，如图12所示，移动机构2可以包括底座21、滑动组件22及穿刺驱动组件23。其中，底座21可以起到承载的作用，用于承载穿刺驱动组件23、滑动组件22等。滑动组件22可滑动设置于底座21，穿刺驱动组件23设置于底座21上并连接于滑动组件22，用于驱动滑动组件22相对底座21做直线运动，夹持机构3设置于滑动组件22。
在一些实施例中，参见图12或图24，滑动组件22可以包括滑块221，滑块221可滑动设置于底座21，夹持机构3的至少部分设置于滑块221。在一些实施例中，夹持机构3的第一夹持组件31设置于滑块221，即第一夹持组件31可以与滑块221连接。在一些实施例中，夹持机构3中的第二夹持组件34和夹持驱动组件32可以设置于底座21。
通过将第一夹持组件31设置于滑块221并使得滑块221与底座21可滑动连接，通过滑块221带动第一夹持组件31移动，可以实现夹持机构3带动所夹持的穿刺针机构1移动。
在一些实施例中，参见图20或图24，滑动组件22还可以包括导向轴222，导向轴222沿底座21的长度方向设置并绕自身轴线可转动连接于底座21，滑块221沿其滑动方向开设有第一通孔2211，滑块221经第一通孔2211可滑动套设于导向轴222，滑块221可以沿导向轴222进行滑动。在一些实施例中，如图24所示，导向轴222的数量可以为两个，对应地，滑块221沿其滑动方向开设的第一通孔的数量可以为两个。通过将导向轴222的数量设置为两个，提高滑块221滑动的稳定性。在一些实施例中，导向轴222的数量还可以是3个、4个、5个等。
结合图12和图17所示，穿刺驱动组件23可以连接于滑块221并用于驱动滑块221相对底座21做直线运动。在一些实施例中，穿刺驱动组件23可以为气缸、液压缸、电动推杆、直线驱动链条、传动带等，穿刺驱动组件23可以为任何可以驱动滑块221做直线移动的机构。
在一些实施例中，结合图12和图17-23所示，穿刺驱动组件23可以包括第一传动绳23a和穿刺驱动件23b。其中，第一传动绳23a连接于滑动组件22，穿刺驱动件23b通过第一传动绳23a驱使滑动组件22相对底座21做直线运动。
在一些实施例中，滑动组件22可以包括牵引块(例如，图18或图24中示出的牵引块232)，牵引块固定于滑块221上，牵引块可以与第一传动绳23a固定连接；穿刺驱动组件23还可以包括设置于底座21上的导向轮(例如，图19和/或图22中示出的第三滑轮b5)，第一传动绳23a可以与导向轮饶接。
在一些实施例中，结合图12、17-23所示，穿刺驱动件23b可以包括第一电机b1、第一绕绳筒b2、第一滑轮b3、第二滑轮b4、第三滑轮b5、第四滑轮b6及第五滑轮b7，第一电机b1固定于底座21，第一绕绳筒b2绕其轴线可转动连接于第一电机b1的输出轴，第一滑轮b3和第二滑轮b4设置于底座21的一端并分别设置于导向轴222的两侧，第一滑轮b3和第二滑轮b4分别绕自身轴线可转动连接于底座21，第三滑轮b5设置于底座21的另一端并设置于滑块221的下方，第三滑轮b5绕自身轴线可转动连接于底座21，第四滑轮b6和第五滑轮b7设置于底座21的一端并分别可转动连接于底座21，第四滑轮b6的转动轴线与第一滑轮b3的转动轴线相互垂直，第五滑轮b7的转动轴线与第二滑轮b4的转动轴线相互垂直。
在一些实施例中，底座21的一端(例如，设置第一滑轮b3、第二滑轮b4、第四滑轮b6和第五滑轮b7的一端)可以是指底座21位于滑块221上方的一端，底座21的另一端(例如，设置第三滑轮b5的一端)则可以是指底座21位于滑块221下方的一端。
在一些实施例中，结合图12、图17-23所示，第一传动绳23a可以包括第一绳体a1和第二绳体a2。其中，第一绳体a1的一端绕设于第一绕绳筒b2、另一端经由第一滑轮b3和第四滑轮b6后连接于滑块221。第二绳体a2的一端绕设于第一绕绳筒b2，且第二绳体a2的一端的绕设方向与第一绳体a1的一端的绕设方向相反，第二绳体a2的另一端经由第二滑轮b4和第五滑轮b7后绕过第三滑轮b5远离滑块221的一侧直至连接于滑块221。在一些实施例中，如图18所示，牵引块232可以包括分别设置在滑块221两侧的第一牵引块2231和第二牵引块2232，第一绳体a1的另一端经由第一滑轮b3和第四滑轮b6后连接于 第一牵引块2231，第二绳体a2的另一端经由第五滑轮b7和第二滑轮b4后绕过第三滑轮b5后连接第二牵引块2232。
通过设置第一绳体a1和第二绳体a2，并使得第一绳体a1和第二绳体a2经由第一滑轮b3、第二滑轮b4、第三滑轮b5、第四滑轮b6及第五滑轮b7分别连接于滑块221，当第一绕绳筒b2顺时针转动时，第一绳体a1可以不断地绕设在第一绕绳筒b2上，缠绕在第一绕绳筒b2上的第二绳体a2松开，第一绳体a1带动滑块221向上滑动，此时滑块221拉伸绕过第三滑轮b5的第二绳体a2，实现第二绳体a2的一直紧绷，当第一绕绳筒b2逆时针转动时，第二绳体a2不断的绕设在第一绕绳筒b2上，缠绕在第一绕绳筒b2上的第一绳体a1松开，绕过第三滑轮b5的第二绳体a2带动滑块221向下滑动，第一绕绳筒b2将第二绳体a2不断的绕设在第一绕绳筒b2上时一直拉紧第一绳体a1，实现第二绳体a2的一直紧绷，通过设置第一传动绳23a和穿刺驱动件23b，可以实现滑块221在第一传动绳23a的作用沿导向轴222的导向下上下移动。具体地，当第一电机b1驱动第一绕绳筒b2进行顺时针旋转时，滑块221可以在第一绳体a1的牵引下沿导向轴222向上移动，当第一电机b1驱动第一绕绳筒b2进行逆时针旋转时，滑块221可以在第二绳体a2的牵引下沿导向轴222向下移动。
在一些实施例中，参见图24，穿刺驱动件23b可以包括第一电机(未在图24中示出)、第一绕绳筒b2、第一滑轮b3、第二滑轮b4、第三滑轮b5。第一滑轮b3和第二滑轮b4设置于底座21的一端(即底座21位于滑块221上方的一端)并设置于导向轴222的同一侧，第一滑轮b3和第二滑轮b4分别绕自身轴线可转动连接于底座21，第三滑轮b5设置于底座21的另一端并设置于滑块221的下方，第三滑轮b5绕自身轴线可转动连接于底座21。第一绳体a1的一端绕设于第一绕绳筒b2、另一端绕过第一滑轮b3后连接于滑块221上的牵引块223。第二绳体a2的一端绕设于第一绕绳筒b2，且第二绳体a2在第一绕绳筒b2上的绕设方向与第一绳体a1在第一绕绳筒b2上的绕设方向相反，第二绳体a2的另一端绕过第二滑轮b4后绕过第三滑轮b5远离滑块221的一侧后连接于牵引块223。其中，牵引块223、第一滑轮b3和第二滑轮b4位于滑块221的同一侧。在本实施例中，可选的，穿刺驱动件23b还可以包括第四滑轮(未在图24中示出)和第五滑轮(未在图24中示出)，第四滑轮和第五滑轮可以分别设置在第一绕绳筒b2和第一滑轮b3之间、第一饶绳筒b2和第二滑轮b4之间，以分别被第一绳体a1和第二绳体a2绕设，这样可以避免第一绳体a1和第二绳体a2扭转，从而使得第一绳体a1和第二绳体a2能够更稳定地带动滑块221运动。
通过设置第一绳体a1和第二绳体a2，并使得第一绳体a1经由一滑轮b3、第二滑轮b4和第二绳体a2经由第一滑轮b3、第二滑轮b4、第三滑轮b5连接于滑块221的同一侧，当第一绕绳筒b2顺时针转动时，第一绳体a1可以不断地绕设在第一绕绳筒b2上，缠绕在第一绕绳筒b2上的第二绳体a2松开，第一绳体a1带动滑块221向上滑动，此时滑块221拉伸绕过第三滑轮b5的第二绳体a2，实现第二绳体a2的一直紧绷，当第一绕绳筒b2逆时针转动时，第二绳体a2不断的绕设在第一绕绳筒b2上，缠绕在第一绕绳筒b2上的第一绳体a1松开，绕过第三滑轮b5的第二绳体a2带动滑块221向下滑动，第一绕绳筒b2将第二绳体a2不断的绕设在第一绕绳筒b2上时一直拉紧第一绳体a1，实现第二绳体a2的一直紧绷，通过设置第一传动绳23a和穿刺驱动件23b，可以实现滑块221在第一传动绳23a的作用沿导向轴222的导向下上下移动。具体地，当第一电机b1驱动第一绕绳筒b2进行顺时针旋转时，滑块221可以在第一绳体a1的牵引下沿导向轴222向上移动，当第一电机b1驱动第一绕绳筒b2进行逆时针旋转时，滑块221可以在第二绳体a2的牵引下沿导向轴222向下移动。通过如此设置，简化了穿刺驱动件23b的结构，同时还能保证穿刺驱动件23b能够驱动滑动块221进行直线运动。
为了使得第一电机b1能够驱动第一绕绳筒b2进行旋转，在一些实施例中，结合图12和图17-23所示，穿刺驱动件23b还可以包括第一转轴b8、第一齿轮b9和第二齿轮b10，第一转轴b8绕自身轴线可转动连接于底座21，第一绕绳筒b2固定套设于是第一转轴b8，第一齿轮b9固定套设于第一转轴b8，第二齿轮b10固定套设于第一电机b1的输出轴并与第一齿轮b9相啮合。在一些实施例中，第一电机b1和第一饶绳筒b2之间可以不用设置传动机构来驱动第一绕绳筒b2进行旋转，而是由第一电机b1直接驱动第一饶绳筒b2进行旋转。例如，第一饶绳筒b2可以直接与第一电机b1的输出轴连接，由输出轴直接驱动第一饶绳筒b2进行旋转。
在一些实施例中，结合图12和图17-23所示，穿刺驱动组件23还可以包括屏蔽盒23c。屏蔽盒23c连接于底座21，用于屏蔽外部辐射，穿刺驱动件23b内置于屏蔽盒23c并连接于第一传动绳23a。进一步地，通过设置屏蔽盒23c，屏蔽盒23c可以将穿刺驱动件23b罩住，避免在外界的辐射环境下，散射的X射线对精密的驱动电路与第一电机b1等部件有破坏性，还能避免高密度的金属部件在成像中形成伪影，避免第一电机b1干扰医护使用者对图像的识别和阅读。
在一些实施例中，结合图12和图17-23所示，穿刺驱动组件23还可以包括支架23d，支架23d连接于底座21，屏蔽盒23c通过支架23d连接于底座21，第一电机b1的壳体连接于支架23d，第一转轴 b8绕自身轴线可转动连接于支架23d，第一转轴b8经支架23d可转动连接于底座21。通过设置支架23d可以对第一电机b1和屏蔽盒23c进行固定。在一些实施例中，第一电机b1可以为含有编码器和减速箱的伺服电机，通过伺服电机的输出轴带动第一绕绳筒b2顺时针或者逆时针转动。
通过绳和滑轮组成传动机构的方式进行传动，将穿刺装置100与影像监控相结合时，绳传动机构在成像中形成的伪影少，可以避免伪影干扰医护使用者对图像的识别和阅读，穿刺装置100可以与影像设备达到较高的融合度，实现孔径内穿刺与实时影像监控，从而提高穿刺手术的精度与流畅性。
结合图1和图12所示，夹持机构3可以设置于移动机构2上，并可夹持或者释放穿刺针机构1。
在一些实施例中，夹持机构3可以为任何可以夹持或者释放穿刺针机构1的装置。在一些实施例中，结合图1、图12、图17、图20或图24所示，夹持机构3可以包括第一夹持组件31和夹持驱动组件32，第一夹持组件31可以设置于滑动组件22，夹持驱动组件32设置于底座21并连接于第一夹持组件31，用于驱使第一夹持组件31夹持或者释放穿刺针机构1。
在一些实施例中，结合图1、图12至图21或图24所示，夹持机构3还可以包括驱动轴33，驱动轴33沿滑动组件22的滑动方向设置并可转动连接于底座21和第一夹持组件31，夹持驱动组件32连接于驱动轴33，用于驱动轴33沿自身轴线转动，可转动的驱动轴33可驱使第一夹持组件31夹持或者释放穿刺针机构1。
在一些实施例中，驱动轴33可以跟随滑块221滑动，也可以相对滑块221滑动。在一些实施例中，结合图12、图20或图24所示，滑块221沿滑动方向开设有第二通孔2212，驱动轴33的两端通过轴承可转动连接于底座21，驱动轴33经第二通孔2212可滑动穿过滑块221并可相对滑块221转动。
在一些实施例中，第一夹持组件31通过套筒12的第一夹持定位结构125实现对穿刺针机构1的夹持。关于第一夹持组件31是如何通过套筒12的第一夹持定位结构125实现对穿刺针机构1的夹持的更多描述可以在本说明书其他地方(例如，图1-11及其相关描述)找到，在此不再赘述。
在一些实施例中，结合图12、图13-15以及图17所示，第一夹持组件31可以包括第一夹持爪311，第一夹持爪311可以与滑动组件22铰接，夹持驱动组件32可以连接于驱动轴33，以用于驱动驱动轴33绕自身轴线转动，以带动第一夹持爪311打开或闭合。
在一些实施例中，如图13所示，第一夹持爪311可以包括两个第一夹件3111，两个第一夹件3111沿驱动轴33的轴线对称分布并与分别与滑动组件22铰接。在一些实施例中，滑动组件22(滑块221)上可以设置有两个夹件转动销3112，两个第一夹件3111分别与两个夹件转动销3112转动连接，当驱动轴33绕自身轴线转动时，可以带动两个第一夹件3111绕对应的夹件转动销的轴线朝相反方向转动，使得两个第一夹件3111相互合拢或张开，从而使得第一夹持爪311闭合或打开。
在一些实施例中，如图13所示，第一夹持组件31还可以包括凸轮312(也被称之为第一凸轮312)，凸轮312与驱动轴33连接，第一夹持爪311可以与凸轮312抵接。
在一些实施例中，如图13所示，第一凸轮312沿驱动轴33的轴向可滑动套设于驱动轴33并可转动设置于第一夹持爪311内，即两个第一夹件3111之间。
在一些实施例中，驱动轴33的两侧开设有削边，第一凸轮312配合套设于驱动轴33。通过在驱动轴33的两侧开设削边并使得第一凸轮312配合套设于驱动轴33，使得第一凸轮312无法相对驱动轴33转动，当驱动轴33转动时会带动第一凸轮312转动，避免第一凸轮312相对驱动轴33打滑。
当需要第一夹持爪311(即两个第一夹件3111)夹紧套筒12时，驱使驱动轴33转动，驱动轴33可以带动第一凸轮312转动，在第一凸轮312转动的过程中，第一凸轮312的径向两端可以分别与两个第一夹件3111抵接，使得第一凸轮312可以驱使两个第一夹件3111绕自身的转动轴线(即对应的夹件转动销3112的轴线)转动。当第一凸轮312转动至长轴两端与两个第一夹件3111抵接时，两个第一夹件3111合拢，合拢的两个第一夹件可以夹持住套筒12，以实现第一夹持爪311对套筒12的夹持。当第一凸轮312转动至其他径向两端与两个第一夹件3111抵接时，两个第一夹件3111张开，两个第一夹片松开套筒12，以实现第一夹持爪311对套筒12的释放。
在一些实施例中，第一夹持组件31还可以包括第一弹性件313，第一弹性件313的一端可以与第一夹持爪311连接，另一端与滑动组件22连接。当第一弹性件313处于未变形状态时，第一夹持爪处于打开状态。在一些实施例中，第一弹性件313的数量可以为两个，两个第一弹性件313的一端分别连接于两个第一夹件3111，另一端与滑动组件22均相连接，第一弹性件313用于为两个第一夹件3111提供释放穿刺针机构1的弹力。
在一些实施例中，第一弹性件313可以为弹簧、弹性橡胶、弹性绳等。在一些实施例中，如图13所示，第一弹性件313为弹簧，弹簧的一端连接于第一夹件，另一端连接于滑块221。在一些实施例中，第一夹持组件31还可以包括两个第一连接绳314，第一连接绳314与第一弹性件313一一对应设置，第一弹性件313的一端经第一连接绳314与第一夹件相连接，其中两个第一连接绳314交叉设置。
通过设置第一弹性件313和第一连接绳314，第一凸轮312驱动两个第一夹片张开时，两个第一夹件通过相对应的第一连接绳314拉伸相应的第一弹性件313，当第一凸轮312转动至小于两个第一夹件之间的距离(即第一凸轮312的径向两端不再与两个第一夹件3111抵接)时，两个第一夹件3111可以在相应的第一弹性件313的弹性回复力的作用下复位，使得两个第一夹件松开套筒12。
在一些实施例中，第一夹持组件31还可以具有如图14或图15的结构形式。其中，图14或图15所示的第一夹持组件31的结构可以包括图13中所示的第一夹持组件31的所有部件。在一些实施例中，如图14和图15所示，第一夹持组件31还可以包括第一推杆316和第二推杆317，第一推杆316和第二推杆317的一端分别与第一夹持爪311铰接于第一铰接点P1和第二铰接点P2，第一推杆316和第二推杆317的另一端分别铰接于凸轮312上沿凸轮312的长轴方向的第一端和第二端。具体地，第一推杆316的一端与第一夹持爪311中的一个第一夹件3111铰接于第一铰接点P1，第一推杆316的另一端铰接于凸轮312长轴方向上的第一端；第二推杆317的一端与第一夹持爪311中的另一个第一夹件3111铰接于第二铰接点P2，第二推杆317的另一端铰接于凸轮312上长轴方向上的第二端。其中，第一夹件3111与滑动组件22的铰接、第一夹件3111与第一推杆316(或第二推杆317)之间的铰接、第一推杆316(或第二推杆317)与凸轮312之间的铰接以及凸轮312的转动可以使得第一夹件3111与对应的第一推杆316(或第二推杆417)以及凸轮312被看成是四杆连动装置。进一步地，凸轮312的中心到凸轮312与第一推杆316(或第二推杆317)的铰接位置之间的部分、第一推杆316(或第二推杆317)、第一夹件3111与第一推杆316(或第二推杆317)的铰接位置到第一夹件3111与滑动组件22铰接位置之间的部分以及第一夹件3111的上部可以分别作为四杆连动装置的四个连杆。仅作为示例，当凸轮312在转动轴33的带动下进行逆时针转动时，凸轮312可以通过第一推杆316带动与第一推杆31铰接的第一夹件3111绕对应的夹件转动销3112的轴线进行顺时针转动，同时通过第二推杆317带动与第二推杆32铰接的第一夹件3111绕对应的夹件转动销3112进行逆时针转动，从而使得两个第一夹件3111的上部(第一夹件3111位于夹件转动销上方的部分)相对合拢，以使得第一夹持爪311处于闭合状态。当凸轮312在驱动轴33的带动下进行顺时针转动时，凸轮312可以通过第一推杆316带动与第一推杆31铰接的第一夹件3111绕对应的夹件转动销的轴线进行逆时针转动，同时通过第二推杆317带动与第二推杆317铰接的第一夹件3111绕对应的夹件转动销3112进行顺时针转动，从而使得两个第一夹件3111的上部(第一夹件3111位于夹件转动销3112上方的部分)相对张开，以使得第一夹持爪311处于打开状态。需要指出的是，凸轮312的转动方向与第一夹持爪311的开合情况也可以反向配置，即凸轮312在驱动轴33的带动下进行顺时针转动时，第一夹持爪311闭合，凸轮312在驱动轴33的带动下进行逆时针转动时，第一夹持爪311打开，相对应的，第一夹持组件31的结构可以是图14所示结构的镜像对称结构。在将第一夹持爪311打开的过程中，两个第一夹件3111的转动能够带动对应的第一弹性件313发生弹性变形，第一弹性件313的弹性变形所产生的弹力趋向于使两个第一夹件3111的下部合拢、上部打开，从而可以提高第一夹持爪311处于打开状态下时的可靠性。
在一些实施例中，如图14和图15所示，凸轮312可以包括止挡部3121，滑动组件22(滑块221)上设置有止动销224，止动销224与止挡部221抵接时可以限制凸轮312转动。在一些实施例中，止动销224可以位于止挡部3121的逆时针转动的一侧，用于在第一夹持爪311达到闭合状态时限制凸轮312的逆时针转动。需要说明的是，图14和图15中所示的止动销224的位置仅作为示例，并无意对其进行限制。在一些实施例中，止动销224还可以位于止挡部3121的顺时针转动的一侧，用于限制凸轮312的顺时针转动。相应地，凸轮312的逆时针转动能够使第一夹持爪311处于闭合状态，而顺时针转动则能使第一夹持爪311处于打开状态。以下对于相关结构的描述内容中将主要涉及止动销224位于止挡部3121的逆时针转动的一侧的情况。
在一些实施例中，如图14和图15所示，当第一夹持爪311打开时，第一推杆316与第一夹持爪311之间的夹角为锐角，第二推杆317与第一夹持爪311之间的夹角为钝角；当第一夹持爪闭合时，第一推杆316与所述第一夹持爪311之间的夹角为钝角，第二推杆317与第一夹持爪311之间的夹角为锐角。具体地，第一推杆316与其铰接的第一夹件3111之间的夹角在第一夹持爪311从打开到闭合的过程中由锐角转动为钝角，第二推杆317与其铰接的第一夹件3111之间的夹角在第一夹持爪311从打开到闭合的过程中由钝角转动为锐角。在一些实施例中，通过设置止动销224的位置，可以使得第一夹持爪311闭合时，第一推杆316与其铰接的第一夹件3111之间形成的钝角以及第二推杆317与其铰接的第一夹件3111之间形成的锐角可以接近90°。例如，第一推杆316与其铰接的第一夹件3111之间形成的钝角的角度范围可以是91°～100°，第二推杆317与其铰接的第一夹件3111之间形成的锐角的角度范围可以是80°～89°。由于当推杆(例如第一推杆316或第二推杆317)与第一夹件3111之间的夹角跨过90°时(例如，第一推杆316与其铰接的第一夹件3111之间的夹角从小于90°转动为大于90°，第二推杆317与其铰接的第一夹件3111之间的夹角从大于90°转动为小于90°)，会造成凸轮312通过推杆施加到第一夹件 3111的力反向，通过设置止动销224的位置，可以避免凸轮312反向驱动第一夹件3111而使第一夹持爪311重新打开。
进一步地，当凸轮312逆时针转动使得第一夹持爪311处于闭合状态下时，第一推杆316与第一夹件3111之间的夹角为钝角，第二推杆317与第一夹件3111之间的夹角为锐角，此时用外力使两个第一夹件3111的上部相对张开时，会通过第一推杆316和第二通杆317向凸轮312施加逆时针的转动力矩，但由于此时止挡部3121与止动销224抵接，凸轮312的逆时针转动已经被止挡部3121与止动销224抵接所限制，无法再进行。因此，通过止挡部3121与止动销224的设计，可以使得第一夹持爪311在处于闭合状态下时，实现一种锁死。即在第一夹持爪311不受到破坏的情况下，操作者只有通过对驱动轴33的驱动(例如，驱动轴33顺时针方向转动)才能使得第一夹持爪311处于打开状态，而无法通过向施加第一夹持爪311的两个第一夹件3111的外力来使得第一夹持爪311打开，这样可以降低第一夹持爪311出现意外打开的概率，提高了夹持机构3对穿刺针机构1夹持的可靠性。
在一些实施例中，通过对第一推杆316和第二推杆317的长度设计，可以使得第一夹持爪311的两个第一夹件3111的运动是对称的，例如，在凸轮312进行转动时，两个第一夹件3111能够朝相反方向转动相同角度，保证在第一夹持爪311处于打开状态时，套筒12可以沿驱动轴33的轴线方向放入第一夹持爪311内或从第一夹持爪311内取出，使得夹持机构3对穿刺针机构11的夹持或释放都十分便捷。在一些实施例中，凸轮312的长轴的第一端和第二端相对于驱动轴33可以不对称，此时可以通过设计长度不同的第一推杆316和第二推杆317，来使得第一夹持爪311的两个第一夹件3111在第一夹持爪311打开或闭合状态下均关于驱动轴33的轴线方向对称，并且第一夹持爪311在打开状态切换到闭合状态之间相互切换的过程(即两个第一夹件311相互合拢或相互张开的过程)中也保持关于驱动轴33的轴线方向对称或大致对称，从而可以提高第一夹持爪311的夹持稳定性。在一些实施例中，第一推杆316的长度可以小于第二推杆317的长度。在一些实施例中，第一推杆316的长度可以大于第二推杆317的长度。在一些实施例中，通过设计第一推杆316和第二推杆317的长度，还可以使得在有限的结构空间内，推杆(例如，第一推杆316或第二推杆317)与第一夹件3111之间的夹角能够跨过90°，从而实现第一夹持爪311的反向锁死功能。
在一些实施例中，结合图1、图12、图17、图20或图24所示，夹持机构3还可以包括第二夹持组件34，第二夹持组件34连接于底座21，夹持驱动组件32还可以通过驱动轴33驱使第二夹持组件34夹持或者释放穿刺针机构1。具体地，第二夹持组件34可以夹持或释放导向部13。关于第二夹持组件34如何夹持或者释放导向部13的更多描述可以在本说明书其他地方找到(图1-11及其相关描述)，在此不再赘述。
在一些实施例中，结合图12和图16所示，第二夹持组件34包括固定架341、第二夹持爪342、以及第二弹性件343。其中，固定架341连接于底座21，第二夹持爪342可以包括两个第二夹件3421。两个第二夹件3421沿驱动轴33的轴线对称分布并与分别与固定架341铰接，对应地，第二弹性件343的数量可以为两个。两个第二弹性件343的一端分别连接于两个第二夹件3421，另一端与固定架341均相连接，第二弹性件343用于为两个第二夹持爪342提供释放穿刺针机构1(导向部13)的弹力。
在一些实施例中，第二弹性件343可以为弹簧、弹性橡胶、弹性绳等。在一些实施例中，第二弹性件343为弹簧，第二弹性件343的一端连接于第二夹件、另一端连接于固定架341。
在一些实施例中，第二夹持组件34还可以包括两个第二连接绳344，第二连接绳344与第二弹性件343一一对应设置，第二弹性件343的一端经第二连接绳344与第二夹持爪342相连接，两个第二连接绳344交叉设置。
在一些实施例中，如图16所示，第二夹持组件34还包括第二凸轮345，第二凸轮345沿驱动轴33的轴向可滑动套设于驱动轴33并可转动设置于第二夹持爪342的两个第二夹件3421之间。
当需要第二夹持爪342夹紧套筒12时，驱使驱动轴33转动，驱动轴33带动第二凸轮345转动，当第二凸轮345驱使两个第二夹件3421张开或者合拢，第二凸轮345带动两个第二夹件绕自身的转动轴线(即第二夹件3421与滑动组件22实现铰接的转动轴线)转动，当两个第二夹件3421合拢时，第二夹持爪342夹持导向部13，当两个第二夹件3421开始张开时，第二夹持爪342松开导向部13，且第二夹持爪342松开导向部13与第一夹持爪311松开套筒12可以同步进行。在一些实施例中，第二夹持组件34的结构可以与第一夹持组件31具有相同或相似的结构。关于第二夹持爪342是如何实现打开或闭合的更多描述可以参考第一夹持爪311是如何实现打开或闭合的相关描述。例如，第二夹持爪342可以采用图13中所述的第一夹持爪311的结构和/或实现打开或闭合的方式来实现打开或闭合，或者第二夹持爪342可以采用图14或图15中所述的第一夹持爪311的结构和/或实现打开或闭合的方式来实现打开或闭合。
通过设置第二弹性件343和第二连接绳344，第二凸轮345驱动两个第二夹件3421张开时，两个第二夹件通过相对应的第二连接绳344拉伸第二弹性件343，当第二凸轮345转动至小于两个第二夹件之 间的距离(即第二凸轮345与两个第二夹件3421未抵接)时，两个第二夹件可以在第二弹性件343的弹性回复力的作用下复位，使得第二夹持爪342松开导向部13。
在一些实施例中，结合图12以及图20-22所示，夹持驱动组件32还可以包括第二传动绳321和夹持驱动件322，第二传动绳321连接于驱动轴33，夹持驱动件322内置于屏蔽盒23c并连接于第二传动绳321，通过第二传动绳321驱使驱动轴33沿自身轴线转动。
在一些实施例中，夹持驱动件322可以为电机、液压马达等等，夹持驱动件322还可以为电机加皮带和带轮，夹持驱动件322还可以为电机在链轮和链条，夹持驱动件322还可以为电机加减速器，在一些实施例中，夹持驱动件322包括第二电机3221、第二绕绳筒3222、从动轮3223，第二电机3221的壳体连接于支架23d，第二电机3221内置于屏蔽盒23c，第二绕绳筒3222连接于第二电机3221的输出轴并与第二电机3221的输出轴同轴设置，从动轮3223固定套设于驱动轴33，第二绕绳筒3222和从动轮3223通过第二传动绳321传动连接。
在一些实施例中，如图20-23所示，第二传动绳321呈“8”字形设置，第二传动绳321的两端分别套设于第二绕绳筒3222和从动轮3223。
具体的，夹持驱动件322还可以包括第二转轴3224、第三齿轮3225和第四齿轮3226，第二转轴3224绕自身轴线可转动连接于支架23d，第三齿轮3225固定套设于第二转轴3224，第四齿轮3226固定套设于第二电机3221的输出轴并与第三齿轮3225相啮合，第二绕绳筒3222固定套设于第二转轴3224并经第二转轴3224连接于底座21。
通过设置第二电机3221，第二电机3221的输出轴通过第四齿轮3226和第三齿轮3225带动第二转轴3224转动，第二转轴3224带动第二绕绳筒3222转动，第二绕绳筒3222通过第二传动绳321带动驱动轴33转动，通过第二传动绳321进行传动，能避免散射的X射线对精密的驱动电路与电机等部件有破坏性，能避免散射高密度的金属部件在成像中形成伪影，能避免散射夹持驱动件322干扰医护使用者对图像的识别和阅读。
在一些实施例中，如图24所示，夹持驱动组件32可以包括夹持驱动件(未在图24中示出)、主动带轮323、传动带324以及从动带轮325。其中，主动带轮323与夹持驱动件连接，从动带轮325与驱动轴33连接，传动带324装配于主动带轮323和从动带轮325上形成带传动机构。通过夹持驱动件驱动主动带轮323转动以带传动的方式进行传动则可以带动驱动轴33转动。在一些实施例中，主动带轮323和从动带轮325可以用链轮代替，相应地，传动带324可以用传动链代替，通过链传动的方式也能带动驱动轴33转动。
本说明书实施例还提供了一种穿刺系统1000，如图25所示，该穿刺系统包括包括成像装置200、机械臂300及如上述实施例中的穿刺装置100，成像装置200用于获取患者病灶的位置，机械臂300连接于穿刺装置100，用于驱动穿刺装置100到达指定位置，穿刺装置100用于驱动穿刺针11刺入病灶位置和/或释放穿刺针11使得穿刺针11与机械臂300脱离。
在一些实施例中，成像装置200可以为计算机断层成像系统(简称：CT)、磁共振成像系统(简称：MR)、正电子发射断层成像系统、放射治疗系统、X射线成像系统、单光子发射计算机断层成像系统、超声成像系统等中的一种或多种的组合。
通过成像装置200对患者进行扫描成像，以获取患者体内病灶位置的坐标并将该坐标输出，使得医护人员或者控制装置获悉病灶的位置。
在一些实施例中，机械臂300可以连接于穿刺装置100(例如，图12中示出的底座21、支架23d等)。在一些实施例中，机械臂300连接于支架23d，通过将机械臂300连接于支架23d，通过机械臂300的移动可以带动穿刺装置100移动。
具体的，结合图25和穿刺装置100的相应附图(例如，图1-24)所示，穿刺系统100还可以包括控制装置400。通过成像装置200获得病灶位置的坐标之后，将该坐标传给控制装置400(例如，计算机等)，控制装置400可以根据该目标位置点规划机械臂300的运动路径。然后，控制装置400控制机械臂300按照运动路径运动，并运动至指定位置，控制装置400再给穿刺装置100下发运动指令，穿刺驱动组件23驱使滑块221沿导向轴222的导向移动，滑块221带动穿刺移动，使得穿刺针11能够逐渐向患者靠近的方向移动，并从患者体表靶点刺入，直至运动至病灶位置，然后启动第一电机b1，第一电机b1驱使第一夹持爪311和第二夹持爪342同时松开套筒12和导向部13，使得第一夹持爪311和第二夹持爪342释放穿刺针11，然后通过控制装置400驱使机械臂运动，使得机械臂300带动穿刺针11装置离开手术区域，便于后续手术。
上文已对基本概念做了描述，显然，对于本领域技术人员来说，上述详细披露仅仅作为示例，而并不构成对本申请的限定。虽然此处并没有明确说明，本领域技术人员可能会对本申请进行各种修改、改进和修正。该类修改、改进和修正在本申请中被建议，所以该类修改、改进、修正仍属于本申请示范实施 例的精神和范围。
同时，本申请使用了特定词语来描述本申请的实施例。如“一个实施例”、“一实施例”、和/或“一些实施例”意指与本申请至少一个实施例相关的某一特征、结构或特点。因此，应强调并注意的是，本说明书中在不同位置两次或多次提及的“一实施例”或“一个实施例”或“一个替代性实施例”并不一定是指同一实施例。此外，本申请的一个或多个实施例中的某些特征、结构或特点可以进行适当的组合。
同理，应当注意的是，为了简化本申请披露的表述，从而帮助对一个或多个发明实施例的理解，前文对本申请实施例的描述中，有时会将多种特征归并至一个实施例、附图或对其的描述中。但是，这种披露方法并不意味着本申请对象所需要的特征比权利要求中提及的特征多。实际上，实施例的特征要少于上述披露的单个实施例的全部特征。
最后，应当理解的是，本申请中所述实施例仅用以说明本申请实施例的原则。其他的变形也可能属于本申请的范围。因此，作为示例而非限制，本申请实施例的替代配置可视为与本申请的教导一致。相应地，本申请的实施例不仅限于本申请明确介绍和描述的实施例。

Claims (26)

  1. 一种穿刺装置，其特征在于，包括：
    穿刺针机构(1)；
    移动机构(2)；以及
    夹持机构(3)，所述夹持机构(3)设置于所述移动机构(2)上，并可夹持或者释放所述穿刺针机构(1)。
  2. 根据权利要求1所述的穿刺装置，其特征在于，所述移动机构(2)包括底座(21)、滑动组件(22)及穿刺驱动组件(23)，所述滑动组件(22)可滑动设置于所述底座(21)，所述穿刺驱动组件(23)设置于所述底座(21)上并连接于所述滑动组件(22)，用于驱动所述滑动组件(22)相对所述底座(21)做直线运动，所述夹持机构(3)的至少部分设置于所述滑动组件(22)。
  3. 根据权利要求2所述的穿刺装置，其特征在于，所述夹持机构(3)包括第一夹持组件(31)和夹持驱动组件(32)，所述第一夹持组件(31)设置于所述滑动组件(22)，所述夹持驱动组件(32)设置于所述底座(21)并连接于所述第一夹持组件(31)，用于驱使所述第一夹持组件(31)夹持或者释放所述穿刺针机构(1)。
  4. 根据权利要求3所述的穿刺装置，其特征在于，所述夹持机构(3)还包括驱动轴(33)，所述夹持驱动组件(32)连接于所述驱动轴(33)，用于驱动所述驱动轴(33)沿自身轴线转动，以驱使所述第一夹持组件(31)夹持或释放所述穿刺针机构(1)。
  5. 根据权利要求4所述的穿刺装置，其特征在于，所述第一夹持组件(31)包括第一夹持爪(311)，所述第一夹持爪(311)与所述滑动组件(22)铰接，所述夹持驱动组件(32)连接于所述驱动轴(33)，用于驱动所述驱动轴(33)沿自身轴线转动，以带动所述第一夹持爪(311)打开或闭合。
  6. 根据权利要求5所述的穿刺装置，其特征在于，所述第一夹持组件(31)还包括凸轮(312)，所述凸轮(312)与所述驱动轴(33)连接，所述第一夹持爪(311)与所述凸轮(312)抵接。
  7. 根据权利要求6所述的穿刺装置，其特征在于，所述第一夹持组件(31)还包括第一推杆(316)和第二推杆(317)，所述第一推杆(316)和所述第二推杆(317)的一端分别与所述第一夹持爪(311)铰接于第一铰接点(P1)和第二铰接点(P2)，所述第一推杆(316)和所述第二推杆(317)的另一端分别铰接于所述凸轮(312)上沿所述凸轮(312)的长轴方向的第一端和第二端。
  8. 根据权利要求7所述的穿刺装置，其特征在于，所述凸轮(312)包括止挡部(3121)，所述滑动组件(22)上设置有止动销(224)，所述止动销(224)与所述止挡部(3121)抵接时限制所述凸轮(312)转动。
  9. 根据权利要求8所述的穿刺装置，其特征在于，所述第一推杆(316)的长度小于所述第二推杆(317)的长度。
  10. 根据权利要求9所述的穿刺装置，其特征在于，所述第一夹持爪(311)打开时，所述第一推杆(316)与所述第一夹持爪(311)之间的夹角为锐角，所述第二推杆(317)与所述第一夹持爪(311)之间的夹角为钝角；所述第一夹持爪(311)闭合时，所述第一推杆(316)与所述第一夹持爪(311)之间的夹角为钝角，所述第二推杆(317)与所述第一夹持爪(311)之间的夹角为锐角。
  11. 根据权利要求5所述的穿刺装置，其特征在于，所述第一夹持组件(31)还包括第一弹性件(313)，所述第一弹性件(313)的一端与所述第一夹持爪(311)连接，另一端与所述滑动组件(22)连接；当所述第一弹性件(313)处于未变形状态时，所述第一夹持爪(311)处于打开状态。
  12. 根据权利要求4所述的穿刺装置，其特征在于，所述夹持机构(3)还包括第二夹持组件(34)，所述第二夹持组件(34)连接于所述底座(21)，所述夹持驱动组件(32)通过所述驱动轴(33)驱使所述第二夹持组件(34)夹持或者释放所述穿刺针机构(1)。
  13. 根据权利要求12所述的穿刺装置，其特征在于，所述穿刺针机构(1)包括穿刺针(11)和辅助 组件(10)；所述辅助组件(10)包括套筒(12)和导向部(13)，所述套筒(12)包括与所述第一夹持组件(31)配合的第一夹持定位结构(125)，所述导向部(13)包括与所述第二夹持组件(34)配合的第二夹持定位结构(135)。
  14. 根据权利要求13所述的穿刺装置，其特征在于，所述套筒(12)包括第一块体(121)和第二块体(122)，所述第一块体(121)和所述第二块体(122)相对设置形成第一空腔；所述导向部(13)包括第一导向块(131)和第二导向块(132)，所述第一导向块(131)和所述第二导向块(132)相对设置形成第二空腔；所述穿刺针(11)包括针柄(111)和外针(112)，所述针柄(111)位于所述第一空腔内，所述外针(112)穿过所述第二空腔。
  15. 根据权利要求14所述的穿刺装置，其特征在于，所述第一块体(121)包括第一销孔(124)，所述第二块体包括第一卡销(123)，所述第一卡销(123)能够插设于所述第一销孔(124)内形成配合。
  16. 根据权利要求14所述的穿刺装置，其特征在于，所述第一夹持定位结构(125)为开设在所述套筒(12)外壁的定位槽。
  17. 根据权利要求16所述的穿刺装置，其特征在于，所述定位槽为沿套筒(12)周向设置的环形槽。
  18. 根据权利要求16所述的穿刺装置，其特征在于，所述定位槽为设置于所述第一块体(121)或所述第二块体(122)外壁的凹槽(1251)。
  19. 根据权利要求18所述的穿刺装置，其特征在于，所述套筒(12)上与所述凹槽(1251)径向相对的位置设置有第一标记物(126)。
  20. 根据权利要求14所述的穿刺装置，其特征在于，所述导向部(13)外侧面包括靠接面(138)，所述靠接面(138)设置为平面。
  21. 根据权利要求20所述的穿刺装置，其特征在于，所述导向部(13)上设置有第二标记物(139)。
  22. 根据权利要求4-13任一项所述的穿刺装置，其特征在于，所述穿刺驱动组件(23)包括屏蔽盒(23c)、第一传动绳(23a)和穿刺驱动件(23b)；其中，所述屏蔽盒(23c)连接于所述底座(21)，用于屏蔽外部辐射；所述第一传动绳(23a)连接于所述滑动组件(22)，所述穿刺驱动件(23b)内置于所述屏蔽盒(23c)并连接于所述第一传动绳(23a)，所述穿刺驱动件(23b)通过所述第一传动绳(23a)驱使所述滑动组件(22)相对所述底座(21)做直线运动。
  23. 根据权利要求22所述的穿刺装置，其特征在于，所述滑动组件(22)包括牵引块(223)，所述牵引块(223)与所述第一传动绳(23a)固定连接；所述穿刺驱动组件(23)还包括设置于所述底座(21)上的导向轮，所述第一传动绳(23a)与所述导向轮饶接。
  24. 根据权利要求2所述的穿刺装置，其特征在于，所述移动机构(2)还包括导向轴(222)，所述导向轴(222)沿所述底座(21)的长度方向设置并绕自身轴线可转动连接于底座(21)，所述滑动组件(22)滑动套设于所述导向轴(222)。
  25. 根据权利要求22所述的穿刺装置，其特征在于，所述夹持驱动组件(23)还包括第二传动绳(321)和夹持驱动件(322)，所述第二传动绳(321)连接于所述驱动轴(33)，所述夹持驱动件(322)内置于所述屏蔽盒(23c)并连接于所述第二传动绳(321)，通过所述第二传动绳(321)驱使所述驱动轴(322)沿自身轴线转动。
  26. 一种穿刺系统，其特征在于，包括成像装置(200)、机械臂(300)及如权利要求1-25中任一项所述的穿刺装置(100)，所述成像装置(200)用于获取患者病灶的位置，所述机械臂(300)连接于所述穿刺装置(100)，用于驱动所述穿刺装置(100)到达指定位置，所述穿刺装置(100)用于驱动所述穿刺针(11)刺入病灶位置和/或释放所述穿刺针(11)使得所述穿刺针(11)与所述机械臂(300)脱离。
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