PUNCTURE DEVICES AND PUNCTURE SYSTEMS
Embodiments of the present disclosure provide a puncture device and a puncture system. The puncture device includes a puncture needle mechanism, a mobile mechanism, and a clamping mechanism. The clamping mechanism is provided on the mobile mechanism and is capable of clamping or releasing the puncture needle mechanism. The puncture device enables a puncture operation to be performed remotely, ensures that image assistance is available in real-time during the puncture operation, and improves the precision, safety, and smoothness of the puncture operation.
1 . A puncture device, comprising:
a puncture needle mechanism;
a mobile mechanism; and
a clamping mechanism, wherein the clamping mechanism is provided on the mobile mechanism and is capable of clamping or releasing the puncture needle mechanism.
2 . The puncture device of claim 1 , wherein
the mobile mechanism includes a base, a sliding assembly, and a puncture drive assembly,
the sliding assembly is slidably arranged on the base,
the puncture drive assembly is arranged on the base and connected to the sliding assembly for driving the sliding assembly to move linearly relative to the base, and
at least a portion of the clamping mechanism is arranged on the sliding assembly.
3 . The puncture device of claim 2 , wherein
the clamping mechanism includes a first clamping assembly and a clamping drive assembly,
the first clamping assembly is arranged on the sliding assembly, and
the clamping drive assembly is arranged on the base and connected to the first clamping assembly to drive the first clamping assembly to clamp or release the puncture needle mechanism.
4 . The puncture device of claim 3 , wherein
the clamping mechanism further includes a drive shaft,
the clamping drive assembly is connected to the drive shaft to drive the drive shaft to rotate along an axis of the drive shaft, so as to drive the first clamping assembly to clamp or release the puncture needle mechanism.
5 . The puncture device of claim 4 , wherein
the first clamping assembly includes a first clamping jaw,
the first clamping jaw is hinged to the sliding assembly,
the clamping drive assembly is connected to the drive shaft to drive the drive shaft to rotate along the axis of the drive shaft, so as to drive the first clamping jaws to open or close.
6 . The puncture device of claim 5 , wherein the first clamping assembly further includes a transmission wheel, the transmission wheel is connected to the drive shaft, and the first clamping jaws abuts against the transmission wheel.
7 . The puncture device of claim 6 , wherein
the first clamping assembly further includes a first push rod and a second push rod,
one end of the first push rod and one end of the second push rod are hinged to the first clamping claw at a first hinge point and a second hinge pointer, respectively, and
another end of the first push rod and another end of the second push rod are hinged to the transmission wheel.
8 . The puncture device of claim 7 , wherein the transmission wheel includes a stopping portion, the sliding assembly is provided with a stopping pin, the stopping pin restricts the rotation of the transmission wheel when abuts against the stopping portion.
9 . (canceled)
11 . The puncture device of claim 5 , wherein the first clamping assembly further includes a first elastic member, one end of the first elastic member is connected to the first clamping jaw and another end of the first elastic member is connected to the sliding assembly; and
when the first elastic member is in an undeformed state, the first clamping jaw is in an open state.
12 . The puncture device of claim 4 , wherein
the clamping mechanism further includes a second clamping assembly,
the second clamping assembly is connected to the base, and
the clamping drive assembly drives the second clamping assembly to clamp or release the puncture needle mechanism via the drive shaft.
13 . The puncture device of claim 12 , wherein
the puncture needle mechanism includes a puncture needle and an auxiliary component;
the auxiliary component includes a sleeve and a guiding portion,
the sleeve includes a first clamping positioning structure that is compatible with the first clamping assembly, and
the guiding portion ( 13 ) includes a second clamping positioning structure that is compatible with the second clamping assembly.
14 . The puncture device of claim 13 , wherein
the sleeve includes a first block and a second block,
the first block and the second block are arranged opposite to each other to form a first cavity;
the guiding portion includes a first guiding block and a second guiding block,
the first guiding block and the second guiding block are arranged opposite to each other to form a second cavity;
the puncture needle includes a needle shank and an outer needle,
the needle shank is disposed in the first cavity, and
the outer needle is disposed through the second cavity.
15 . The puncture device of claim 14 , wherein
the first block includes a first pin hole,
the second block includes a first latch, and
the first latch is able to be inserted in the first pin hole to form a match.
16 . The puncture device of claim 14 , wherein the first clamping positioning structure is a positioning groove provided on an outer wall of the sleeve.
17 - 19 . (canceled)
20 . The puncture device of claim 14 , wherein an outer side of the guiding portion includes an abutting surface, and the abutting surface is flat.
21 . (canceled)
22 . The puncture device of claim 4 , wherein
the puncture drive assembly includes a shielding box, a first drive rope, and a puncture drive member;
the shielding box is connected to the base for shielding external radiation;
the first drive rope is connected to the sliding assembly,
the puncture drive member is provided inside the shielding box and is connected to the first drive rope, and
the puncture drive member drives the sliding assembly to move in a straight line relative to the base via the first drive rope.
23 . The puncture device of claim 22 , wherein
the sliding assembly includes a traction block,
the traction block is fixedly connected to the first drive rope;
the puncture drive assembly further includes a guiding wheel provided on the base, and
the first drive rope is spared with the guiding wheel.
24 . The puncture device of claim 2 , wherein
the mobile mechanism further includes a guiding shaft,
the guiding shaft is provided along a length direction of the base and is connected to the base around an axis of the guiding shaft, and
the sliding assembly is slidably socketed to the guiding shaft.
25 . The puncture device of claim 22 , wherein
the clamping drive assembly further includes a second drive rope and a clamping drive member,
the second drive rope is connected to the drive shaft,
the clamping drive member is arranged inside the shielding box and connected to the second drive rope, and
the clamping drive member drives the drive shaft to rotate along an axis of the drive shaft via the second drive rope.
26 . A puncture system, comprising an imaging device, a mechanical arm, and a puncture device, wherein the puncture device includes:
a puncture needle mechanism;
a mobile mechanism; and
a clamping mechanism, wherein the clamping mechanism is provided on the mobile mechanism and is capable of clamping or releasing the puncture needle mechanism, wherein
the imaging device is configured to obtain a lesion location of a patient,
the mechanical arm is connected to the puncture device to drive the puncture device to a specified location, and
the puncture device is configured to drive a puncture needle into the lesion location and/or release the puncture needle so that the puncture needle is disengaged from the mechanical arm.