技术领域technical field
本发明涉及医疗设备技术领域，具体而言，涉及一种注射针头调节微导管和控制设备。The invention relates to the technical field of medical equipment, in particular to an injection needle adjusting microcatheter and control equipment.
背景技术Background technique
年龄相关性黄斑变性(AMD)，也叫老年性黄斑变性，是退行性黄斑部疾病，是发达国家50岁以上人群中致盲的主要原因。经巩膜视网膜下注射是一种对该疾病有显著治疗效果的方法。为了保证导管进巩膜入口进入眼内不发生因阻力而产生的扭转，导致眼内注射时候针头不能具有合适角度。Age-related macular degeneration (AMD), also known as age-related macular degeneration, is a degenerative disease of the macula that is the leading cause of blindness in people over the age of 50 in developed countries. Transscleral subretinal injection is a method with significant therapeutic effect in this disease. In order to ensure that the catheter enters the sclera entrance and enters the eye without twisting due to resistance, the needle cannot have a proper angle during intraocular injection.
基于此，目前亟需提供一种能够控制针头角度的设备，以协助手术。Based on this, there is an urgent need to provide a device capable of controlling the angle of the needle to assist surgery.
发明内容Contents of the invention
本发明提供了一种注射针头调节微导管，注射针头调节微导管能够调节注射针头的角度，保证微导管进入眼睛巩膜时不会因阻力而产生的扭转，提高针头注射药物的精准度。The invention provides an injection needle adjusting microcatheter. The injection needle adjusting microcatheter can adjust the angle of the injection needle to ensure that the microcatheter will not twist due to resistance when it enters the eye sclera and improve the accuracy of needle injection of medicines.
有鉴于此，一方面，本发明提出了一种注射针头调节微导管，包括：外导管，包括头部转动部、骨架支撑部件和转动支撑组件，所述头部转动部的一端与所述骨架支撑部件的一端连接，所述转动支撑组件的一端连接所述头部转动部，所述转动支撑组件另一端与所述骨架支撑部件抵接，所述骨架支撑部件与推送设备连接，所述骨架支撑部件与推送设备滑动连接；合金丝组件，通过所述骨架支撑部件支撑，长度方向的两端分别连接所述头部转动部和所以推送设备连接；内导管，通过所述骨架支撑部件支撑，另一端与所述推送设备抵触连接；盖板，扣合于所述骨架支撑部件，另一端与所述推送设备滑动连接。In view of this, on the one hand, the present invention proposes an injection needle adjustment microcatheter, comprising: an outer catheter, including a head rotating part, a frame support part and a rotating support assembly, one end of the head rotating part is connected to the frame One end of the supporting component is connected, one end of the rotating support assembly is connected to the head rotating part, the other end of the rotating supporting assembly is in contact with the skeleton supporting part, the skeleton supporting part is connected with the pushing device, and the skeleton The supporting part is slidingly connected with the pushing device; the alloy wire assembly is supported by the skeleton supporting part, and the two ends in the length direction are respectively connected to the head rotating part and all the pushing devices; the inner catheter is supported by the skeleton supporting part, The other end is conflictingly connected with the pushing device; the cover plate is fastened to the skeleton supporting part, and the other end is slidingly connected with the pushing device.
另一方面，本发明提出了一种推送设备，推送设备与上述所述注射针头调节微导管连接，所述推送设备为以上所提到的推送设备，所述推送设备包括：支撑本体，内部具有容纳空间；第一滑动组件，设置于所述支撑本体上表面，与所述外导管远离于所述头部转动部的端部连接；第二滑动组件，设置于所述支撑本体上表面，与所述盖板远离于所述头部转动部的端部连接；合金丝张紧组件，设置于所述支撑本体上表面，抵压所述合金丝组件；传动装置，设置于所述支撑本体内部，包括第一推动辊筒、第二推动辊筒和传动组件，所述第一推动辊筒和第二推动辊筒能够与所述内导管抵触连接，带动所述外导管前后移动；张紧组件，设置于所述支撑本体内部，与所述传动组件连接，能够调整所述第一推动辊筒和所述外导管之间的距离。On the other hand, the present invention proposes a pushing device, which is connected to the above-mentioned injection needle adjustment microcatheter, and the pushing device is the above-mentioned pushing device, and the pushing device includes: a support body with a accommodating space; the first sliding assembly is arranged on the upper surface of the supporting body, and is connected with the end of the outer conduit away from the rotating part of the head; the second sliding assembly is arranged on the upper surface of the supporting body, and The end of the cover plate away from the rotating part of the head is connected; the alloy wire tensioning assembly is arranged on the upper surface of the support body and presses against the alloy wire assembly; the transmission device is arranged inside the support body , including a first push roller, a second push roller and a transmission assembly, the first push roller and the second push roller can be connected with the inner conduit in conflict, and drive the outer conduit to move forward and backward; the tension assembly , arranged inside the support body, connected with the transmission assembly, capable of adjusting the distance between the first push roller and the outer conduit.
在一些可选的实施例中，所述合金丝张紧组件包括第一固定部件、第二固定部件、抵压部件、弹性部件和施力部件，所述第一固定部件和所述第二固定部件分别安装于所述支撑本体，所述抵压部件的一端通过所述弹性部件与所述第一固定部件连接，所述抵压部件的另一端与所述第二固定部件转动连接，所述施力部件设置于所述支撑本体并能够向所述抵压部件施加压力。In some optional embodiments, the alloy wire tensioning assembly includes a first fixing part, a second fixing part, a pressing part, an elastic part and a force applying part, the first fixing part and the second fixing part The components are respectively installed on the supporting body, one end of the pressing component is connected to the first fixing component through the elastic component, and the other end of the pressing component is rotatably connected to the second fixing component. The force applying part is arranged on the supporting body and can apply pressure to the pressing part.
在一些可选的实施例中，自所述第一固定部件到所述第二固定部件的方向，所述抵压部件与所述支撑本体之间的高度逐渐减小，所述施力部件设置于所述第一固定部件和所述第二固定部件之间，所述抵压部件位于所述施力部件和所述第二固定部件之间的区域设置挤压凸起。In some optional embodiments, the height between the pressing member and the supporting body decreases gradually from the first fixing member to the second fixing member, and the force applying member is set to Between the first fixing part and the second fixing part, an extrusion protrusion is arranged in a region of the pressing part between the force applying part and the second fixing part.
在一些可选的实施例中，所述施力部件包括固定架、施压杆和施压锤，所述固定架设置于所述支撑本体，所述施压锤与所述抵压部件连接，所述施压杆一端固定于所述固定架，另一端与所述施压锤螺纹连接。In some optional embodiments, the force applying part includes a fixing frame, a pressure applying rod and a pressure applying hammer, the fixing frame is arranged on the support body, the pressure applying hammer is connected with the pressing part, One end of the pressing rod is fixed to the fixing frame, and the other end is screwed to the pressing hammer.
在一些可选的实施例中，所述弹性部件为弹簧。In some optional embodiments, the elastic component is a spring.
在一些可选的实施例中，所述传动装置包括第一动力输入轴、第一传动轴、第二传动轴、第三传动轴、第四传动轴和第五传动轴，所述第一动力输入轴与所述第一传动轴通过齿轮啮合，所述第一传动轴与所述第二传动轴通过齿轮啮合，所述第二传动轴与所述第三传动轴通过齿轮啮合，所述第三传动轴与所述第四传动轴通过齿轮啮合，所述第四传动轴与所述第一推动辊筒通过齿轮啮合，所述第五传动轴分别与所述第二传动轴和所述第二推动辊筒通过齿轮啮合。In some optional embodiments, the transmission device includes a first power input shaft, a first transmission shaft, a second transmission shaft, a third transmission shaft, a fourth transmission shaft and a fifth transmission shaft, the first power The input shaft is in gear engagement with the first transmission shaft, the first transmission shaft is in gear engagement with the second transmission shaft, the second transmission shaft is in gear engagement with the third transmission shaft, and the first transmission shaft is in gear engagement with the third transmission shaft. The three transmission shafts are engaged with the fourth transmission shaft through gears, the fourth transmission shaft is engaged with the first push roller through gears, and the fifth transmission shaft is respectively engaged with the second transmission shaft and the first push roller. The two push rollers are meshed by gears.
在一些可选的实施例中，所述第一动力输入轴设置第一冠齿轮，所述第一传动轴设置第一直齿轮，所述第二传动轴设置第二直齿轮和第一锥齿轮，所述第三传动轴分别设置第二锥齿轮和第三直齿轮，所述四传动轴分别设置第四直齿轮和第二冠齿轮，所述第五传动轴设置第五直齿轮，所述第一推动辊筒设置第六直齿轮，所述第二推动辊筒设置第七直齿轮；所述第一冠齿轮与所述第一直齿轮啮合，所述第一直齿轮与所述第二直齿轮啮合，所述第一锥齿轮与所述第二锥齿轮啮合，所述第三直齿轮和所述第四直齿轮啮合，所述第二冠齿轮与所述第六直齿轮啮合，所述第五直齿轮分别啮合所述第二直齿轮和所述第七直齿轮。In some optional embodiments, the first power input shaft is provided with a first crown gear, the first transmission shaft is provided with a first spur gear, and the second transmission shaft is provided with a second spur gear and a first bevel gear , the third transmission shaft is provided with the second bevel gear and the third spur gear respectively, the four transmission shafts are respectively provided with the fourth spur gear and the second crown gear, the fifth transmission shaft is provided with the fifth spur gear, the The first push roller is provided with a sixth spur gear, and the second push roller is provided with a seventh spur gear; the first crown gear meshes with the first spur gear, and the first crown gear meshes with the second spur gear. The spur gear meshes, the first bevel gear meshes with the second bevel gear, the third spur gear meshes with the fourth spur gear, and the second crown gear meshes with the sixth spur gear, so The fifth spur gear meshes with the second spur gear and the seventh spur gear respectively.
在一些可选的实施例中，所述张紧组件包括第二动力输入轴、第一支撑轴、第二支撑轴、第六传动轴和传动支架，所述动力输入轴与所述第六传动轴通过齿轮啮合，所述第六传动轴分别与所述第一支撑轴和所述第二支撑轴啮合，所述传动支架分别所述第六传动轴、所述第一支撑轴和所述第二支撑轴螺纹连接，所述传动支架设置夹持部件，所述夹持部件与所述第一推动辊筒，所述四传动轴设置于所述传动支架。In some optional embodiments, the tensioning assembly includes a second power input shaft, a first support shaft, a second support shaft, a sixth transmission shaft and a transmission bracket, and the power input shaft is connected to the sixth transmission The shafts are engaged by gears, the sixth transmission shaft is respectively engaged with the first support shaft and the second support shaft, and the transmission bracket is respectively the sixth transmission shaft, the first support shaft and the first support shaft. The two support shafts are screwed together, the transmission bracket is provided with a clamping part, the clamping part is connected with the first push roller, and the four transmission shafts are set on the transmission bracket.
在一些可选的实施例中，所述第一推动辊筒和所述第二推动辊筒的结构相同，所述第一推动辊筒包括第一光轴、第一防滑套和第六直齿轮，所述第一防滑套插接于所述第一光轴，所述第六直齿轮设置于所述第一光轴；所述第二推动辊筒包括第二光轴、第二防滑套和第七直齿轮，所述第二防滑套插接于所述第二光轴，所述第七直齿轮设置于所述第二光轴。In some optional embodiments, the first push roller and the second push roller have the same structure, and the first push roller includes a first optical shaft, a first anti-slip sleeve and a sixth spur gear , the first anti-slip sleeve is inserted into the first optical shaft, the sixth spur gear is arranged on the first optical shaft; the second push roller includes a second optical shaft, a second anti-slip sleeve and For the seventh spur gear, the second anti-slip sleeve is inserted into the second optical axis, and the seventh spur gear is arranged on the second optical axis.
本发明和现有技术相比具有以下技术效果：Compared with the prior art, the present invention has the following technical effects:
1.本发明提供了一种注射针头调节微导管，注射针头调节微导管包括外导管、合金丝组件、内导管和盖板，外导管包括头部转动部、骨架支撑部件和转动支撑组件，头部转动部的一端与骨架支撑部件的一端连接，转动支撑组件的一端连接头部转动部，转动支撑组件另一端与骨架支撑部件抵接，骨架支撑部件与推送设备连接，合金丝组件通过骨架支撑部件支撑，长度方向的两端分别连接头部转动部和推送设备连接，内导管通过骨架支撑部件支撑，与推送设备抵触连接，另一端连接药物注射装置，盖板扣合于骨架支撑部件，另一端与推送设备滑动连接。1. The present invention provides an injection needle adjustment microcatheter, the injection needle adjustment microcatheter includes an outer catheter, an alloy wire assembly, an inner catheter and a cover plate, the outer catheter includes a head rotating part, a skeleton support part and a rotating support assembly, the head One end of the rotating part of the head is connected with one end of the skeleton supporting part, one end of the rotating supporting assembly is connected with the rotating part of the head, the other end of the rotating supporting assembly is in contact with the skeleton supporting part, the skeleton supporting part is connected with the pushing device, and the alloy wire assembly is supported by the skeleton Component support, the two ends in the length direction are respectively connected to the head rotating part and the push device, the inner catheter is supported by the frame support part, and is connected to the push device in conflict, the other end is connected to the drug injection device, the cover plate is fastened to the frame support part, and the other One end slides into connection with a push device.
推送设备调整合金丝组件的夹紧压力，使得合金丝组件处于略微放松状态，推送设备推送内导管达到指定位置，推送设备推动盖板，使得盖板滑开，推送设备调节合金丝的张紧力，使针头达到合适角度，推送设备推送内导管，内导管连接的后端微量注射装置完成注药，推送设备再次调整合金丝的张紧力，推送设备推送内导管收回，完成整个注射过程。The pushing device adjusts the clamping pressure of the alloy wire assembly so that the alloy wire assembly is in a slightly relaxed state. The pushing device pushes the inner conduit to the specified position. The pushing device pushes the cover so that the cover slides open. The pushing device adjusts the tension of the alloy wire , so that the needle reaches a suitable angle, the pushing device pushes the inner catheter, the back-end micro-injection device connected to the inner catheter completes the injection, the pushing device adjusts the tension of the alloy wire again, the pushing device pushes the inner catheter back, and completes the entire injection process.
2.本发明提供了一种推送设备，包括：支撑本体、第一滑动组件、第二滑动组件、合金丝张紧组件、传动装置和张紧组件，支撑本体内部具有容纳空间，第一滑动组件设置于支撑本体上表面，与外导管远离于头部转动部的端部连接。2. The present invention provides a pushing device, including: a supporting body, a first sliding assembly, a second sliding assembly, an alloy wire tensioning assembly, a transmission device and a tensioning assembly, the supporting body has an accommodation space inside, and the first sliding assembly It is arranged on the upper surface of the support body and connected with the end of the outer conduit away from the head rotating part.
第二滑动组件设置于支撑本体上表面，与盖板远离于头部转动部的端部连接。合金丝张紧组件设置于支撑本体上表面，抵压合金丝组件，从而实现对合金丝张紧力的控制，通孔控制合金丝的张紧力从而调整外导管的头部转动部的角度。传动装置设置于支撑本体内部，传动装置包括第一推动辊筒、第二推动辊筒和传动组件，第一推动辊筒和第二推动辊筒能够与内导管抵触连接，带动内导管前后移动，张紧组件设置于支撑本体内部，与传动组件连接，能够调整第一推动辊筒和外导管之间的距离，从而实现对内导管张紧力的控制。The second sliding assembly is arranged on the upper surface of the supporting body and is connected with the end of the cover plate away from the rotating part of the head. The alloy wire tensioning component is arranged on the upper surface of the support body, and presses against the alloy wire component, so as to realize the control of the tension force of the alloy wire. The through hole controls the tension force of the alloy wire to adjust the angle of the head rotating part of the outer catheter. The transmission device is arranged inside the supporting body, and the transmission device includes a first push roller, a second push roller and a transmission assembly, the first push roller and the second push roller can be connected with the inner conduit by friction, and drive the inner conduit to move forward and backward, The tension component is arranged inside the support body and connected with the transmission component, and can adjust the distance between the first push roller and the outer conduit, thereby realizing the control of the tension of the inner conduit.
合金丝张紧组件调整合金丝组件的夹紧压力，使得合金丝组件处于略微放松状态，传送装置推送内导管达到指定位置，第二滑动组件推动盖板，使得盖板滑开，传送装置调节合金丝的张紧力，使针头达到合适角度，传送装置推送内导管，使得内导管实现前后移动，内导管连接的后端微量注射装置完成注药，推送设备再次调整合金丝的张紧力，推送设备推送内导管收回，完成整个注射过程。The alloy wire tensioning assembly adjusts the clamping pressure of the alloy wire assembly, so that the alloy wire assembly is in a slightly relaxed state, the transmission device pushes the inner catheter to the designated position, the second sliding assembly pushes the cover plate, so that the cover plate slides open, and the transmission device adjusts the alloy wire The tension of the wire makes the needle reach a suitable angle, and the transmission device pushes the inner catheter, so that the inner catheter can move back and forth. The back-end micro-injection device connected to the inner catheter completes the drug injection. The device pushes the inner catheter back and completes the entire injection process.
附图说明Description of drawings
本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the present invention will become apparent and understandable from the description of the embodiments in conjunction with the following drawings, wherein:
图1示出了本发明一实施例提供的推送设备与注射针头调节微导管的装配结构示意图；Fig. 1 shows a schematic diagram of the assembly structure of a pushing device and an injection needle regulating microcatheter provided by an embodiment of the present invention;
图2示出了本发明一实施例提供的注射针头调节微导管的结构示意图；Fig. 2 shows a schematic structural view of an injection needle regulating microcatheter provided by an embodiment of the present invention;
图3示出了本发明的一实施例提供的内导管的部分结构示意图；Fig. 3 shows a partial structural schematic diagram of an inner catheter provided by an embodiment of the present invention;
图4示出了本发明的一实施例提供的外导管的部分结构示意图；Fig. 4 shows a partial structural schematic diagram of an outer catheter provided by an embodiment of the present invention;
图5示出了本发明一实施例提供的推送设备与注射针头调节微导管的装配结构示意图；Fig. 5 shows a schematic diagram of the assembly structure of the pushing device and the injection needle regulating microcatheter provided by an embodiment of the present invention;
图6示出了本发明一实施例提供的传动装置和张紧组件的第一角度下的装配结构示意图；Fig. 6 shows a schematic diagram of the assembly structure at a first angle of the transmission device and the tensioning assembly provided by an embodiment of the present invention;
图7示出了本发明一实施例提供的传动装置和张紧组件的第二角度下的装配结构示意图；Fig. 7 shows a schematic diagram of the assembly structure of the transmission device and the tensioning assembly provided by an embodiment of the present invention at a second angle;
图8示出了本发明一实施例提供的传动装置和张紧组件的第三角度下的装配结构示意图；Fig. 8 shows a schematic diagram of the assembly structure of the transmission device and the tensioning assembly provided by an embodiment of the present invention at a third angle;
图9示出了本发明一实施例提供的第一推动辊筒的结构示意图；Fig. 9 shows a schematic structural diagram of a first push roller provided by an embodiment of the present invention;
图10示出了本发明一实施例提供的第二推动辊筒的结构示意图。Fig. 10 shows a schematic structural diagram of a second push roller provided by an embodiment of the present invention.
其中，图1至图3中的附图标记与部件名称之间的对应关系为：Wherein, the corresponding relationship between reference numerals and component names in Fig. 1 to Fig. 3 is:
1-外导管；11-头部转动部；12-骨架支撑部件；13-转动支撑组件；131-第一转动支撑部件；132-第二转动支撑部件；2-合金丝组件；21-导向轮；22-传感器；3-内导管；31-扁平管体；32-注射针头；4-盖板；5-第一滑动组件；6-第二滑动组件；7-合金丝张紧组件；71-第一固定部件；72-第二固定部件；73-抵压部件；74-弹性部件；75-施力部件；751-固定架；752-施压杆；753-施压锤；76-挤压凸起；77-挤压凹槽；78-合金丝锁定部；8-传动装置；81-第一推动辊筒；811-第六直齿轮；812-第一光轴；813-第一防滑套；82-第二推动辊筒；821-第七直齿轮；822-第二光轴；823-第一防滑套；83-第一动力输入轴；831-第一冠齿轮；84-第一传动轴；841-第一直齿轮；85-第二传动轴；851-第二直齿轮；852-第一锥齿轮；86-第三传动轴；861-二锥齿轮；862-第三直齿轮；87-第四传动轴；871-第四直齿轮；872-第二冠齿轮；88-第五传动轴；881-第五直齿轮；9-张紧组件；91-第二动力输入轴；92-第一支撑轴；93-第二支撑轴；94-第六传动轴；95-传动支架；951-夹持部件。1-outer catheter; 11-head rotating part; 12-skeleton support component; 13-rotation support component; 131-first rotation support component; 132-second rotation support component; 2-alloy wire component; 21-guiding wheel ;22-sensor; 3-inner catheter; 31-flat tube body; 32-injection needle; 4-cover plate; 5-first sliding assembly; 6-second sliding assembly; 7-alloy wire tensioning assembly; 71- 72-the second fixed part; 73-resisting parts; 74-elastic parts; 75-force parts; 751-fixed frame; Protrusion; 77-extrusion groove; 78-alloy wire locking part; 8-transmission device; 81-first push roller; 811-sixth spur gear; 812-first optical axis; 813-first anti-skid sleeve ;82-the second push roller; 821-the seventh spur gear; 822-the second optical axis; 823-the first anti-slip sleeve; 83-the first power input shaft; 831-the first crown gear; Shaft; 841-the first spur gear; 85-the second transmission shaft; 851-the second spur gear; 852-the first bevel gear; 86-the third transmission shaft; 861-the second bevel gear; 862-the third spur gear; 87-the fourth transmission shaft; 871-the fourth spur gear; 872-the second crown gear; 88-the fifth transmission shaft; 881-the fifth spur gear; 9-tensioning assembly; 91-the second power input shaft; 92 - the first support shaft; 93 - the second support shaft; 94 - the sixth transmission shaft; 95 - the transmission bracket; 951 - the clamping component.
具体实施方式Detailed ways
为了能够更清楚地理解本发明的上述目的、特征和优点，下面结合附图和具体实施方式对本发明进行进一步的详细描述。需要说明的是，在不冲突的情况下，本申请的实施例及实施例中的特征可以相互组合。In order to understand the above-mentioned purpose, features and advantages of the present invention more clearly, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.
在下面的描述中阐述了很多具体细节以便于充分理解本发明，但是，本发明还可以采用其他不同于在此描述的其他方式来实施，因此，本发明的保护范围并不受下面公开的具体实施例的限制。In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described here. Therefore, the protection scope of the present invention is not limited by the specific details disclosed below. EXAMPLE LIMITATIONS.
年龄相关性黄斑变性(AMD)，也叫老年性黄斑变性，是退行性黄斑部疾病，是发达国家50岁以上人群中致盲的主要原因。经巩膜视网膜下注射是一种对该疾病有显著治疗效果的方法。为了保证导管进巩膜入口进入眼内不发生因阻力而产生的扭转，导致眼内注射时候针头不能具有合适角度。Age-related macular degeneration (AMD), also known as age-related macular degeneration, is a degenerative disease of the macula that is the leading cause of blindness in people over the age of 50 in developed countries. Transscleral subretinal injection is a method with significant therapeutic effect in this disease. In order to ensure that the catheter enters the sclera entrance and enters the eye without twisting due to resistance, the needle cannot have a proper angle during intraocular injection.
基于此，目前亟需提供一种能够控制针头角度的设备，以协助手术。Based on this, there is an urgent need to provide a device capable of controlling the angle of the needle to assist surgery.
本发明提供了一种注射针头调节微导管，注射针头调节微导管能够调节注射针头的角度，保证微导管进入眼睛巩膜时不会因阻力而产生的扭转，提高针头注射药物的精准度。The invention provides an injection needle adjusting microcatheter. The injection needle adjusting microcatheter can adjust the angle of the injection needle to ensure that the microcatheter will not twist due to resistance when it enters the eye sclera and improve the accuracy of needle injection of medicines.
本发明提供的注射针头调节微导管，注射针头调节微导管包括：外导管1、合金丝组件2、内导管3和盖板4；外导管1包括头部转动部11、骨架支撑部件12和转动支撑组件13，头部转动部11的一端与骨架支撑部件12的一端连接，转动支撑组件13的一端连接头部转动部11，转动支撑组件13另一端与骨架支撑部件12抵接，骨架支撑部件12与推送设备连接，骨架支撑部件12与推送设备滑动连接；合金丝组件2通过骨架支撑部件12支撑，长度方向的两端分别连接头部转动部11和推送设备连接；内导管3通过骨架支撑部件12支撑，与推送设备抵触连接，连接药物注射装置；盖板4与骨架支撑部件2滑动连接，推送设备驱动盖板4滑动。The injection needle adjustment microcatheter provided by the present invention includes: an outer catheter 1, an alloy wire assembly 2, an inner catheter 3 and a cover plate 4; the outer catheter 1 includes a head rotating part 11, a skeleton support part 12 and a rotating Support assembly 13, one end of the head rotating part 11 is connected to one end of the skeleton supporting part 12, one end of the rotating supporting assembly 13 is connected to the head rotating part 11, the other end of the rotating supporting assembly 13 is in contact with the skeleton supporting part 12, and the skeleton supporting part 12 is connected with the pushing device, and the skeleton supporting part 12 is slidingly connected with the pushing device; the alloy wire assembly 2 is supported by the skeleton supporting part 12, and the two ends in the length direction are respectively connected with the head rotating part 11 and connected with the pushing device; the inner catheter 3 is supported by the skeleton The component 12 is supported and connected in conflict with the pushing device, and connected to the drug injection device; the cover plate 4 is slidably connected with the frame support component 2, and the pushing device drives the cover plate 4 to slide.
在一些可选的实施例中，转动支撑组件13包括第一转动支撑部件131和第二转动支撑部件132，第一转动支撑部件131和第二转动支撑部件132分别设置于头部转动部11的两侧，第一转动支撑部件131和第二转动支撑部件132的一端套设于头部转动部11，第一转动支撑部件131和第二转动支撑部件132与骨架支撑部件12抵接的部分呈圆弧状。In some optional embodiments, the rotation support assembly 13 includes a first rotation support component 131 and a second rotation support component 132, and the first rotation support component 131 and the second rotation support component 132 are respectively arranged on the top of the head rotation part 11. On both sides, one end of the first rotation support part 131 and the second rotation support part 132 is sleeved on the head rotation part 11, and the part where the first rotation support part 131 and the second rotation support part 132 abuts with the frame support part 12 is in the shape of Arc shape.
在一些可选的实施例中，内导管3包括扁平管体31和注射针头32，扁平管体31的一端与注射针头32连接，注射针头32朝向头部转动部11。In some optional embodiments, the inner catheter 3 includes a flat tube body 31 and an injection needle 32 , one end of the flat tube body 31 is connected to the injection needle 32 , and the injection needle 32 faces the head turning part 11 .
另一方面，本发明提供了一种推送设备，推送设备与以上所提到的注射针头调节微导管连接，推送设备为以上所提到的推送设备，推送设备包括：支撑本体，内部具有容纳空间；第一滑动组件5设置于支撑本体上表面，与外导管1远离于头部转动部11的端部连接；第二滑动组件6设置于支撑本体上表面，与盖板4远离于头部转动部11的端部连接；合金丝张紧组件7，设置于支撑本体上表面，抵压合金丝组件2；传动装置8，设置于支撑本体内部，包括第一推动辊筒81、第二推动辊筒82和传动组件，第一推动辊筒81和第二推动辊筒82能够与内导管3抵触连接，带动内导管3前后移动；张紧组件9，设置于支撑本体内部，与传动组件连接，能够调整第一推动辊筒81和内导管1之间的距离。On the other hand, the present invention provides a pushing device, the pushing device is connected with the above-mentioned injection needle adjustment microcatheter, the pushing device is the above-mentioned pushing device, and the pushing device includes: a supporting body with an accommodating space inside ; The first sliding assembly 5 is arranged on the upper surface of the supporting body, and is connected with the end of the outer catheter 1 away from the head rotating part 11; the second sliding assembly 6 is arranged on the upper surface of the supporting body, and the cover plate 4 is away from the head rotating The ends of the part 11 are connected; the alloy wire tensioning assembly 7 is arranged on the upper surface of the supporting body, and presses the alloy wire assembly 2; the transmission device 8 is arranged inside the supporting body, including a first push roller 81, a second push roller The cylinder 82 and the transmission assembly, the first push roller 81 and the second push roller 82 can be connected in conflict with the inner conduit 3 to drive the inner conduit 3 to move back and forth; the tension assembly 9 is arranged inside the support body and connected to the transmission assembly. The distance between the first push roller 81 and the inner catheter 1 can be adjusted.
具体地，合金丝组件2从骨架支撑部件12延伸出来后，先经过导向轮21，之后与合金丝张紧组件7抵压连接，合金丝组件2靠近导向轮21的位置设置传感器22，传感器22用于监测合金丝组件2张紧力大小。支撑本体上表面设置第一凹槽，第一滑动组件5的一端卡设于支撑本体的第一凹槽，推动第一滑动组件5，第一滑动组件5能够沿着支撑本体移动，可选的，第一滑动组件5为滑块。支撑本体上表面设置第二凹槽，第二滑动组件6的一端卡设于支撑本体的第二凹槽，推动第二滑动组件6，第一滑动组件6能够沿着支撑本体移动，可选的，第二滑动组件5为滑块。Specifically, after the alloy wire assembly 2 is extended from the skeleton supporting part 12, it first passes through the guide wheel 21, and then is pressed and connected with the alloy wire tensioning assembly 7. The alloy wire assembly 2 is provided with a sensor 22 near the position of the guide wheel 21. It is used to monitor the tension force of the alloy wire assembly 2. A first groove is provided on the upper surface of the supporting body, and one end of the first sliding component 5 is clamped in the first groove of the supporting body, and the first sliding component 5 is pushed, and the first sliding component 5 can move along the supporting body, optional , the first sliding component 5 is a slider. A second groove is provided on the upper surface of the supporting body, and one end of the second sliding component 6 is clamped in the second groove of the supporting body, pushing the second sliding component 6, and the first sliding component 6 can move along the supporting body, optional , the second sliding component 5 is a slider.
在一些可选的实施例中，合金丝张紧组件7包括第一固定部件71、第二固定部件72、抵压部件73、弹性部件74和施力部件75，第一固定部件71和第二固定部件72分别安装于支撑本体，抵压部件73的一端通过弹性部件74与第一固定部件71连接，抵压部件73的另一端与第二固定部件72转动连接，施力部件75设置于支撑本体并能够向抵压部件73施加压力。In some optional embodiments, the alloy wire tensioning assembly 7 includes a first fixing part 71, a second fixing part 72, a pressing part 73, an elastic part 74 and a force applying part 75, the first fixing part 71 and the second The fixing parts 72 are installed on the supporting body respectively, one end of the pressing part 73 is connected with the first fixing part 71 through the elastic part 74, the other end of the pressing part 73 is connected with the second fixing part 72 in rotation, and the force applying part 75 is arranged on the supporting body. The main body can also apply pressure to the pressing member 73 .
在一些可选的实施例中，自第一固定部件71到第二固定部件72的方向，抵压部件73与支撑本体之间的高度逐渐减小，施力部件75设置于第一固定部件71和第二固定部件72之间，抵压部件73位于施力部件75和第二固定部件72之间的区域设置挤压凸起76。In some optional embodiments, from the first fixing part 71 to the second fixing part 72, the height between the pressing part 73 and the supporting body gradually decreases, and the force applying part 75 is arranged on the first fixing part 71 Between the second fixing part 72 and the area of the pressing part 73 located between the force applying part 75 and the second fixing part 72, a pressing protrusion 76 is provided.
具体地，支撑本体与挤压凸起736相对应的位置设置挤压凹槽77，当施力部件75向抵压部件73施加压力时，弹性部件74发生弹性形变，促使抵压部件73靠近第一固定部件71的一端向地面靠近，最终使得挤压凸起76在挤压凹槽77内挤压合金丝组件2，从而实现合金丝组件2带动头部转动部11相对于骨架支撑部件12转动。靠近第二固定部件72的位置设置合金丝锁定部78，合金丝锁定部78用于固定合金丝组件2。Specifically, an extrusion groove 77 is provided at the position corresponding to the extrusion protrusion 736 of the support body. When the force application member 75 applies pressure to the pressing member 73, the elastic member 74 is elastically deformed, urging the pressing member 73 to approach the first pressing member 73. One end of a fixed part 71 approaches the ground, and finally the extrusion protrusion 76 squeezes the alloy wire assembly 2 in the extrusion groove 77, so that the alloy wire assembly 2 drives the head rotating part 11 to rotate relative to the skeleton support part 12 . An alloy wire locking part 78 is provided near the second fixing part 72 , and the alloy wire locking part 78 is used for fixing the alloy wire assembly 2 .
在一些可选的实施例中，施力部件75包括固定架751、施压杆752和施压锤753，固定架751设置于支撑本体，施压锤753与抵压部件73连接，施压杆752一端固定于固定架751，另一端与施压锤753螺纹连接。In some optional embodiments, the force applying part 75 includes a fixing frame 751, a pressure applying rod 752 and a pressure applying hammer 753, the fixing frame 751 is arranged on the support body, the pressure applying hammer 753 is connected with the pressing part 73, and the pressure applying rod 753 One end of 752 is fixed on the fixing frame 751, and the other end is screwed to the pressure hammer 753.
具体地，转动施压杆752，使得施压杆752相对于固定架751上下移动，施压杆752在移动的过程中会带动施压锤753沿着固定架751上下移动，从而能够调整对抵压部件73的施压力度。Specifically, rotating the pressing rod 752 makes the pressing rod 752 move up and down relative to the fixed frame 751. During the movement, the pressing rod 752 will drive the pressing hammer 753 to move up and down along the fixed frame 751, so that the abutment can be adjusted. The pressing force of the pressing member 73.
在一些可选的实施例中，弹性部件74为弹簧。In some optional embodiments, the elastic member 74 is a spring.
在一些可选的实施例中，传动装置8包括第一动力输入轴83、第一传动轴84、第二传动轴85、第三传动轴86、第四传动轴87和第五传动轴88，第一动力输入轴83与第一传动轴84通过齿轮啮合，第一传动轴84与第二传动轴85通过齿轮啮合，第二传动轴85与第三传动轴86通过齿轮啮合，第三传动轴86与第四传动轴87通过齿轮啮合，第四传动轴87与第一推动辊筒81通过齿轮啮合，第五传动轴88分别与第二传动轴85和第二推动辊筒82通过齿轮啮合。In some optional embodiments, the transmission device 8 includes a first power input shaft 83, a first transmission shaft 84, a second transmission shaft 85, a third transmission shaft 86, a fourth transmission shaft 87 and a fifth transmission shaft 88, The first power input shaft 83 is engaged with the first transmission shaft 84 through gears, the first transmission shaft 84 is engaged with the second transmission shaft 85 through gears, the second transmission shaft 85 is engaged with the third transmission shaft 86 through gears, and the third transmission shaft 86 is engaged with the fourth transmission shaft 87 through gears, the fourth transmission shaft 87 is engaged with the first push roller 81 through gears, and the fifth transmission shaft 88 is respectively engaged with the second transmission shaft 85 and the second push roller 82 through gears.
在一些可选的实施例中，第一动力输入轴83沿着支撑本体的长度方向延伸，第一动力输入轴83与第一传动轴84垂直设置，第二传动轴85与第一传动轴84平行设置，第三传动轴86分别与第二传动轴85和动第一力输入轴83垂直，第四传动轴87与第三传动轴86垂直；第一动力输入轴83设置第一冠齿轮831，第一传动轴84设置第一直齿轮841，第二传动轴85设置第二直齿轮851和第一锥齿轮852，第三传动轴86分别设置第二锥齿轮861和第三直齿轮862，四传动轴87分别设置第四直齿轮871和第二冠齿轮872，第五传动轴88设置第五直齿轮881，第一推动辊筒81设置第六直齿轮811，第二推动辊筒82设置第七直齿轮821；第一冠齿轮831与第一直齿轮841啮合，第一直齿轮841与第二直齿轮851啮合，第一锥齿轮852与第二锥齿轮861啮合，第三直齿轮862和第四直齿轮871啮合，第二冠齿轮872与第六直齿轮811啮合，第五直齿轮881分别啮合第二直齿轮851和第七直齿轮821。In some optional embodiments, the first power input shaft 83 extends along the length direction of the support body, the first power input shaft 83 is perpendicular to the first transmission shaft 84 , the second transmission shaft 85 is connected to the first transmission shaft 84 Arranged in parallel, the third transmission shaft 86 is perpendicular to the second transmission shaft 85 and the first power input shaft 83 respectively, and the fourth transmission shaft 87 is perpendicular to the third transmission shaft 86; the first power input shaft 83 is provided with a first crown gear 831 , the first transmission shaft 84 is provided with a first spur gear 841, the second transmission shaft 85 is provided with a second spur gear 851 and a first bevel gear 852, and the third transmission shaft 86 is provided with a second bevel gear 861 and a third spur gear 862, respectively, The four transmission shafts 87 are respectively provided with the fourth spur gear 871 and the second crown gear 872, the fifth transmission shaft 88 is provided with the fifth spur gear 881, the first push roller 81 is provided with the sixth spur gear 811, and the second push roller 82 is provided with The seventh spur gear 821; the first crown gear 831 meshes with the first spur gear 841, the first spur gear 841 meshes with the second spur gear 851, the first bevel gear 852 meshes with the second bevel gear 861, and the third spur gear 862 It meshes with the fourth spur gear 871 , the second crown gear 872 meshes with the sixth spur gear 811 , and the fifth spur gear 881 meshes with the second spur gear 851 and the seventh spur gear 821 respectively.
在一些可选的实施例中，张紧组件9包括第二动力输入轴91、第一支撑轴92、第二支撑轴93、第六传动轴94和传动支架95，第二动力输入轴91与第六传动轴94通过齿轮啮合，第六传动轴94分别与第一支撑轴92和第二支撑轴93啮合，传动支架95分别第六传动轴94、第一支撑轴92和第二支撑轴93螺纹连接，传动支架91设置夹持部件951，夹持部件951与第一推动辊筒81，四传动轴87设置于传动支架91。In some optional embodiments, the tensioning assembly 9 includes a second power input shaft 91, a first support shaft 92, a second support shaft 93, a sixth transmission shaft 94 and a transmission bracket 95, the second power input shaft 91 and The sixth transmission shaft 94 is meshed with gears, the sixth transmission shaft 94 is respectively engaged with the first support shaft 92 and the second support shaft 93, and the transmission bracket 95 is respectively the sixth transmission shaft 94, the first support shaft 92 and the second support shaft 93 Threaded connection, the transmission bracket 91 is provided with a clamping part 951 , the clamping part 951 is connected with the first push roller 81 , and the four transmission shafts 87 are provided on the transmission bracket 91 .
在一些可选的实施例中，第一推动辊筒81和第二推动辊筒82的结构相同，第一推动辊筒81包括第一光轴812、第一防滑套813和第六直齿轮811，第一防滑套813插接于第一光轴812，第六直齿轮811设置于第一光轴812；第二推动辊筒82包括第二光轴821、第二防滑套822和第七直齿轮823，第二防滑套822插接于第二光轴821，第七直齿轮823设置于第二光轴821。In some optional embodiments, the first push roller 81 and the second push roller 82 have the same structure, and the first push roller 81 includes a first optical shaft 812, a first anti-slip sleeve 813 and a sixth spur gear 811 , the first anti-slip sleeve 813 is inserted on the first optical axis 812, the sixth spur gear 811 is arranged on the first optical axis 812; the second push roller 82 includes the second optical axis 821, the second anti-slip sleeve 822 and the seventh straight gear The gear 823 and the second anti-slip sleeve 822 are inserted on the second optical axis 821 , and the seventh spur gear 823 is disposed on the second optical axis 821 .
在本发明中，术语“多个”则指至少两个或至少两个以上，除非另有明确的限定。术语“安装”、“相连”、“连接”、“固定”等术语均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接；“相连”可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。In the present invention, the term "plurality" refers to at least two or more than two, unless otherwise clearly defined. The terms "installation", "connection", "connection", "fixed" and other terms should be interpreted in a broad sense, for example, "connection" can be fixed connection, detachable connection, or integral connection; "connection" can be directly or indirectly through an intermediary. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.
在本说明书的描述中，术语“一个实施例”、“一些实施例”、“具体实施例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或实例。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。In the description of this specification, descriptions of the terms "one embodiment", "some embodiments", "specific embodiments" and the like mean that specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in the present invention In at least one embodiment or example of . In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
以上仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310671162.7ACN116602815B (en) | 2023-06-07 | 2023-06-07 | Devices that can control the angle of the needle |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310671162.7ACN116602815B (en) | 2023-06-07 | 2023-06-07 | Devices that can control the angle of the needle |
| Publication Number | Publication Date |
|---|---|
| CN116602815Atrue CN116602815A (en) | 2023-08-18 |
| CN116602815B CN116602815B (en) | 2025-03-25 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310671162.7AActiveCN116602815B (en) | 2023-06-07 | 2023-06-07 | Devices that can control the angle of the needle |
| Country | Link |
|---|---|
| CN (1) | CN116602815B (en) |
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| CN113262353A (en)* | 2021-03-31 | 2021-08-17 | 同济大学 | Multi-stage robot injection device and method based on force control |
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| CN116602815B (en) | 2025-03-25 |
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