This technology is a steering needle drive device that features a detachable needle holder coupled to a drive module containing multiple motors. By pulling both ends of a wire that passes through the needle assembly with the motors, the direction of the hinged needle tip can be manipulated. While the motors are in operation, the needle holder remains fixed to the drive module, and only the wire moves to rotate the needle assembly and change the direction of the tip.
Existing surgical robots often feature integrated surgical tools and platforms, making it difficult to sterilize, clean, or replace tools individually. Furthermore, operating multiple types of surgical tools requires additional platforms, leading to increased space requirements and higher costs.
This technology utilizes a first sliding guide groove on the side of the needle holder, featuring an inclined section, a horizontal section, and a step between them. A fixing member on a knob wrapped in an elastic member locks into the horizontal section after passing the inclined section, ensuring a secure fit without the need for additional tools. The linear motor's drive member is connected to the wire via a coupler to move along a second sliding guide groove. The needle body and needle tip are connected via a double-hinge mechanism, with an asymmetrical insertion hole ensuring correct orientation. Applicable to percutaneous biopsy, radiofrequency ablation, and brachytherapy needle insertion robots, this system allows for the sterilization and replacement of needle modules alone, enabling a single drive platform to reach deep-seated lesions along curved trajectories.
WO2023-080630A1
