CN110786890A

CN110786890A - Medical instrument

Info

Publication number: CN110786890A
Application number: CN201911222123.9A
Authority: CN
Inventors: 袁进强; 赵可娜; 刘文海
Original assignee: Shenzhen Aosheng Medical Technology Co Ltd
Current assignee: Shenzhen Aosheng Medical Technology Co Ltd
Priority date: 2019-12-03
Filing date: 2019-12-03
Publication date: 2020-02-14
Also published as: CN111973236A; CN212521854U

Abstract

The invention relates to the technical field of medical treatment and discloses a medical instrument. The medical device comprises a puncture module for puncturing tissue; a 3D probe module comprising a probe housing, and an ultrasound transducer rotatably disposed inside the probe housing, the ultrasound transducer configured to scan an ultrasound image of shaped penetrating tissue; the execution module can be partially arranged in the puncture module in a penetrating mode, and the execution module can control the position, the direction and the depth of the puncture action of the puncture module according to the information image acquired by the 3D probe module. The medical instrument can adapt to organ deformation, accurately position the position of the prostate to be treated and improve the treatment precision.

Description

Medical instrument

Technical Field

The invention relates to the technical field of medical treatment, in particular to a medical instrument.

Background

Patients are suspected of having prostate cancer and a needle biopsy of the prostate is usually recommended. It is a surgical procedure in which a small portion of tissue is taken as a sample from the prostate and examined under a microscope by a pathologist or specialist for studies of cells, tissues and organs. This procedure takes approximately 15 minutes, usually at the urologist's office, and is used in conjunction with a transrectal ultrasound machine (TRUS), usually without the need for an anesthetic. With the aid of an ultrasound instrument, the physician directs a biopsy gun, i.e. a hand-held spring-loaded needle device, to sample through the rectal wall into a region of the abnormal prostate.

The rectal wall is thin, thus enabling more accurate positioning of the probe and causing less loss of other tissue. When activated, the probe can take an elongated cylinder of tissue in a fraction of a second. The slidable protective sleeve sleeved outside the probe is opened when the probe enters the prostate to obtain a tissue sample and closed when the needle head is drawn out.

Some minor bleeding is expected from needle biopsies because the needle has entered the venule area. Two major risks of needle biopsy are severe prostate or urinary tract bleeding and infection.

The diagnosis of prostate cancer is subject to inaccuracies due to imprecise instrumentation and lack of consideration of the prostate environment in vivo. Therefore, there is a need for better accuracy in order to provide a more reliable and complete diagnosis, in particular for the localization of cancer regions and for guiding the treatment.

The treatment of prostate cancer aims to cure the patient by destroying the diseased tissue while protecting the surrounding healthy tissue. Therefore, there is a need to be able to deliver therapeutic agents to cancerous tissue in a precise manner. If the drug is not accurate enough, it may act on healthy tissue and may have adverse effects on functional structures such as the bladder, rectum or urethra. Due to the current diagnostic tools and uncertainty of the multifocal, i.e., cancer tissue localization of prostate cancer, conventional treatment modalities are often used for the treatment of prostate cancer.

Because the prostate is a deformable organ, the prostate deforms, including the following reasons: under the pressure of the puncture or treatment needle, the prostate is deformed. The puncture causes a lesion and swelling of the prostate during the intervention. Movement of the patient, particularly breathing, also produces deformation of the prostate. To obtain a high quality image, the rectal probe must be brought into contact with the rectal wall adjacent the prostate and light pressure applied while also creating a deformation of the prostate. The prior art solutions do not take into account the deformation of the prostate automatically or during the needle insertion time. During the operation, the influence of organ deformation is received, real accurate positioning cannot be realized, and the existing solution cannot be completely satisfied.

Therefore, there is a need to provide a medical device for solving the above problems.

Disclosure of Invention

The invention aims to provide a medical instrument which can adapt to organ deformation, accurately position the position of the prostate to be treated and improve the treatment precision.

In order to achieve the purpose, the invention adopts the following technical scheme:

there is provided a medical device comprising:

a puncture module for puncturing tissue;

a 3D probe module comprising a probe housing, and an ultrasound transducer rotatably disposed inside the probe housing, the ultrasound transducer configured to scan an ultrasound image of shaped penetrating tissue;

the execution module can be partially arranged in the puncture module in a penetrating mode, and the execution module can control the position, the direction and the depth of the puncture action of the puncture module according to the information image acquired by the 3D probe module.

Preferably, the execution module includes:

the puncture module is partially arranged in the depth positioning assembly in a penetrating way, and the depth positioning assembly can control the puncture depth of the puncture module;

the puncture control assembly, degree of depth locating component connect in the puncture control assembly, the puncture control assembly can adjust the position and the direction of degree of depth locating assembly are in order to adjust the position and the direction of the puncture of puncture module.

Preferably, the puncture module comprises:

the puncture needle penetrates through the depth positioning assembly;

the biopsy gun is provided with the puncture needle and can drive the puncture needle to puncture;

the depth positioning assembly controls the extreme position of the biopsy gun to control the puncture depth of the puncture needle.

Preferably, the penetration control assembly comprises:

a support;

the first driving piece is arranged on the bracket;

the first sliding rail is arranged on the bracket along the vertical direction;

the first sliding block is connected to the first sliding rail in a sliding mode and connected to the first driving piece, and the first driving piece drives the first sliding block to move up and down along the first sliding rail in a reciprocating mode;

one end of the connecting rod assembly is hinged to the first sliding block, the other end of the connecting rod assembly is rotatably connected to the depth positioning assembly, and the first sliding block drives the connecting rod assembly to move so as to adjust the position of the depth positioning assembly.

Preferably, the connecting rod assembly includes:

a support rod, one end of which is connected with the bracket;

one end of the first connecting rod is hinged to the first sliding block;

the second connecting rod is L-shaped, and the corner of the second connecting rod is hinged to the other end of the supporting rod;

the connecting end is rotatably connected to the tail end of the second connecting rod and can rotate relative to the second connecting rod by taking a first axis as a central axis;

the depth positioning assembly is rotatably connected to the connecting end and can rotate relative to the connecting end by taking the axis of the puncture needle as a central axis and taking a second axis as a central axis, and the direction of the second axis is mutually perpendicular to the direction of the first axis and the direction of the axis of the puncture needle in pairs.

Preferably, the penetration control assembly further comprises:

the second sliding block is arranged on the first sliding rail in a sliding mode and is positioned above the first sliding block, and one end of the supporting rod is connected to the second sliding block;

and the second driving piece is arranged on the support and can drive the second sliding block to move up and down and reciprocate along the first sliding rail.

Preferably, the depth referencing assembly comprises:

the support frame is rotatably connected to the output end of the puncture control assembly and can rotate relative to the output end of the puncture control assembly by taking the axis of the puncture needle as a central axis and taking a second axis as a central axis;

the guide is connected to the support frame, the pjncture needle can wear to locate the guide, the guide is configured to the restriction the puncture direction of pjncture needle.

Preferably, the depth positioning assembly further comprises a puncture positioning element arranged on the support frame, and the puncture positioning element can lift the puncture needle and can reciprocate relative to the support frame in a direction close to or far away from the guide element;

the puncture locator is configured to limit a position of the biopsy gun to limit a depth of puncture of the puncture needle.

Preferably, the depth referencing assembly further comprises:

the third driving piece is provided with the supporting frame;

the driving wheel is arranged on the support frame and is connected to the output end of the third driving piece;

the driven wheel is in meshing transmission with the driving wheel;

and one end of the screw rod is coaxially connected with the driven wheel, the other end of the screw rod is connected to the support frame, the puncture positioning piece is in threaded connection with the screw rod, and the screw rod rotates to drive the puncture positioning piece to reciprocate in the direction close to or far away from the guide piece.

Preferably, the depth referencing assembly further comprises:

the third sliding rail is arranged on the supporting frame;

and the third sliding block is arranged on the third sliding rail in a sliding manner, one end of the puncture positioning piece is in threaded connection with the screw rod through the third sliding block, and the other end of the puncture positioning piece extends to the other side of the supporting frame and lifts the puncture needle.

Preferably, the 3D probe module further comprises:

the fourth driving piece is arranged inside the probe shell;

the main shaft is connected to the output end of the fourth driving part, the ultrasonic transducer is arranged on the main shaft, and the fourth driving part can drive the main shaft and the ultrasonic transducer to synchronously rotate relative to the probe shell.

The invention has the beneficial effects that: according to the invention, after the probe shell of the 3D probe module enters the rectum to a proper position, the probe shell cannot move or rotate, the ultrasonic transducer in the probe shell can rotate relative to the probe shell, and the prostate is scanned to obtain images in the rotating process, so that tissue deformation caused by the movement of the 3D probe module is avoided in the puncturing process, and the accuracy of ultrasonic images is ensured. And meanwhile, the puncture position, the puncture direction and the puncture depth in the puncture process are obtained by matching with the execution module and the puncture module for scanning. The medical device provided by the invention can provide accurate positioning for puncture operation, and can reduce the number of wounds of patients during targeted therapy. When the particle implantation device is used for implanting particle therapeutic agents, the requirement on the accuracy of particle implantation can be met, the implantation accuracy is greatly improved, and accurate particle implantation chemotherapy can be realized.

Drawings

FIG. 1 is a schematic view of the medical device of the present invention (with the mobile frame mounted on the operating table);

FIG. 2 is a schematic structural view of the medical device of the present invention (the movable support is disposed on the movable support);

FIG. 3 is a schematic view of the actuator module, 3D probe module and lancing module of the present invention at a first angle;

FIG. 4 is a schematic diagram of the present invention at a second angle of the performance module, 3D probe module and lancing module;

FIG. 5 is a schematic diagram of the internal structure of the 3D probe module of the present invention;

FIG. 6 is a schematic diagram of the construction of an execution module and a puncturing module of the present invention;

FIG. 7 is a block diagram of an implementation of the present invention;

FIG. 8 is a schematic view of the depth referencing assembly of the present invention at a first angle;

FIG. 9 is a schematic view of the depth referencing assembly of the present invention at a second angle;

FIG. 10 is a schematic view of the depth referencing assembly of the present invention at a third angle.

In the figure:

100. a first axis; 200. a second axis;

1. an operating table; 2. moving the support; 3. a movable support;

4. an execution module; 41. a probe fixing bracket; 42. a puncture control assembly; 421. a first driving member; 422. a connecting rod assembly; 4221. a first link; 4222. a second link; 423. a first slider; 424. a first lead screw; 425. a connecting end; 426. a support; 427. a first slide rail; 428. a support bar; 429. a second slider; 430. a second driving member; 440. a second lead screw; 441. a second slider; 445. a first slider;

43. a depth positioning assembly; 431. a guide member; 432. puncturing a positioning piece; 433. a support frame; 4311. a clamping portion; 434. a third driving member; 435. a driving wheel; 436. a driven wheel; 437. a screw rod; 438. a third slide rail; 439. a third slider;

5. a display;

6. a host;

7. a 3D probe module; 71. a fourth drive; 72. an ultrasonic transducer; 73. a probe housing; 74. a main shaft;

8. a puncture module; 81. a biopsy gun; 82. a puncture needle.

Detailed Description

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are used only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements to be referred to must have specific orientations, be constructed in specific orientations, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

When the biopsy is got to current prostate needs the puncture, or when the puncture was implanted the medicine particle and is treated, because of the prostate is the organ of variability and removal, the easy removal deformability of organ tissue, the position that leads to the pathological change of puncture probably is inaccurate, or the position of leading-in medicine to the puncture in the organ is inaccurate, for overcoming the deformation because of detecting instrument action organ tissue at the in-process of biopsy puncture, and then arouse the inaccurate problem in puncture position, a medical instrument is provided in this embodiment, medical instrument is mainly used for getting the biopsy and/or implanting the particle to treat to patient's prostate in the puncture in this embodiment.

As shown in fig. 1 and 2, the medical device includes an execution module 4, a puncture module 8, and a 3D probe module 7. When the medical apparatus is used, the medical apparatus is disposed on the movable support 3, and specifically, one end of the movable support 3 is disposed on the operating table 1 or the movable support 2. As shown in fig. 1, one end of the movable frame 3 is provided on the operating table 1, and the movable frame 3 can be adjusted in position relative to X, Y and the Z direction. As shown in fig. 2, one end of the movable support 3 is disposed on the movable support 2, the movable support 3 can adjust the position relative to the X, Y and the Z direction, and the universal wheels are mounted at the bottom of the movable support 2 and can drive the movable support 3 and the medical apparatus to move.

More specifically, the execution module 4 is connected to the other end of the movable bracket 3 in this embodiment. As shown in fig. 3 and 4, the puncture module 8 is configured to puncture the prostate. As shown in fig. 5, the 3D probe module 7 includes a probe housing 73, and an ultrasound transducer 72 rotatably disposed inside the probe housing 73, the ultrasound transducer 72 is configured to scan an ultrasound image of a shaped prostate, the puncturing module 8 can be partially inserted into the execution module 4, and the execution module 4 can control a position, a direction, and a depth of a puncturing action of the puncturing module 8 according to an information image obtained by the 3D probe module 7.

With continued reference to fig. 1 and 2, the medical device of the present embodiment is further connected to a display 5 and a host computer 6, and the display 5 is configured to display an ultrasound image formed by the 3D probe module 7 after probing. The execution module 4, the 3D probe module 7 and the display 5 are all connected to the host 6, and the host 6 controls the automatic work of each module. The host 6 in this embodiment is a conventional computer control program, which is not the technical invention point in this embodiment, and is not described again.

In this embodiment, the medical apparatus is adjusted to be in a proper position by the movable support 3, the host 6 controls each module to puncture the prostate of the patient, the 3D probe module 7 is inserted into the rectum of the patient, the prostate is scanned after the adjustment of the position is completed, and the position and depth of the prostate penetration module 8 into the prostate can be detected during the puncturing process.

In the conventional detection, the prostate is stimulated by the 3D probe module 7 during the scanning detection process, so that the tissues are easy to deform. Therefore, in the 3D probe module 7 in this embodiment, during the detection process, the ultrasound transducer 72 can rotate relatively to the probe housing 73, and after the probe housing 73 enters the rectum, there is no movement or rotation, and the ultrasound transducer 72 in the probe housing 73 rotates to scan the prostate, so that there is no tissue deformation caused by the movement of the 3D probe module 7, and the accuracy of the ultrasound image is ensured. Meanwhile, the puncture needle is matched with the execution module 4 and the puncture module 8 for scanning, so that the puncture position, the puncture direction and the puncture depth in the puncture process are obtained, an accurate positioning effect can be provided for puncture operation, and the number of wounds of a patient can be reduced during targeted therapy. When the particle implantation device is used for implanting particle therapeutic agents, the requirement on the accuracy of particle implantation can be met, the implantation accuracy is greatly improved, and accurate particle implantation chemotherapy can be realized.

As shown in fig. 5, the 3D probe module 7 further includes a fourth driving member 71 disposed inside the probe housing 73, the fourth driving member 71 is a motor, the fourth driving member 71 is connected to the host 6, an output end of the fourth driving member 71 is connected to a main shaft 74, the ultrasonic transducer 72 is disposed on the main shaft 74, and the fourth driving member 71 can drive the main shaft 74 and the ultrasonic transducer 72 thereon to automatically rotate relative to the probe housing 73.

As shown in fig. 6, the puncture module 8 includes a biopsy gun 81 and a puncture needle 82, the puncture needle 82 is provided on the biopsy gun 81, and when performing the detection, a robot or a doctor holds the biopsy gun 81 by hand and operates the biopsy gun 81 to control the puncture operation of the puncture needle 82.

As shown in fig. 4, 6 and 7, the executing module 4 includes a puncturing control component 42 and a depth positioning component 43, the puncturing control component 42 is disposed at the other end of the movable support 3, the depth positioning component 43 is connected to the puncturing control component 42, the puncturing control component 42 can adjust the position and the direction of the depth positioning component 43 to adjust the position and the direction of puncturing by the puncturing module 8, the puncturing module 8 partially penetrates through the depth positioning component 43, and the depth positioning component 43 can control the puncturing depth of the puncturing module 8.

The puncture module 8 includes a puncture needle 82 and a biopsy gun 81, wherein the puncture needle 82 is disposed on the biopsy gun 81, the puncture needle 82 can be inserted into the depth positioning assembly 43, and the biopsy gun 81 presses a button thereon to operate a coring needle disposed inside the puncture needle 82 to core or implant particles. After the puncture control assembly 42 drives the depth positioning assembly 43 to adjust the position and direction, the maximum depth of the puncture needle 82 penetrating through the depth positioning assembly 43 is the puncture depth of the control puncture needle 82.

As shown in fig. 6 and 7, the lancing control assembly 42 includes a bracket 426, a first driving member 421, a first slide 427, a first slide 423, and a linkage assembly 422. The bracket 426 is disposed at the other end of the movable bracket 3, the first driving member 421 is disposed on the bracket 426, the first sliding rail 427 is disposed on the bracket 426 along the vertical direction, the first sliding block 423 is slidably connected to the first sliding rail 427 and connected to the first driving member 421, and the first driving member 421 drives the first sliding block 423 to move up and down and reciprocate along the first sliding rail 427. In this embodiment, the first driving member 421 is a motor, the output end of the first driving member 421 is connected with a first lead screw 424, the first lead screw 424 is arranged along the vertical direction, a first sliding block 445 is arranged on the first lead screw 424, the first sliding block 445 is connected to the first sliding block 423, the first driving member 421 drives the first lead screw 424 to rotate, the first sliding block 445 is driven to reciprocate along the vertical direction along the first lead screw 424, and therefore the first sliding block 423 is driven to reciprocate up and down along the first sliding rail 427. One end of the link assembly 422 is hinged to the first sliding block 423, the other end of the link assembly 422 is rotatably connected to the depth positioning assembly 43, and the first sliding block 423 drives the link assembly 422 to move so as to adjust the position and the direction of the depth positioning assembly 43.

Specifically, as shown in fig. 7, the link assembly 422 includes a first link 4221, a second link 4222, and a support rod 428. In this embodiment, one end of the supporting rod 428 is connected to the bracket 426, and in particular, one end of the supporting rod 428 can be fixed to the bracket 426. One end of the first link 4221 is hinged to the first slider 423. The second link 4222 is L-shaped, and a corner of the second link 4222 is hinged to the other end of the supporting rod 428. The end of the second link 4222 is rotatably connected with the connecting ends 425, wherein at least one of the connecting ends 425 can rotate relative to the second link 4222 by taking the first axis 100 as a central axis. The depth positioning unit 43 is rotatably connected to the connecting end 425, and the depth positioning unit 43 can rotate relative to the connecting end 425 about the axis of the puncture needle 82 and about the second axis 200, wherein the direction of the second axis 200 is perpendicular to the direction of the first axis 100 and the direction of the axis of the puncture needle 82 in pairs.

When the first slider 423 moves upwards, the first link 4221 drives the second link 4222 to rotate, and the first link 4221 pushes the second link 4222 to move towards one side close to the first slide rail 427, so as to drive the position adjustment of the depth positioning assembly 43, thereby achieving the purpose of adjusting the position and the direction of the puncture needle 82.

When the position of the end of the supporting rod 428 connected to the bracket 426 is fixed, the first driving member 421 drives the first slider 423 to reciprocate up and down along the first sliding rail 427, so as to drive the connecting rod assembly 422 to move, thereby controlling the position of the connecting rod assembly 422, and the connecting rod assembly 422 can adjust the position of the depth positioning assembly 43 thereon, thereby controlling the position of the puncture needle 82.

The supporting rod 428 is connected to the bracket 426 at one end, and specifically, in addition to the supporting rod 428 fixed to the bracket 426 at one end, the supporting rod 428 and the bracket 426 are connected to the first sliding rail 427 through the second sliding block 429 and then connected to the fixed bracket 426, so that the positions of both the supporting rod 428 and the bracket 426 are adjustable. Specifically, the lancing control assembly 42 further comprises a second slider 429 and a second driving member 430, wherein the second slider 429 is slidably disposed on the first sliding track 427 and is located above the first slider 423, and one end of the supporting rod 428 is connected to the second slider 429. The second driving member 430 is disposed on the bracket 426 and can drive the second sliding block 429 to move up and down along the first sliding rail 427. The second driving member 430 is a motor in this embodiment. The output end of the second driving element 430 is connected with a second lead screw 440, a second sliding block 441 is arranged on the second lead screw 440, and a second sliding block 429 is connected with the second sliding block 441. The connection and movement of the second lead screw 440 and the second slider 441 are the same as those of the first lead screw 424 and the first slider 445. When the position and the direction of the puncture needle 82 are adjusted, the first slider 423 and the second slider 429 can slide back and forth along the first sliding track 427, so that the motion of the control connecting rod assembly 422 is controlled, and the control connecting rod assembly 422 controls the position and the direction of the depth positioning assembly 43, namely, the position and the direction of the puncture needle 82 are controlled.

The connecting rod assembly 422, the supporting rod 428, the first sliding rail 427, the first sliding block 423, the second sliding block 429 and the connecting end 425 are respectively provided with two groups. The two first sliding rails 427 are both arranged along the vertical direction, and the two first sliding rails 427 are spaced at a preset distance along the horizontal direction. The first slide block 423 and the second slide block 429 are both arranged outside the first slide rail 427 and are symmetrically arranged. When the two groups of connecting rod assemblies 422 drive the depth positioning assembly 43 to act, the action amplitudes of the two connecting rod assemblies 422 are different, and the direction of the puncture needle 82 can be adjusted.

As shown in fig. 8 and 9, the depth referencing assembly 43 includes a support frame 433 and a guide 431. Wherein, the supporting frame 433 is rotatably connected to the output end of the puncture control assembly 42. The support frame 433 is rotatable about the axis of the puncture needle 82 with respect to the output end of the puncture control unit 42, and is rotatable about the second axis 200 with respect to the output end of the puncture control unit 42. Specifically, the output end of the puncture control unit 42 is a connection end 425, and the structures of the connection end 425 on the left side and the connection end 425 on the right side in fig. 7 may be the same or different. In this embodiment, the two structures are different, the left connecting member 425 can rotate around the first axis 100, and the supporting frame 433 and the left connecting member 425 can rotate around the second axis 200; the support frame 433 and the right connection end 425 are rotatable about the axis of the puncture needle 82. The rotational adjustment of the depth positioning unit 43 is adjusted in accordance with the movement of the puncture control unit 42.

The guide 431 is connected to the support 433, the puncture needle 82 can be inserted into the guide 431, and the limit position at which the puncture needle 82 is inserted into the guide 431 is the actual puncture position of the puncture needle 82.

As shown in fig. 9 and 10, the depth positioning assembly 43 further includes a piercing positioning member 432 disposed on the supporting frame 433, the piercing positioning member 432 being capable of reciprocating relative to the supporting frame 433 in a direction toward or away from the guide 431, the piercing positioning member 432 being configured to limit the depth of piercing of the piercing needle 82. Specifically, the depth positioning assembly 43 further includes a third driving element 434, a driving wheel 435, a driven wheel 436 and a lead screw 437, wherein the third driving element 434 is provided with a supporting frame 433, and the third driving element 434 is a motor. The driving wheel 435 is connected to the output end of the third driving member 434, the driven wheel 436 is in meshing transmission with the driving wheel 435, one end of the screw rod 437 is coaxially connected with the driven wheel 436, the other end of the screw rod 437 is connected to the support frame 433, the puncture positioning member 432 is screwed on the screw rod 437, and the screw rod 437 rotates to drive the puncture positioning member 432 to reciprocate in a direction approaching to or departing from the guide member 431.

To further improve the movement accuracy of the piercing positioning element 432, the depth positioning assembly 43 further comprises a third slide rail 438 and a third slider 439. The third sliding rail 438 is horizontally disposed on the supporting frame 433, and is located on the same side of the supporting frame 433 as the driving wheel 435. The third sliding block 439 is slidably disposed on the third sliding rail 438, one end of the puncture positioning element 432 is connected to the lead screw 437 through the third sliding block 439, and the other end extends to the other side of the supporting frame 433 and lifts the puncture needle 82.

The puncture depth of the puncture needle 82 is controlled by controlling the limit position of the biopsy gun 81 by the puncture positioning member 432.

In addition, as shown in fig. 3, the puncture control module 42 further includes a probe fixing bracket 41 connected to the execution module 4, the probe fixing bracket 41 is located below the execution module 4, and the 3D probe module 7 can be placed on the probe fixing bracket 41. Specifically, the probe fixing bracket 41 is connected to the bracket 426 and is located below the puncture control assembly 42.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A medical device, comprising:

a puncture module (8) for puncturing tissue;

a 3D probe module (7), the 3D probe module (7) comprising a probe housing (73), and an ultrasound transducer (72) rotatably disposed inside the probe housing (73), the ultrasound transducer (72) configured to scan an ultrasound image of shaped penetrating tissue;

the puncture module (8) can partially penetrate through the execution module (4), and the execution module (4) can control the position, the direction and the depth of the puncture action of the puncture module (8) according to the information image acquired by the 3D probe module (7).

2. The medical instrument according to claim 1, characterized in that the execution module (4) comprises:

a depth positioning assembly (43), said piercing module (8) being partially disposed through said depth positioning assembly (43), said depth positioning assembly (43) being capable of controlling the depth of piercing by said piercing module (8);

a lancing control assembly (42), the depth positioning assembly (43) is connected to the lancing control assembly (42), the lancing control assembly (42) is capable of adjusting the position and orientation of the depth positioning assembly (43) to adjust the position and orientation of the lancing module (8).

3. The medical device according to claim 2, characterized in that the puncture module (8) comprises:

the puncture needle (82) is arranged in the depth positioning assembly (43) in a penetrating way;

a biopsy gun (81), wherein the puncture needle (82) is arranged on the biopsy gun (81), and the biopsy gun (81) can drive the puncture needle (82) to puncture;

the depth positioning assembly (43) controls the limit position of the biopsy gun (81) to control the puncture depth of the puncture needle (82).

4. The medical device of claim 3, wherein the penetration control assembly (42) comprises:

a bracket (426);

a first driving member (421) arranged on the bracket (426);

a first slide rail (427) provided to the bracket (426) in a vertical direction;

the first sliding block (423) is connected with the first sliding rail (427) in a sliding mode and is connected with the first driving piece (421), and the first driving piece (421) drives the first sliding block (423) to move up and down and reciprocate along the first sliding rail (427);

the connecting rod assembly (422), one end of the connecting rod assembly (422) is hinged to the first sliding block (423), the other end of the connecting rod assembly (422) is rotatably connected to the depth positioning assembly (43), and the first sliding block (423) drives the connecting rod assembly (422) to move so as to adjust the position of the depth positioning assembly (43).

5. The medical instrument of claim 4, wherein the linkage assembly (422) comprises:

a support bar (428) having one end connected to the bracket (426);

a first link (4221) having one end hinged to the first slider (423);

the second connecting rod (4222), the second connecting rod (4222) is L-shaped, and the corner of the second connecting rod (4222) is hinged to the other end of the supporting rod (428);

at least one link end (425) rotatably connected to a distal end of the second link (4222), the at least one link end (425) being rotatable relative to the second link (4222) about a first axis (100);

the depth positioning assembly (43) is rotatably connected to the connecting end (425), the depth positioning assembly (43) can rotate relative to the connecting end (425) by taking the axis of the puncture needle (82) as a central axis and taking a second axis (200) as a central axis, and the direction of the second axis (200) is mutually perpendicular to the direction of the first axis (100) and the direction of the axis of the puncture needle (82) in pairs.

6. The medical device of claim 5, wherein the penetration control assembly (42) further comprises:

a second slide block (429) which is slidably arranged on the first slide rail (427) and is positioned above the first slide block (423), and one end of the supporting rod (428) is connected to the second slide block (429);

and the second driving piece (430) is arranged on the bracket (426) and can drive the second sliding block (429) to move up and down and reciprocate along the first sliding rail (427).

7. The medical instrument according to claim 3, wherein the depth localization assembly (43) comprises:

the support frame (433) is rotatably connected to the output end of the puncture control assembly (42), and the support frame (433) can rotate relative to the output end of the puncture control assembly (42) by taking the axis of the puncture needle (82) as a central axis and taking a second axis (200) as a central axis;

a guide (431) connected to the support frame (433), wherein the puncture needle (82) can be inserted into the guide (431), and the guide (431) is configured to limit the puncture direction of the puncture needle (82).

8. The medical device as set forth in claim 7, wherein the depth positioning assembly (43) further includes a puncture positioning member (432) provided to the support frame (433), the puncture positioning member (432) being capable of lifting the puncture needle (82) and being capable of reciprocating relative to the support frame (433) in a direction toward or away from the guide (431);

the puncture positioning member (432) is configured to limit a position of the biopsy gun (81) to limit a depth of puncture of the puncture needle (82).

9. The medical instrument of claim 8, wherein the depth localization assembly (43) further comprises:

a third driving member (434) provided with the support frame (433);

the driving wheel (435) is arranged on the supporting frame (433) and is connected to the output end of the third driving piece (434);

a driven wheel (436), wherein the driven wheel (436) is in meshed transmission with the driving wheel (435);

and one end of the screw rod (437) is coaxially connected with the driven wheel (436), the other end of the screw rod is connected to the support frame (433), the puncture positioning piece (432) is in threaded connection with the screw rod (437), and the screw rod (437) rotates to drive the puncture positioning piece (432) to reciprocate in a direction close to or far away from the guide piece (431).

10. The medical instrument of claim 9, wherein the depth localization assembly (43) further comprises:

the third sliding rail (438) is arranged on the supporting frame (433);

the third sliding block (439) is arranged on the third sliding rail (438) in a sliding mode, one end of the puncture positioning piece (432) is in threaded connection with the screw rod (437) through the third sliding block (439), and the other end of the puncture positioning piece extends to the other side of the supporting frame (433) and lifts the puncture needle (82).

11. The medical instrument according to claim 1, wherein the 3D probe module (7) further comprises:

a fourth driver (71) disposed inside the probe housing (73);

the main shaft (74) is connected to the output end of the fourth driving part (71), the ultrasonic transducer (72) is arranged on the main shaft (74), and the fourth driving part (71) can drive the main shaft (74) and the ultrasonic transducer (72) to synchronously rotate relative to the probe shell (73).