CN212521854U

CN212521854U - Medical instrument

Info

Publication number: CN212521854U
Application number: CN202022175635.9U
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: 2020-09-28
Publication date: 2021-02-12
Anticipated expiration: 2030-09-28
Also published as: CN111973236A; CN110786890A

Abstract

The utility model relates to the technical field of medical treatment, and discloses a medical apparatus, which comprises a puncture module, a 3D probe module and an execution module, wherein the 3D probe module can collect and form three-dimensional image information, mark a focus target in the three-dimensional image, and record the space position of the focus target as the target position information of the puncture target; the puncture module can partially penetrate through the execution module, the execution module can extract accurate puncture path and depth according to three-dimensional image information and target position information acquired by the 3D probe module and operation requirements, and the track and the depth of the puncture needle can be accurately controlled through the robot. The medical instrument can be applied to various organs and operation occasions, including but not limited to breast puncture biopsy and treatment, kidney puncture biopsy and treatment, thyroid puncture biopsy and treatment, liver puncture biopsy and treatment, female pelvic floor and uterus puncture biopsy and treatment and the like.

Description

Medical instrument

Technical Field

The utility model relates to the field of medical technology, especially, relate to a medical instrument.

Background

Ultrasound-guided paracentesis is a common minimally invasive procedure that is widely used in biopsy or treatment of various organs, including but not limited to breast, thyroid, liver, kidney, lymph, etc. The puncture operation wound is extremely small, the pain is reduced, the operation risk is reduced, and the recovery is quick. However, the problem that the puncture point and the puncture angle are difficult to determine inevitably exists in the minimally invasive surgery, so that much time is wasted in determining the puncture point and the puncture angle, and the surgery time is prolonged; and manual puncturing requires a high level of experience from the surgeon.

Taking breast cancer biopsy puncture as an example, in the form of traditional 2D ultrasound and equipped with a puncture frame, it is difficult to accurately find the puncture position and puncture a needle to a specified position to obtain living tissue: because the mammary gland is easy to deform, the breast cancer focus is very difficult to find and position by common 2D ultrasound, and the equipment operated by bare hands is very easy to deviate in the puncturing process due to poor stability, so that secondary injury is caused to patients.

Based on the problems existing in the common manual puncture operation, a puncture robot is developed in the prior art, and the puncture operation is carried out through the puncture robot. However, the existing puncture robot has many problems, for example, the puncture robot system cannot be matched with the physiological actions (including breathing and unconscious movement) of the patient, which easily causes the puncture position and puncture angle to deviate, resulting in medical accidents. In addition, the speed of the puncture surgical robot cannot take into account the physical bearing capacity of the patient.

Based on the above problems, a medical instrument is needed to overcome the problems of the existing puncture surgical robot and puncture surgery.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a medical instrument can adapt to the organ and warp, and the position of the required treatment of accurate location mammary gland improves treatment accuracy.

To achieve the purpose, the utility model adopts the following technical proposal:

there is provided a medical device comprising:

a puncture module for puncturing tissue;

the 3D probe module can acquire and form three-dimensional image information, mark a focus target in the three-dimensional image, and record the spatial position of the focus target as target position information of a puncture target;

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 puncture action of the puncture module according to target position information obtained by the 3D probe module.

As a preferred technical solution of the medical apparatus, 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.

As a preferred embodiment of the medical device, the puncture control unit includes:

the connecting rod assembly comprises a first connecting rod and a second connecting rod, one end of the second connecting rod is hinged with one end of the first connecting rod, the other end of the second connecting rod is rotatably connected with a connecting end, the connecting end is connected with the depth positioning assembly, and the second connecting rod is provided with a corner;

the first driving assembly is hinged with the other end of the first connecting rod and is used for driving the other end of the first connecting rod to reciprocate along a first direction;

and the second driving assembly is hinged with the corner of the second connecting rod through a hinge and is used for driving the hinge to reciprocate along a first direction.

As a preferred technical scheme of the medical apparatus, the puncture control assembly further comprises a bracket and a slide rail arranged on the bracket along the first direction;

the first driving assembly comprises a first driving piece arranged on the support and a first sliding block connected to the sliding rail in a sliding mode, the other end of the first connecting rod is hinged to the first sliding block, and the first driving piece can drive the first sliding block to reciprocate along the first direction;

the second driving assembly comprises a second driving piece arranged on the support, a second sliding block connected with the sliding rail in a sliding mode, and a supporting rod connected with the second sliding block in a rigid mode, the hinge is arranged on the supporting rod, and the second driving piece can drive the second sliding block to reciprocate along the first direction.

As a preferred technical scheme of the medical apparatus, the number of the puncture control assemblies is two, the two puncture control assemblies are arranged at intervals along a second direction, the first direction is perpendicular to the second direction, and the two connecting ends of the two puncture control assemblies are respectively a first connecting end and a second connecting end;

one end of the first connecting end is hinged with the second connecting rod, the other end of the first connecting end is hinged with the depth positioning component, and the rotating direction of the first connecting end relative to the second connecting rod is vertical to the rotating direction of the first connecting end relative to the depth positioning component;

the second connecting end is in spherical hinge with the second connecting rod, and the second connecting end is in sliding connection with the depth positioning assembly.

As a preferred aspect of the medical instrument, the depth positioning assembly includes:

the supporting frame is provided with a cylindrical pin and a mounting hole, the first connecting end is provided with a rotating shaft, the rotating shaft is rotatably arranged in the mounting hole, the second connecting end is provided with a through hole, and the cylindrical pin is slidably arranged in the through hole in a penetrating manner;

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

As a preferred technical scheme of the medical apparatus, the depth positioning assembly further comprises a puncture positioning member disposed on the support frame, and the puncture positioning member can lift the puncture module and can reciprocate relative to the support frame in a direction approaching to or departing from the guide member;

the puncture locator is configured to limit a position of the puncture module to limit a depth of puncture of the puncture module.

As a preferred aspect of the medical instrument, the depth positioning assembly further includes:

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.

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 module.

As a preferable technical scheme of the medical apparatus, the execution module further includes a probe fixing bracket disposed below the puncture control assembly, and a mounting seat capable of sliding along the second direction relative to the probe fixing bracket, and the 3D probe module is rigidly connected to the mounting seat.

The utility model has the advantages that: the utility model discloses well 3D probe module can obtain three-dimensional image with the scanning of tissue under relative quiescent state, has guaranteed the accuracy nature of ultrasonic image. Compared with the common 2D ultrasonic image, the three-dimensional image information in the operation provides more information, and the difficulty of diagnosis and focus selection is greatly reduced. And to different organ positions, the utility model provides a multiple optional probe satisfies the needs that three-dimensional image acquireed. 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 utility model discloses in the medical instrument that provides can provide accurate location for the puncture operation, during the targeted therapy, can reduce patient's wound figure. When the needle is used for operations such as radiation particle implantation, cryoneedle treatment, radio frequency ablation needle treatment and the like, the precision requirement required by target treatment can be met, the puncture precision is greatly improved, the operation time is shortened, the operation difficulty is reduced, and more accurate, low-wound, simple and quick operation treatment can be realized.

Drawings

FIG. 1 is a first schematic structural view of a medical device according to the present invention;

fig. 2 is a first schematic structural diagram of the execution module, the puncture module and the 3D probe module (3D linear array probe for body surface) of the present invention;

fig. 3 is a schematic structural diagram of the execution module, the puncture module and the 3D probe module (3D convex array probe module for body surface) of the present invention;

fig. 4 is a third schematic structural diagram of the execution module, the puncture module and the 3D probe module (3D linear array probe for cavity) of the present invention;

fig. 5 is a schematic structural diagram of the execution module, the puncture module and the 3D probe module (3D convex array probe for cavity) of the present invention;

fig. 6 is a schematic structural diagram of an execution module and a puncture module according to the present invention;

fig. 7 is a first schematic structural view of an actuator module of the present invention (with the lancing control assembly in a first position);

fig. 8 is a second schematic structural view of the actuator module of the present invention (with the lancing control assembly in a second position);

fig. 9 is a third schematic structural view of the actuator module of the present invention (with the lancing control assembly in the second position);

fig. 10 is a fourth schematic structural diagram of the execution module of the present invention;

fig. 11 is a schematic view of the depth referencing assembly of the present invention at a first angle;

fig. 12 is a schematic view of the depth referencing assembly of the present invention at a second angle;

FIG. 13 is a second schematic structural view of the medical device of the present invention;

fig. 14 is a schematic diagram of 3D probe imaging modeling and lesion location selection according to the present invention.

In the figure:

100. a first direction; 200. a second direction; 300. a third direction;

1. an operating table; 2. clamping a machine clamp; 3. a movable support;

4. an execution module; 41. a probe fixing bracket; 42. a puncture control assembly; 43. a depth positioning assembly; 44. a mounting seat;

421. a first drive assembly; 422. a second drive assembly; 423. a connecting rod assembly; 424. a support; 425. a slide rail; 426. a first connection end; 4261. a rotating shaft; 427. a second connection end; 4271. a through hole;

4211. a first driving member; 4212. a first lead screw; 4213. a first slider; 4214. a first slider;

4221. a second driving member; 4222. a second lead screw; 4223. a second slider; 4224. a second slider; 4225. a support bar; 4226. a hinge;

4231. a first link; 4232. a second link;

431. a guide member; 432. puncturing a positioning piece; 433. a support frame; 4311. a clamping portion; 4312. a cylindrical pin; 4313. mounting holes; 434. a third driving member; 435. a driving wheel; 436. a driven wheel; 437. a screw rod; 438. fixing a sliding rail; 439. a third slider;

5. a display;

6. a host;

7. a 3D probe module; 70. a housing; 71. a connector;

8. a puncture module;

801. puncture module path in view a; 802. puncture module path in view B; 803. puncture module path in view C; 804. 3D rendering a puncture module path in model view D;

910. breast tissue; 920. puncturing the target; 921. puncture target in view a; 922. puncture target in view B; 923. puncture target in view C; 924. the puncture targets in model view D are 3D rendered.

Detailed Description

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying 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, as 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 accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to 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", etc. indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description of the present invention and simplification of description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, 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, and may be, for example, fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. 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 the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

Taking the puncture and biopsy of breast cancer as an example, the conventional 2D image is difficult to show the breast appearance and search for the lesion site needing biopsy, and the instability of the handheld device causes the tissue deformation, which makes the positioning more difficult, making it very difficult for the puncture needle to reach the target lesion site.

As shown in fig. 1 to 14, the medical device includes an execution module 4, a puncture module 8, and a 3D probe module 7. When the medical instrument is used, the medical instrument is arranged on the movable support 3, and specifically, one end of the movable support 3 is arranged on the bed clamping fixture 2 of the operating table 1. As shown in fig. 1, one end of the movable support 3 is disposed on the operating table 1, and the movable support 3 can be adjusted in position and direction relative to X, Y and the Z direction to adjust the medical device thereon to a proper position.

More specifically, the execution module 4 is connected to the other end of the movable bracket 3 in this embodiment. As shown in fig. 2-5, the puncture module 8 is configured to puncture a breast lesion. The 3D probe module 7 is configured to be able to acquire and form three-dimensional image information, and to be able to mark a lesion target in the three-dimensional image, and to be able to record a spatial position of the lesion target as target position information of the puncture target. Wherein, the breast lesion is a puncture target, a three-dimensional image of a part of the breast including the breast lesion and a tissue within a preset range around the breast lesion can be formed through the 3D probe module 7, and a target position of the breast lesion can be recorded through the 3D probe module 7. 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 three-dimensional image information acquired 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 a three-dimensional 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 herein again.

As shown in fig. 13 and 14, the three-dimensional image will be presented on the display 5 by three mutually perpendicular plan views a, B and C and a 3D rendered model view D. Wherein each view can present a portion of the breast tissue 910, the portion of the breast tissue 910 including the puncture target 920 and a portion of the tissue surrounding the puncture target 920. The puncture target 920 can be shown through four views, namely a puncture target 921 in view a, a puncture target 922 in view B, a puncture target 923 in view C, and a puncture target 924 in the 3D rendering model view D. The theoretical trajectory of the puncture module 8 is also shown by four views, which are the puncture module path 801 in view a, the puncture module path 802 in view B, the puncture module path 803 in view C, and the puncture module path 804 in 3D rendering model view D. During the insertion of the puncture module 8 into the breast tissue 910, the user can confirm whether the puncture module 8 reaches the predetermined position according to the predetermined trajectory by comparing the actual trajectory thereof in the ultrasound image with the theoretical trajectory.

It should be noted that the medical device provided in this embodiment can be used for puncturing and biopsy of not only the breast, but also the thyroid, liver, kidney, lymph, vagina, uterus, etc. It will be appreciated that the shape of the 3D probe module 7 may vary when used to detect different organs. As shown in fig. 2 and 3, a 3D probe module 7 for detecting a breast or other parts of a body surface is exemplarily shown, specifically, the 3D probe module 7 shown in fig. 2 is a 3D linear array probe, and the 3D probe module 7 shown in fig. 3 is a 3D convex array probe. As shown in fig. 4 and 5, a 3D probe module 7 for detecting cavities such as rectum and vagina is exemplarily shown, specifically, the 3D probe module 7 shown in fig. 4 is a 3D linear array probe, and the 3D probe module 7 shown in fig. 5 is a 3D convex array probe.

In the embodiment, the medical apparatus and instruments on the movable support 3 are adjusted to be in proper positions, the host 6 controls each module to puncture the mammary gland of the patient, the 3D probe module 7 is arranged on the surface of the skin of the mammary gland, the mammary gland is scanned after the positions are adjusted, and the position, the direction and the depth of the mammary gland penetrated by the puncture module 8 can be detected in the process of puncturing.

In the conventional detection, in the scanning detection process, after the mammary gland is stimulated by the 3D probe module 7, the tissue is easy to deform. Therefore, in the detection process of the 3D probe module 7 in the embodiment, after the position is fixed, there is no movement or rotation, so that it is ensured 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 needle is used for operations such as radiation particle implantation, cryoneedle treatment, radio frequency ablation needle treatment and the like, the precision requirement required by target treatment can be met, the puncture precision is greatly improved, the operation time is shortened, the operation difficulty is reduced, and more accurate, low-wound, simple and quick operation treatment can be realized.

As shown in fig. 2 to 6, the puncture module 8 includes, but is not limited to, a general puncture needle, a puncture biopsy needle, a radio frequency ablation needle, a cryoneedle, a radioactive particle implantation needle, and other minimally invasive surgical instruments. Specifically, the puncture module 8 is inserted into a part of the tissue which is slender and shaped like a puncture needle, the front end is provided with a treatment device, and a channel can be established for other instruments to be inserted by inserting the treatment device into the tissue, or peripheral tissue cells are killed by radioactive substances, or peripheral tissue cells are killed by ablation in the form of input energy so as to perform treatment.

As shown in fig. 6, 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 puncturing position and the puncturing direction of 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.

As shown in fig. 7 to 10, the puncture control assembly 42 includes a connecting rod assembly 423, a first driving assembly 421 and a second driving assembly 422, the connecting rod assembly 423 includes a first connecting rod 4231 and a second connecting rod 4232, one end of the second connecting rod 4232 is hinged to one end of the first connecting rod 4231, the other end of the second connecting rod 4232 is rotatably connected with a connecting end, the connecting end is connected with the depth positioning assembly 43, and the second connecting rod 4232 has a corner. And a first driving assembly 421 hinged to the other end of the first link 4231 and configured to drive the other end of the first link 4231 to reciprocate along the first direction 100, a second driving assembly 422 hinged to a corner of the second link 4232 through a hinge 4226, and the second driving assembly 422 configured to drive the hinge 4226 to reciprocate along the first direction 100. The hinge 4226 provides support for the link assembly 423, and during the movement of the link assembly 423, the hinge 4226 also provides a center of rotation for the second link 4232 of the link assembly 423, and the movement track of the link assembly 423 can be adjusted by driving the first link 4231 to reciprocate along the first direction 100 through the first driving assembly 421, and driving the hinge 4226 to reciprocate along the first direction 100 through the second driving assembly 422, thereby adjusting the position of the depth positioning assembly 43. In this embodiment, the second link 4232 is L-shaped. The first direction 100 is a vertical direction.

Optionally, the first driving assembly 421 includes a first driving member 4211 disposed on the bracket 424 and a first sliding block 4213 slidably connected to the sliding rail 425, the other end of the first link 4231 is hinged to the first sliding block 4213, the first driving member 4211 can drive the first sliding block 4213 to reciprocate along the first direction 100, so as to drive the end of the first link 4231 to move, and the first link 4231 can further drive the second link 4232 to rotate around the hinge 4226, so that the second link 4232 drives the depth positioning assembly 43 to move. The second driving assembly 422 includes a second driving member 4221 disposed on the bracket 424, a second sliding block 4223 slidably connected to the sliding rail 425, and a supporting rod 4225 rigidly connected to the second sliding block 4223, wherein a hinge 4226 is disposed on the supporting rod 4225, the second driving member 4221 can drive the second sliding block 4223 to reciprocate along the first direction 100, so that the second sliding block 4223 drives the supporting rod 4225 and the hinge 4226 on the supporting rod 4225 to move along the vertical direction, the second connecting rod 4232 can rotate relative to the first connecting rod 4231, and the position of the depth positioning assembly 43 can also be adjusted.

Specifically, in this embodiment, the first driving assembly 421 further includes a first lead screw 4212 rotatably disposed on the support 424, and a first sliding block 4214 screwed to the first lead screw 4212, the first sliding block 4214 is rigidly connected to the first sliding block 4213, the first lead screw 4212 extends in the vertical direction, the first driving member 4211 is a first motor, the first motor drives the first lead screw 4212 to rotate, and then drives the first sliding block 4214 to lift in the vertical direction, the first sliding block 4214 drives the first sliding block 4213 to lift in the vertical direction relative to the sliding rail 425, so as to control the position of the first link 4231. In other embodiments, the first driving assembly 421 may further include an electric push rod, a first air cylinder or a first oil cylinder, and the output shaft of the first driving member 4211 is connected to the first sliding block 4213, and can also drive the first sliding block 4213 to move in the vertical direction.

In this embodiment, the second driving assembly 422 further includes a second lead screw 4222 rotatably disposed on the support 424, and a second sliding block 4224 screwed to the second lead screw 4222, the second sliding block 4224 is rigidly connected to the second sliding block 4223, the second lead screw 4222 extends in the vertical direction, the second driving member 4221 is a second motor, the second motor drives the second lead screw 4222 to rotate, and further drives the second sliding block 4224 to lift in the vertical direction, the second sliding block 4224 drives the second sliding block 4223 to lift in the vertical direction relative to the sliding rail 425, so as to control the rotation angle position of the second connecting rod 4232. In other embodiments, the second driving assembly 422 may further include an electric push rod, a second air cylinder or a second oil cylinder, and the output shaft of the second driving member 4221 is connected to the second slider 4223, so as to drive the second slider 4223 to move in the vertical direction.

In summary, the link assembly 423 is driven by the synchronous movement of the first slider 4213 and the second slider 4223, the support rod 4225 moves linearly along the first direction 100, and the relative movement of the first slider 4213 and the second slider 4223 drives the second link 4232 to rotate to generate an arc-shaped movement around the axis of the second direction 200, so that in combination with the two movements, the second link 4232 can drive the depth positioning assembly 43 to traverse through each point in the vertical plane within a certain range, thereby adjusting the position and direction of the depth positioning assembly 43.

Alternatively, the number of penetration control assemblies 42 is two, with two penetration control assemblies 42 spaced apart along the second direction 200. In this embodiment, the second direction 200 is a left-right direction, and the third direction 300 is a front-back direction. The first direction 100, the second direction 200 and the third direction 300 are perpendicular two by two. As shown in fig. 6 to 8, the two puncturing control assemblies 42 are respectively a front puncturing control assembly located on the left side and a rear puncturing control assembly located on the right side, the front puncturing control assembly and the rear puncturing control assembly are both disposed at the other end of the movable support 3, and the front puncturing control assembly and the rear puncturing control assembly can cooperate to adjust the position and the direction of the depth positioning assembly 43, so as to adjust the position and the direction of puncturing by the puncturing module 8. So configured, the two puncturing control assemblies 42 can ensure the stability when adjusting the depth positioning assembly 43, thereby ensuring the stability of the puncturing direction and position of the puncturing module 8. Specifically, in this embodiment, forward penetration control assembly holder 424 and rearward penetration control assembly holder 424 are integrally disposed or fixedly attached. The first slider 4213 and the second slider 4223 of the front puncture control assembly and the rear puncture control assembly are arranged on the outer side of the slide rail 425 and are symmetrically arranged. When the connecting rod assembly 423 of the front puncture control assembly and the connecting rod assembly 423 of the rear puncture control assembly drive the depth positioning assembly 43 to act, the action amplitude of the two connecting rod assemblies 423 is different, and the direction of the puncture module 8 can be adjusted. It should be noted that in other embodiments, the number of penetration control assemblies 42 can be set to one.

The connecting end of the front puncture control assembly is a first connecting end 426, and the connecting end of the rear puncture control assembly is a second connecting end 427; one end of the first connection end 426 is hinged to the second link 4232, the other end of the first connection end 426 is hinged to the depth positioning component 43, the rotation direction of the first connection end 426 relative to the second link 4232 is perpendicular to the rotation direction of the first connection end 426 relative to the depth positioning component 43, the second connection end 427 is hinged to the spherical surface of the second link 4232, and the second connection end 427 is connected with the depth positioning component 43 in a sliding mode. Thus, the first connecting end 426 has two degrees of freedom, and the second connecting end 427 has four degrees of freedom, so that the spatial positions of the two connecting ends can be adjusted by controlling the two puncture control assemblies 42 respectively, thereby realizing the adjustment of the position and the direction of the depth positioning assembly 43.

Specifically, the depth positioning assembly 43 includes a support frame 433 and a guide 431, the support frame 433 is provided with a cylindrical pin 4312 and a mounting hole 4313, the first connection end 426 is provided with a rotation shaft 4261, the rotation shaft 4261 is rotatably disposed in the mounting hole 4313, the second connection end 427 is provided with a through hole 4271, and the cylindrical pin 4312 is slidably disposed through the through hole 4271. The guide 431 is connected to the support frame 433, the puncture module 8 can be inserted through the guide 431, and the guide 431 is configured to limit the puncture direction of the puncture module 8. The extreme position of penetration of the puncture module 8 into the guide 431 is the actual puncture position of the puncture module 8.

As shown in fig. 11 and 12, the depth positioning assembly 43 further includes a piercing positioning member 432 provided to the support frame 433, the piercing positioning member 432 being capable of reciprocating relative to the support 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 by the piercing module 8. 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 precision of the piercing positioning element 432, the depth positioning assembly 43 further comprises a fixed slide rail 438 and a third slide block 439. The fixed slide rail 438 is horizontally disposed on the support frame 433, and is located on the same side of the support frame 433 as the driving wheel 435. The third sliding block 439 is slidably disposed on the fixed sliding rail 438, one end of the puncturing positioning part 432 is connected to the screw rod 437 through the third sliding block 439, and the other end extends to the other side of the supporting frame 433 and lifts the puncturing module 8. In order to ensure the stable support of the puncture module 8, a clamping portion 4331 for clamping the puncture module 8 is further provided on the supporting frame 433.

The puncturing depth of the puncturing module 8 is controlled by the puncturing positioning member 432.

As shown in fig. 6 and 9, the actuator module 4 further includes a probe fixing bracket 41, the probe fixing bracket 41 is located below the puncture control unit 42, and the probe fixing bracket 41 is fixed to the bracket 424. The probe fixing bracket 41 is provided with a mounting seat 44 capable of relatively sliding along the second direction 200 relative to the probe fixing bracket 41, and the 3D probe module 7 is rigidly connected to the mounting seat 44, so that the relative positions of the 3D probe module 7 and the puncture control assembly 42 can be adjusted and adjusted along the front-back direction. Specifically, as shown in fig. 2 to 5, the housing 70 of the 3D probe module 7 is connected with the mounting seat 44 through a mating connector 71, wherein the specific structure of the connector 71 can be set according to actual needs. The mounting base 44 may be driven by a screw nut mechanism, an electric push rod, or the like to move forward and backward, wherein the screw nut mechanism, the electric push rod, or the like may be mounted on the probe fixing bracket 41 or may be mounted on the 3D probe module 7.

It is obvious that the above embodiments of the present invention are only 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;

the 3D probe module (7) can acquire and form three-dimensional image information, mark a focus target in the three-dimensional image, and record the spatial position of the focus target as target position information of a puncture target;

the puncture module (8) can partially penetrate through the execution module (4), and the execution module (4) can control the position, direction and depth of the puncture action of the puncture module (8) according to the target position information 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 of claim 2, wherein the penetration control assembly (42) comprises:

a connecting rod assembly (423), wherein the connecting rod assembly (423) comprises a first connecting rod (4231) and a second connecting rod (4232), one end of the second connecting rod (4232) is hinged with one end of the first connecting rod (4231), the other end of the second connecting rod (4232) is rotatably connected with a connecting end, the connecting end is connected with the depth positioning assembly (43), and the second connecting rod (4232) has a corner;

a first driving assembly (421) hinged with the other end of the first connecting rod (4231) and used for driving the other end of the first connecting rod (4231) to reciprocate along a first direction (100);

a second driving assembly (422) hinged with the corner of the second link (4232) through a hinge (4226), and the second driving assembly (422) is used for driving the hinge (4226) to reciprocate along the first direction (100).

4. The medical device of claim 3, wherein the penetration control assembly (42) further comprises a bracket (424) and a slide track (425) disposed to the bracket (424) along the first direction (100);

the first driving assembly (421) comprises a first driving part (4211) arranged on the bracket (424) and a first sliding block (4213) connected to the sliding rail (425) in a sliding manner, the other end of the first connecting rod (4231) is hinged to the first sliding block (4213), and the first driving part (4211) can drive the first sliding block (4213) to reciprocate along the first direction (100);

the second driving assembly (422) comprises a second driving part (4221) arranged on the support (424), a second sliding block (4223) connected with the sliding rail (425) in a sliding mode, and a supporting rod (4225) rigidly connected with the second sliding block (4223), the hinge (4226) is arranged on the supporting rod (4225), and the second driving part (4221) can drive the second sliding block (4223) to reciprocate along the first direction (100).

5. The medical device according to claim 3, wherein said penetration control assemblies (42) are two in number, two of said penetration control assemblies (42) are arranged at intervals along a second direction (200), said first direction (100) is perpendicular to said second direction (200), and two of said connection ends of two of said penetration control assemblies (42) are a first connection end (426) and a second connection end (427), respectively;

one end of the first connecting end (426) is hinged to the second connecting rod (4232), the other end of the first connecting end is hinged to the depth positioning component (43), and the rotating direction of the first connecting end (426) relative to the second connecting rod (4232) is perpendicular to the rotating direction of the first connecting end (426) relative to the depth positioning component (43);

the second link end (427) is ball-hinged to the second link (4232), and the second link end (427) is slidably connected to the depth positioning assembly (43).

6. The medical instrument according to claim 5, wherein the depth localization assembly (43) comprises:

the supporting frame (433) is provided with a cylindrical pin (4312) and a mounting hole (4313), the first connecting end (426) is provided with a rotating shaft (4261), the rotating shaft (4261) is rotatably arranged in the mounting hole (4313), the second connecting end (427) is provided with a through hole (4271), and the cylindrical pin (4312) is slidably arranged in the through hole (4271);

a guide (431) connected to the support frame (433), the puncture module (8) being capable of being inserted through the guide (431), the guide (431) being configured to limit a puncture direction of the puncture module (8).

7. The medical device according to claim 6, wherein the depth positioning assembly (43) further comprises a puncturing positioning member (432) provided to the support frame (433), wherein the puncturing positioning member (432) can lift the puncturing module (8) and can reciprocate in a direction to approach or separate from the guide (431) with respect to the support frame (433);

the piercing positioner (432) is configured to limit the position of the piercing module (8) to limit the depth of piercing by the piercing module (8).

8. The medical instrument of claim 7, 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).

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

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

the third sliding block (439) is arranged on the fixed 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 module (8).

10. The medical device according to any one of claims 4 to 9, wherein the execution module (4) further comprises a probe fixation support (41) arranged below the puncture control assembly (42), and a mount (44) slidable in a second direction (200) relative to the probe fixation support (41), the 3D probe module (7) being rigidly connected to the mount (44).