WO2020133140A1

WO2020133140A1 - Ultrasound-guided puncture device and system

Info

Publication number: WO2020133140A1
Application number: PCT/CN2018/124622
Authority: WO
Inventors: 黄明进; 宫明晶; 赵明昌; 莫若理
Original assignee: 无锡祥生医疗科技股份有限公司
Priority date: 2018-12-25
Filing date: 2018-12-28
Publication date: 2020-07-02
Also published as: CN111358534A

Abstract

An ultrasound-guided puncture device and an ultrasound-guided puncture system, the ultrasound-guided puncture device comprising: an ultrasound probe module (100), the ultrasound probe module (100) may be communicatingly connected to a host module (300) and is used for detecting a puncture target and sending a detected ultrasound signal of the puncture target to the host module (300); a puncture control module (500), the puncture control module (500) may be communicatingly connected to the host module (300) and is used to form a puncture control signal according to position information of the puncture target that is obtained after the host module (300) processes the ultrasound signal; and a puncture module (200), the puncture module (200) being electrically connected to the puncture control module (500) and being used to automatically puncture the puncture target according to the puncture control signal. The described ultrasound-guided puncture device may improve puncture efficiency and puncture accuracy.

Description

Ultrasound guided puncture device and system

Technical field

The invention relates to the technical field of ultrasound equipment, in particular to an ultrasound guided puncture device and an ultrasound guided puncture system including the ultrasound guided puncture device.

Background technique

At present, the application of ultrasound equipment in clinical diagnosis and treatment has been very popular, and it has made great contributions to doctors accurately understanding the patient's condition, formulating medical plans, and adjuvant treatment.

At present, ultrasound has been widely used for puncture guidance. However, after the probe is manually scanned by the ultrasound probe on the surface of the tissue to be tested, the ultrasound image is manually used to determine the depth of blood vessels and other tissues, and then the manual puncture is performed. This requires three manual judgment operations, such as how to perform a quick ultrasound probe scan of the effective area, how to determine the depth of blood vessels and other tissues on the ultrasound image, and how to select a suitable puncture position and puncture angle for puncture.

However, the phenomenon of inaccurate puncture target recognition and inaccurate positioning may exist through manual participation, and three manual judgment operations result in a longer puncture time and affect the puncture efficiency.

Therefore, how to provide puncture efficiency and puncture accuracy has become an urgent technical problem to be solved by those skilled in the art.

Summary of the invention

The present invention aims to solve at least one of the technical problems in the prior art, and provides an ultrasonic guided puncture device and an ultrasonic guided puncture system including the ultrasonic guided puncture device to solve the problems in the prior art.

As a first aspect of the present invention, an ultrasound guided puncture device is provided, wherein the ultrasound guided puncture device includes:

An ultrasonic probe module, the ultrasonic probe module is capable of communicating with the host module for detecting a puncture target, and sending the ultrasonic signal of the detected puncture target to the host module;

A puncture control module, the puncture control module can be communicatively connected with a host module, and is used to form a puncture control signal according to the position information of the puncture target obtained after the host module processes the ultrasonic signal;

The puncture module is electrically connected to the puncture control module, and is used to automatically puncture the puncture target according to the puncture control signal.

Preferably, the ultrasonic probe module includes a probe housing and a detection module provided at one end of the probe housing, the detection module can be communicatively connected with the host module for detecting a puncture target and detecting The received ultrasonic signal of the puncture target is sent to the host module.

Preferably, the puncture module includes: a first motor, a second motor, a clamping module and a connecting bracket, the connecting bracket is respectively connected to the fixed end of the first motor and the output end of the second motor, The clamping module is provided at the output end of the first motor. The output end of the first motor can drive the clamping module to reciprocate linearly along the first direction. The output end of the second motor can The connecting bracket is driven to reciprocate linearly along the second direction, and then the first motor and the clamping module are caused to reciprocate linearly along the second direction.

Preferably, the first direction is perpendicular to the support plane, and the second direction is at an angle a to the support plane.

Preferably, the value of the included angle a ranges from 10° to 70°.

Preferably, the puncture module further includes a first slide rail and a second slide rail, the second slide rail is disposed on the connecting bracket and used for reciprocating linear movement of the first motor in a first direction A sliding track is provided, and the first sliding track is provided on the probe housing, and is used to provide a sliding track for the reciprocating linear movement of the second motor in the second direction.

Preferably, the clamping module includes a clamping piece and a clamping screw, the clamping piece is provided at the output end of the first motor, the clamping piece is provided with a threaded through hole, the clamping A locking screw is arranged in the threaded through hole, the clamping piece is used for clamping a puncture needle, and the clamping lock screw is used for adjusting the clamping force of the clamping piece.

Preferably, the ultrasonic guided puncture device further includes a bracket module, and the bracket module is used to support the ultrasonic probe module, the puncture control module, and the puncture module.

Preferably, the bracket module includes a base, a first movable part and a second movable part, a support plane is formed on an upper surface of the base, a slide groove is provided on the support plane, and one end of the first movable part is provided In the sliding groove, one end of the second movable part is provided with a first through hole, and the other end is provided with a second through hole, and the first through hole is sleeved on the other end of the first movable part, The second through hole is sleeved on the other end of the probe housing, the first movable portion can slide in the sliding groove, and the first movable portion can drive the second movable portion along The direction of the support plane moves.

Preferably, the second movable part includes a fixing piece and a rotation locking screw, and the fixing piece and the rotation locking screw are both provided on the second through hole, and the fixing piece is used to fix the probe The housing, the rotary locking screw is used to lock the probe housing.

Preferably, the bracket module further includes a spacer, and the spacer is disposed between the probe housing and the second movable portion.

Preferably, the bracket module includes a base, a height position adjustment mechanism, a horizontal position adjustment mechanism, and a connection mechanism. The upper surface of the base forms a support plane, and the height position adjustment mechanism is vertically disposed on the support plane. The connection mechanism is provided at the mobile end of the height position adjustment mechanism, the fixed end of the horizontal position adjustment mechanism is connected to the connection mechanism, and the mobile end of the horizontal position adjustment mechanism is connected to the ultrasound probe module, the The height position adjustment mechanism can drive the connection mechanism to move in a direction perpendicular to the support plane, and the horizontal position adjustment mechanism can drive the ultrasound probe module to move in a direction parallel to the support plane. .

As a second aspect of the present invention, an ultrasound-guided puncture system is provided, wherein the ultrasound-guided puncture system includes a host module and the ultrasound-guided puncture device described above, the host module and the ultrasound guide respectively The ultrasound probe module and the puncture control module in the puncture device are in communication connection. The host module can perform image processing on the ultrasound signal of the puncture target detected by the ultrasound probe module to obtain the position information of the puncture target, so that the ultrasound The puncture control module guiding the puncture device can control the puncture module to automatically puncture the puncture target according to the position information of the puncture target.

Preferably, the ultrasound probe module and the host module are integrated.

Preferably, the puncture control module and the host module are integrated.

The ultrasonic guided puncture device provided by the present invention detects the puncture target through the ultrasonic probe module and forms an ultrasonic signal and sends it to the host module. After the host module processes the ultrasonic signal, the position information of the puncture target is extracted and sent to the puncture control module The puncture control module forms a control signal according to the position information of the puncture target to control the puncture module to automatically puncture the puncture target. The ultrasound guided puncture device provided by the present invention can realize accurate recognition and positioning of the puncture target, and the puncture process can be automatically realized. It reduces the uncertainty and inaccuracy of the operation, thereby improving the puncture efficiency of the use place with a higher puncture frequency.

BRIEF DESCRIPTION

The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification, together with the following specific embodiments to explain the present invention, but do not constitute a limitation of the present invention. In the drawings:

FIG. 1 is a schematic structural diagram of an ultrasound guided puncture device and system provided by the present invention.

2 is a schematic diagram of the operation of the ultrasound guided puncture device provided by the present invention.

FIG. 3 is a schematic diagram of a state of a non-penetrated puncture target of the ultrasound guided puncture device provided by the present invention.

FIG. 4 is a schematic diagram of the state of the puncture target of the ultrasound guided puncture device provided by the present invention.

5 is a schematic diagram of an intermediate state between the two states of FIGS. 3 and 4.

6 is a schematic structural diagram of an embodiment of a bracket module provided by the present invention.

7 is a schematic diagram of the rotary assembly structure of the ultrasonic probe module and the bracket module provided by the present invention.

8 is a schematic structural diagram of an embodiment of a clamping module provided by the present invention.

9 is a schematic structural diagram of another embodiment of a bracket module provided by the present invention.

10 is a schematic structural diagram of a specific embodiment of a puncture module provided by the present invention.

11 is a schematic structural diagram of another embodiment of a clamping module provided by the present invention.

FIG. 12 is a schematic structural view of the ultrasonic guided puncture device provided by the present invention using the clamping module shown in FIG. 11.

13 is a schematic structural diagram of a protective shell provided by the present invention.

14 is a schematic view of the installation of the protective shell provided by the present invention.

15 is a schematic structural diagram of another embodiment of a bracket module provided by the present invention.

16 is a schematic diagram of installation of a bracket module and an ultrasound probe module provided by the invention.

17 is a schematic diagram of the installation positions of the ultrasound probe module and the puncture module provided by the invention.

FIG. 18 is a schematic diagram of installation positions of another embodiment of an ultrasound probe module and a puncture module provided by the invention.

detailed description

The specific embodiments of the present invention will be described in detail below with reference to the drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

As a first aspect of the present invention, an ultrasound-guided puncture device is provided, wherein, as shown in FIG. 1, the ultrasound-guided puncture device includes:

An ultrasound probe module 100, which can be connected to the host module 300 in communication, is used to detect a puncture target, and sends an ultrasonic signal of the detected puncture target to the host module 300;

The puncture control module 500, which can be connected to the host module 300 in communication, is used to form a puncture control signal according to the position information of the puncture target obtained after the host module 300 processes the ultrasonic signal;

The puncture module 200 is electrically connected to the puncture control module 500 and is used to automatically puncture the puncture target according to the puncture control signal.

Specifically, as shown in FIG. 3, the ultrasonic probe module 100 includes a probe housing 120 and a detection module 110 disposed at one end of the probe housing 120. The detection module 110 can be connected to the host module 300 The communication connection is used to detect the puncture target and send the ultrasonic signal of the detected puncture target to the host module 300.

Specifically, as shown in FIGS. 3, 4 and 10, the puncture module 200 includes: a first motor 210, a second motor 220, a clamping module 230 and a connecting bracket 240, the connecting bracket 240 is respectively The fixed end of the first motor 210 is connected to the output end of the second motor 220, the clamping module 230 is disposed at the output end of the first motor 210, and the output end of the first motor 210 can drive The clamping module 230 reciprocates linearly along the first direction, and the output end of the second motor 220 can drive the connecting bracket to reciprocate linearly along the second direction, thereby driving the first motor 210 and the The clamping module 230 reciprocates linearly along the second direction.

Further specifically, the first direction is perpendicular to the support plane, and the second direction is at an angle a to the support plane.

Preferably, the value of the included angle a ranges from 10° to 70°.

It should be noted that the support plane is the plane indicated by P shown in FIGS. 3 to 5, that is, the upper surface of the base. The connecting bracket 240 is fixedly connected to the fixed end of the first motor 210 and the output end of the second motor 220 respectively, and the clamping module 230 is fixedly connected to the output end of the first motor 210, and the output end of the first motor 210 can drive the clamping The module 230 performs a reciprocating linear motion in the M1 direction. The output end of the second motor 220 can drive the module composed of the connecting bracket 240, the first motor 210, and the clamping module 230 to perform a reciprocating linear motion in the Z2 direction. The Z2 direction is perpendicular to P, and the M1 direction is at an angle a with P. The value of a ranges from 10° to 70°, with 15°, 20°, 30°, 45°, and 60° being preferred. The angle a shown in FIGS. 3 and 4 is 20°.

It should be understood that the first motor 210 can adjust the puncture depth, and the second motor 220 can realize the needle insertion process. In this way, through a simple combination of the two motors, the puncture target detected by the detection module 110 can be accurately achieved puncture.

In addition, when the purpose of use is different, the corresponding goal can be achieved by adjusting the value of the stroke and the angle a of the motor.

It should also be noted that the first motor 210 and the second motor 220 may specifically be linear propulsion motors. Compared with traditional motors, the use of linear propulsion motors, because the output end of the transmission motor is rotary motion, needs to be converted into linear motion by screws, etc. The advantage of linear propulsion motors is that the output end of the motor directly performs linear propulsion motion, reducing assembly parts and assembly error.

In order to realize the movement of the first motor 210 and the second motor 220, the puncture module further includes a first slide rail 250 and a second slide rail 260, the second slide rail 260 is disposed on the connecting bracket 240, used In order to provide a sliding track for the reciprocating linear movement of the first motor 210 along the first direction, the first sliding rail 250 is disposed on the probe housing 120 and is used for the second motor 220 along the second direction Provide reciprocating linear motion to provide sliding track.

It should be understood that the first slide rail 250 is disposed on the probe housing 120, and the second motor 220 can reciprocate linearly along the second direction on the first slide rail 250, and the second slide rail 260 Set on the connecting bracket 240, the first motor 210 can reciprocate linearly along the first direction on the second slide rail 260.

The first motor 210 and the second motor 220 of the present invention may also be rotating electrical machines. The output shaft of the rotating electrical machine is provided with external threads, and the connection between the output shaft of the rotating electrical machine and the connecting bracket 240 is provided with screw holes matching the external threads. Ordinary rotating shaft motors can also be used, and the motor shaft and the screw rod are matched to achieve the motor effect of this embodiment.

It should be noted that the use of the first slide rail 250 and the second slide rail 260 can increase the stability of the movement and improve the accuracy of the movement.

As a specific embodiment of the clamping module 230, as shown in FIG. 8, the clamping module 230 includes a clamping member 231 and a clamping locking screw 232, and the clamping member 231 is disposed on the first At the output end of a motor 210, a threaded through hole is provided in the clamping member 231, the clamping locking screw 232 is provided in the threaded through hole, the clamping member 231 is used to clamp the puncture needle 270, The clamping locking screw 232 is used to adjust the clamping force of the clamping piece 231.

Specifically, the clamping module 230 can clamp the puncture needle, and the clamping needle can be replaced. According to different puncture positions and puncture purposes, puncture needles can be of many different types. Different clamping structures may be designed for different puncture needles. In this embodiment, the clamping member 231 is provided with a threaded through hole, and the clamping locking screw 232 passes through the threaded hole to press and lock the puncture needle 270.

As another specific embodiment of the clamping module 230, as shown in FIGS. 11 and 12, the clamping module 230 includes a fixing portion 233, a rod portion 234, and a clamping portion 235, and the fixing portion 233 Connected to the output end of the first motor 210, one end of the rod portion 234 is connected to the fixing portion 233, and the other end of the rod portion 234 is connected to the clamping portion 235, which can be realized Hold the puncture needle.

On the basis of the above embodiment of the clamping module 230, in order to ensure the safety of use of the puncture module 200, as shown in FIGS. 13 and 14, the ultrasonic guided puncture device further includes a protective housing 600, which protects The housing 600 is fixedly connected to the probe housing 120 so as to set the puncture module 200 in the protective housing 600. In addition, in order to realize the normal use of the puncture module 200, the protective housing 600 is provided with a puncture hole 610, and the puncture needle can extend out of the protective housing 600 through the puncture hole 610.

It should be noted that the shape of the puncture hole 610 may be determined according to the cross-sectional shape of the rod portion of the clamping module 230 and the distance moved up and down, and may be rectangular, waist-shaped, etc., and may be specifically set according to requirements. A flexible shielding structure may be provided on the puncture hole 610 to prevent dust.

Specifically, as shown in FIGS. 1 and 2, in order to support the puncture module and the ultrasound probe module, the ultrasound guided puncture device further includes a support module 400, and the support module 400 is used to support the The ultrasound probe module 100, the puncture control module 500 and the puncture module 200.

As a first specific embodiment of the bracket module, as shown in FIG. 6, the bracket module 400 includes a base 410, a first movable portion 420 and a second movable portion 430, and the upper surface of the base 410 A support plane is formed, the support plane is provided with a sliding groove 411, one end of the first movable portion 420 is provided in the sliding groove 411, and one end of the second movable portion 430 is provided with a first through hole 434, The other end is provided with a second through hole 435, the first through hole 431 is sleeved on the other end of the first movable portion 420, and the second through hole 435 is sleeved on the other end of the probe housing 120 The first movable portion 420 can slide in the sliding groove 411, and the first movable portion 420 can drive the second movable portion 430 to move in a direction perpendicular to the support plane.

It should be understood that, as shown in FIGS. 2 and 6, by providing the first movable portion 420 and the second movable portion 430, the ultrasound probe module 100 and the puncture module 200 can be moved in the Z1 direction and the Y1 direction. For example, when the first movable portion 420 slides in the sliding groove 411, it can drive the ultrasound probe module 100 and the puncture module 200 to move in the Y1 direction, and when the second movable portion 430 is sleeved on the first movable portion When the first through hole 434 on the 420 moves along the axial direction of the first movable portion (that is, the direction perpendicular to the support plane), the probe module 100 and the puncture module 200 can be driven in the Z1 direction movement.

It should also be noted that the ultrasound probe module 100 can rotate around its own center, for example, in the R1 direction shown in FIG. 2. Specifically, the ultrasound probe module 100 can be manually adjusted to rotate, or the motor can be used to control the ultrasound probe module 100 Automatic rotation, the specific implementation mode can be selected according to requirements, and is not limited here.

Further specifically, as shown in FIG. 7, the second movable portion 430 includes a fixing piece 432, and the fixing piece 432 is disposed on the second through hole 435 for fixing the probe housing 120.

More specifically, as shown in FIG. 7, the bracket module 400 further includes a spacer 433, and the spacer 433 is disposed between the probe housing 120 and the second movable portion 430.

Further specifically, as shown in FIG. 6, the second movable member 430 further includes a rotation locking screw 431, and the rotation locking screw 431 is disposed on the second through hole 435 for locking the probe壳120。 The housing 120.

As shown in FIGS. 6 and 7, a circular second through hole 435 is provided on the second movable portion 430, the upper end of the probe housing 120 is provided in a cylindrical shape, and a circular second through hole installed on the second movable portion 430 The hole 435 is fixed by a fixing piece 432, and a spacer 433 is provided between the probe housing 120 and the second movable portion 430, and the spacer 433 may be provided as a material or structure with a certain deformability, such as a spring piece or a deformable plastic Wait.

FIG. 2 illustrates a structure in which the bracket module 400 realizes movement in two directions. Of course, it can also be configured to achieve movement in three directions according to requirements.

As a second specific embodiment of the bracket module 400, as shown in FIG. 9, the bracket module 400 includes a base 410, a height position adjustment mechanism 440, a horizontal position adjustment mechanism 450, and a connection mechanism 460. A support plane is formed on the upper surface of the base 410, the height position adjustment mechanism 440 is vertically arranged on the support plane, the connection mechanism 460 is provided on the moving end of the height position adjustment mechanism 440, and the horizontal position adjustment mechanism 450 The fixed end is connected to the connection mechanism 460, the moving end of the horizontal position adjustment mechanism 450 is connected to the ultrasound probe module 100, and the height position adjustment mechanism 440 can drive the connection mechanism 460 to be perpendicular to the support plane The horizontal position adjustment mechanism 450 can drive the ultrasound probe module 100 to move in a direction parallel to the support plane.

It should be understood that the horizontal position adjustment mechanism 450 and the height position adjustment mechanism 440 can adjust the horizontal and vertical directions of the ultrasound probe module 100 to facilitate the detection of the puncture target position.

In order to ensure the stability of the movement of the connection mechanism 460, a guide mechanism 470 is provided between the connection mechanism 460 and the height position adjustment mechanism 440.

As a third specific embodiment of the bracket module 400, as shown in FIG. 15, the ultrasound probe module 100 may be directly fixed on a fixed object surface of a certain height, such as a wall surface, through a fixed installation portion 480. Through the fine-tuning structure connected to the ultrasound probe module 100, the height adjustment of the ultrasound probe module 100 in the vertical direction is achieved. The fixed installation part 180 may be fixed by a fastener (for example, a screw), or may be fixed by a medium with high viscosity, such as strong glue.

16 is a schematic diagram of installation of a bracket module and an ultrasound probe module provided by the invention. As shown in FIG. 16, the bracket module 400 and the ultrasonic probe module 100 of the present invention have a gate structure. 17 is a schematic diagram of the installation positions of the ultrasound probe module and the puncture module provided by the invention. As shown in FIG. 17, the puncture direction of the puncture module 200 is perpendicular to the aperture direction r. As shown in FIG. 18, in another embodiment, the puncturing direction of the puncturing module 200 punctures along the aperture direction r. It should be understood that puncturing the puncture needle along the aperture direction r and perpendicular to the aperture direction r is not a simple change in the assembly position of the puncture module and the ultrasound probe module, because of these two installation methods, one is in-plane ultrasound detection and the other is For out-of-plane ultrasound detection, the image signal processing methods involved are different.

As a second aspect of the present invention, an ultrasound-guided puncture system is provided, wherein, as shown in FIG. 1, the ultrasound-guided puncture system includes a host module 300 and the ultrasound-guided puncture device described above, the host module The group 300 is respectively in communication with the ultrasound probe module 100 and the puncture control module 200 group in the ultrasound guided puncture device. The host module 300 can perform the ultrasound signal of the puncture target detected by the ultrasound probe module 100 Image processing obtains position information of the puncture target, so that the puncture control module 500 of the ultrasound-guided puncture device can control the puncture module 200 to automatically puncture the puncture target according to the position information of the puncture target.

The ultrasonic guided puncture system provided by the present invention detects the puncture target through the ultrasonic probe module and forms an ultrasonic signal to send to the host module. After the host module processes the ultrasonic signal, the position information of the puncture target is extracted and sent to the puncture control module The puncture control module forms a control signal according to the position information of the puncture target to control the puncture module to automatically puncture the puncture target. The ultrasound guided puncture system provided by the present invention can achieve accurate recognition and positioning of the puncture target, and the puncture process can be automatically realized. It reduces the uncertainty and inaccuracy of the operation, thereby improving the puncture efficiency of the use place with a higher puncture frequency.

As a specific embodiment, the ultrasound probe module 100 and the host module 300 are integrated.

By integrating the ultrasound probe module 100 and the host module 300 into one body to achieve ultrasound detection, it can be conveniently carried, for example, by means of palm ultrasound.

As another specific real-time manner, the puncture control module 500 and the host module 300 are integrated into one.

It should be understood that the puncture control module 500 may be integrated into the host module 300 to implement the control function of the puncture module 200.

It should be noted that the host module 300 includes a display screen for displaying the control process. The display screen may be integrated on the main body of the host module, or a display control interface may be provided separately, which is not limited herein.

For the specific implementation of the ultrasound-guided puncture system provided by the present invention, reference may be made to the foregoing description of the ultrasound-guided puncture device, which will not be repeated here.

It can be understood that the above embodiments are merely exemplary embodiments adopted to explain the principle of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various variations and improvements can be made without departing from the spirit and essence of the present invention, and these variations and improvements are also considered to be within the protection scope of the present invention.

Claims

An ultrasound guided puncture device, characterized in that the ultrasound guided puncture device includes:

An ultrasonic probe module, the ultrasonic probe module is capable of communicating with the host module for detecting a puncture target, and sending the ultrasonic signal of the detected puncture target to the host module;

A puncture control module, the puncture control module can be communicatively connected with a host module, and is used to form a puncture control signal according to the position information of the puncture target obtained after the host module processes the ultrasonic signal;

The puncture module is electrically connected to the puncture control module, and is used to automatically puncture the puncture target according to the puncture control signal.
The ultrasound guided puncture device according to claim 1, wherein the ultrasound probe module includes a probe housing and a detection module disposed at one end of the probe housing, the detection module can be The group communication connection is used to detect the puncture target and send the detected ultrasound signal of the puncture target to the host module.
The ultrasonic guided puncture device according to claim 2, wherein the puncture module includes: a first motor, a second motor, a clamping module and a connecting bracket, the connecting bracket and the first motor are respectively The fixed end is connected to the output end of the second motor, the clamping module is provided at the output end of the first motor, the output end of the first motor can drive the clamping module to do in the first direction For reciprocating linear motion, the output end of the second motor can drive the connecting bracket to reciprocate linear motion in the second direction.
The ultrasonic guided puncture device according to claim 3, wherein the first direction is perpendicular to the support plane, and the second direction is at an angle a to the support plane.
The ultrasonic guided puncture device according to claim 4, wherein the value range of the included angle a is 10° to 70°.
The ultrasound-guided puncture device according to claim 3, wherein the puncture module further includes a first slide rail and a second slide rail, the second slide rail is provided on the connecting bracket for The first motor performs a reciprocating linear motion in a first direction to provide a sliding track, and the first sliding rail is provided on the probe housing to provide sliding for the second motor to perform a reciprocating linear motion in a second direction track.
The ultrasonic guided puncture device according to claim 3, wherein the clamping module includes a clamping member and a clamping locking screw, and the clamping member is provided at the output end of the first motor. A threaded through hole is provided on the clamping member, the clamping locking screw is provided in the threaded through hole, the clamping member is used to clamp the puncture needle, and the clamping locking screw is used to adjust the The clamping force of the clamping piece.
The ultrasound-guided puncture device according to claim 2, wherein the ultrasound-guided puncture device further comprises a bracket module, and the bracket module is used to support the ultrasound probe module, the puncture control module and The puncture module.
The ultrasonic guided puncture device according to claim 8, wherein the bracket module includes a base, a first movable portion and a second movable portion, an upper surface of the base forms a support plane, and the support plane is provided on the support plane There is a sliding groove, one end of the first movable portion is provided in the sliding groove, one end of the second movable portion is provided with a first through hole, and the other end is provided with a second through hole, the first through hole Sleeved on the other end of the first movable part, the second through hole sleeved on the other end of the probe housing, the first movable part can slide in the sliding groove, the first The movable part can drive the second movable part to move in a direction perpendicular to the support plane.
The ultrasonic guided puncture device according to claim 9, wherein the second movable portion includes a fixing piece and a rotation locking screw, and the fixing piece and the rotation locking screw are both provided on the second passage On the hole, the fixing piece is used to fix the probe housing, and the rotary locking screw is used to lock the probe housing.
The ultrasound guided puncture device according to claim 9, wherein the bracket module further includes a spacer, the spacer is disposed between the probe housing and the second movable portion.
The ultrasonic guided puncture device according to claim 8, characterized in that the bracket module includes a base, a height position adjustment mechanism, a horizontal position adjustment mechanism and a connection mechanism, the upper surface of the base forms a support plane, the height The position adjustment mechanism is vertically arranged on the support plane, the connection mechanism is provided at the moving end of the height position adjustment mechanism, the fixed end of the horizontal position adjustment mechanism is connected to the connection mechanism, and the horizontal position adjustment mechanism Is connected to the ultrasonic probe module, the height position adjustment mechanism can drive the connection mechanism to move in a direction perpendicular to the support plane, and the horizontal position adjustment mechanism can drive the ultrasonic probe module along with The support plane moves in parallel directions.
An ultrasound guided puncture system, characterized in that the ultrasound guided puncture system includes a host module and the ultrasound guided puncture device according to any one of claims 1 to 12, wherein the host module and the ultrasound guide are respectively The ultrasound probe module and the puncture control module in the puncture device are in communication connection. The host module can perform image processing on the ultrasound signal of the puncture target detected by the ultrasound probe module to obtain the position information of the puncture target, so that the ultrasound The puncture control module guiding the puncture device can control the puncture module to automatically puncture the puncture target according to the position information of the puncture target.
The ultrasound guided puncture system according to claim 13, wherein the ultrasound probe module and the host module are integrated.
The ultrasound guided puncture system according to claim 13, wherein the puncture control module and the host module are integrated.