CN109077784B

CN109077784B - Omnibearing puncture mechanism and medical accurate puncture system

Info

Publication number: CN109077784B
Application number: CN201810949173.6A
Authority: CN
Inventors: 朱远湖; 吴育化
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-08-20
Filing date: 2018-08-20
Publication date: 2023-11-24
Anticipated expiration: 2038-08-20
Also published as: CN109077784A

Abstract

The invention discloses an omnibearing puncture mechanism and a medical accurate puncture system, wherein the omnibearing puncture mechanism comprises an omnibearing rotation mechanism and a puncture device, the omnibearing rotation mechanism is used for driving the puncture device to rotate around a certain point in a three-dimensional space by a set angle, the fixed point is arranged on an extension line of the puncture device 30 in which the puncture direction is positioned, and the set angle is set to be any value between 0 and 360 degrees. The puncture device can puncture at any angle, so that important organs, tissues and the like can be better avoided, and the safety of a patient is ensured.

Description

Omnibearing puncture mechanism and medical accurate puncture system

Technical Field

The invention relates to medical equipment, in particular to an omnibearing puncture mechanism and a medical accurate puncture system.

Background

The puncture is a diagnosis and treatment technology for taking out secretion and/or soft tissue etc. by puncturing the puncture needle into the human body, or injecting gas or contrast agent into the human body for contrast examination, and placing at least one of medicine, positioning marker, radioactive particle etc. into the human body for treatment. Because the puncture is performed on the living body, in order to avoid the situation that normal tissues are punctured by mistake in the puncturing process, secondary damage is caused to the living body, and the accuracy of the puncture must be ensured. In the past, accurate puncture can be realized only with the support of X-ray images, and certain radiation injury can be caused to medical staff operating the puncture operation. With the continuous development of medical imaging technology, the needle insertion point and the needle insertion depth of a puncture operation can be determined through CT (computed tomography) or MRI (magnetic resonance imaging), and then the puncture direction of the puncture needle is adjusted to ensure that the puncture needle can accurately reach the puncture target position, so that the aim of accurate diagnosis or treatment is fulfilled. In order to conveniently adjust the puncture direction of the puncture needle, a device and equipment for adjusting the puncture direction of the puncture needle such as a positioning frame are generated, for example, the invention patent application with publication number of CN106852702A discloses a puncture needle positioning device, which comprises a back frame and a positioning mechanism, wherein the positioning mechanism is arranged on the back frame and comprises a position adjusting structure and an angle adjusting mechanism, the position adjusting structure can move relative to the back frame along a first direction and a second direction, the position adjusting structure comprises a first puncture needle sheet, the angle adjusting structure is arranged on the position adjusting structure and can move relative to the position adjusting structure, the puncture needle can be arranged in the second puncture needle sheet and the first puncture needle sheet in a penetrating way, the second puncture needle sheet is driven to move along the first direction and/or the second direction through the angle adjusting structure, the relative position of the second puncture needle sheet and the first puncture needle sheet is adjusted, and the needle insertion angle of the puncture needle can be adjusted. By the scheme, the step of positioning the puncture needle can be simplified, and the positioning accuracy of the puncture needle can be improved.

However, since the puncture angle of the puncture needle positioning device needs to be adjusted by adjusting the positional relationship, that is, the relationship between the distance between the second puncture needle piece and the first puncture needle piece and the needle insertion angle needs to be converted, the operation is still complicated; when the position of the second puncture needle is adjusted through the angle adjusting structure, the first puncture needle keeps still, at the moment, the second puncture needle can only move along the first direction and/or the second direction under the adjustment of the angle adjusting structure, the needle inserting angle of the puncture needle can only be adjusted between 0 and 180 degrees in space, the needle inserting angle of the puncture needle is limited, and the defects of important organs, tissues and the like can not be avoided well during puncture. Moreover, these drawbacks also make the use of the puncture needle positioning device limited, and the safety of the patient during the puncture cannot be ensured.

Disclosure of Invention

In order to ensure that the puncture needle can perform rapid and accurate puncture at any angle in space, avoid important organs, tissues and the like, reduce puncture errors caused by unintentional deflection, respiratory movement and the like of a patient, ensure the safety of the patient, and according to one aspect of the invention, the omnibearing puncture mechanism is provided.

The omnibearing puncture mechanism comprises an omnibearing rotation mechanism and a puncture device, wherein the omnibearing rotation mechanism is used for driving the puncture device to rotate around a certain point in a three-dimensional space by a set angle, the fixed point is arranged on an extension line of the puncture device where the puncture direction is located, and the set angle is set to be any value between 0 and 360 degrees.

When the omnibearing puncture mechanism is matched with CT (computed tomography) or MRI (magnetic resonance imaging), firstly, the omnibearing puncture mechanism is arranged on a positioning frame, the omnibearing puncture mechanism and a patient are fixed in relative positions with the CT or the MRI, a reference isocenter is established through a laser system (the reference isocenter is determined by an intersection point formed by laser lines emitted by the laser system on two sides and the upper part of the patient body and is used for determining a reference origin of three-dimensional coordinates of a puncture target in the patient body), meanwhile, an intersection point formed by the intersection of laser lines emitted by the laser system is marked on the skin of the patient or the surface of a body membrane or a head membrane of the fixed patient, a reference coordinate system is established according to the intersection point, a metal marker is placed at the marking point, and a doctor determines the puncture target in the patient body, the space coordinates of the puncture target and the space coordinates of a needle insertion point through CT or MRI scanning reconstruction medical images so as to obtain the needle insertion position, needle insertion direction and needle insertion depth; when determining the needle insertion point and the needle insertion direction, important organs and tissues are avoided as far as possible, and puncture sequelae caused by puncturing the important organs and tissues are avoided; because all around the fixed point when the omnibearing rotating mechanism drives the puncturing device to rotate is located on the extension line of the puncturing direction of the puncturing device, namely the fixed point of the omnibearing puncturing mechanism necessarily passes through the puncturing direction when the omnibearing puncturing mechanism is arranged on the positioning frame, or the fixed point of the omnibearing puncturing mechanism is adjusted to the puncturing direction through the driving device or the position adjusting mechanism arranged on the positioning frame, then, the rotating angle of the puncturing device is adjusted through the omnibearing rotating mechanism, so that the puncturing direction of the puncturing device is collinear with the puncturing direction, at the moment, the puncturing device punctures along the puncturing direction, the puncturing device can puncture the skin of a patient along the puncturing direction from the puncturing point, finally, the position of the puncturing target is accurately reached according to the puncturing depth acquired from the medical image, and the puncturing device returns along the original path when the puncturing is finished. Through this all-round piercing depth constructs, can make piercing depth at space within range rotation settlement angle, and the angle within range of settlement is 0 ~ 360, thereby make piercing depth's puncture direction not limited, make doctor can confirm under CT or MRI and the assistance of locating rack better and go into needle direction, go into needle position and go into needle degree of depth, in order to avoid important organs and tissues etc. reduce the risk of puncture, reduce the misery that the puncture caused the patient, avoid causing the sequela of puncture because of puncturing to important organs and tissues etc..

In order to ensure that the puncture needle can perform rapid and accurate puncture at any angle in space, avoid important organs, tissues and the like, reduce puncture errors caused by unintentional deflection, respiratory movement and the like of a patient, ensure the safety of the patient, and according to one aspect of the invention, the invention provides a medical accurate puncture system.

The medical accurate puncture system comprises the omnibearing puncture mechanism and the three-dimensional position adjusting mechanism for adjusting the three-dimensional position of the omnibearing puncture mechanism, wherein the omnibearing puncture mechanism is arranged on the three-dimensional position adjusting mechanism.

When the medical accurate puncture system is matched with CT (computed tomography) or MRI (magnetic resonance imaging), the relative positions of the medical accurate puncture system and a patient are fixed with the CT or MRI, a reference isocenter is established through a laser system (the reference isocenter is determined by an intersection point formed by laser lines emitted by the laser system at two sides and the upper part of the body of the patient and is used for determining a reference origin of three-dimensional coordinates of a puncture target in the patient), meanwhile, the intersection point formed by the intersection of the laser lines emitted by the laser system is marked on the skin of the patient or the surface of a body membrane or a head membrane of the fixed patient, a reference coordinate system is established according to the intersection point, a metal marker is placed at the marking point, and a doctor determines the puncture target in the patient, the space coordinates of the puncture target and the space coordinates of the needle insertion point through CT or MRI scanning, so as to obtain the needle insertion position, the needle insertion direction and the needle insertion depth; when determining the needle insertion point and the needle insertion direction, important organs and tissues are avoided as far as possible, and puncture sequelae caused by puncturing the important organs and tissues are avoided; then the three-dimensional position adjusting mechanism drives the omnibearing puncture mechanism to move, so that the fixed point of the omnibearing puncture mechanism moves to a straight line where the needle inserting direction is located, the omnibearing rotation mechanism drives the puncture device to rotate until the puncture direction of the puncture device coincides with the needle inserting direction, the puncture device can start to puncture along the puncture direction, the puncture device can puncture the skin of a patient along the needle inserting direction from the needle inserting point, finally, the position of a puncture target is accurately reached according to the needle inserting depth acquired from the medical image, and the puncture device returns along the original path when the puncture is ended. Through this accurate puncture system of medical for doctor can confirm needle direction, needle position and needle depth better under CT or MRI's assistance, in order to avoid important organs and tissues etc. reduce the risk of puncture, reduce the misery that the puncture caused the patient, avoid causing the puncture sequela because of puncture to important organs and tissues etc. moreover, because piercing depth can stab the puncture target in the patient steadily under three-dimensional position adjustment mechanism and the support of omnidirectional rotary mechanism, in the puncture process, piercing depth of piercing depth can not rock, and accomplish the puncture back, piercing depth can return along former route, reduce the misery that the puncture caused the patient.

Drawings

FIG. 1 is a schematic view of an omnidirectional puncture mechanism according to an embodiment of the present invention;

FIG. 2 is a schematic view of the omnidirectional lancing mechanism of FIG. 1 from another perspective;

FIG. 3 is a schematic illustration of a pre-lancing configuration of one embodiment of the lancing mechanism of FIG. 2;

FIG. 4 is an enlarged schematic view of the lancing mechanism of FIG. 3 at G;

FIG. 5 is a schematic cross-sectional view of the lancing mechanism of FIG. 3;

FIG. 6 is a schematic illustration of the lancing mechanism of FIG. 3 after lancing;

FIG. 7 is an enlarged schematic view of the lancing mechanism shown in FIG. 6 at H;

FIG. 8 is an enlarged schematic view of the lancing mechanism shown in FIG. 6 at I;

FIG. 9 is a schematic view of the retaining ring of FIG. 3;

FIG. 10 is a schematic view of the lancing mechanism of FIG. 2, prior to lancing;

FIG. 11 is a schematic illustration of the lancing mechanism of FIG. 10 after lancing;

FIG. 12 is a schematic cross-sectional view of the lancing mechanism of FIG. 11;

FIG. 13 is a schematic view of a further embodiment of the lancing mechanism shown in FIG. 2;

FIG. 14 is a schematic cross-sectional view of the lancing mechanism of FIG. 13 after injection or prior to extraction;

FIG. 15 is a schematic cross-sectional view of the lancing mechanism of FIG. 13 after extraction before and after injection;

FIG. 16 is a schematic view of the drilling mechanism of FIG. 2;

FIG. 17 is a schematic view of an embodiment of the drill bit of FIG. 16;

FIG. 18 is a schematic view of another embodiment of the drill bit of FIG. 16;

FIG. 19 is a schematic view showing the structure of a medical precision puncture system according to an embodiment of the present invention;

FIG. 20 is a schematic view of the medical precision puncturing system of FIG. 19 from another perspective;

FIG. 21 is a schematic L-L cross-sectional view of the medical precision piercing system of FIG. 20;

FIG. 22 is an enlarged schematic view of the medical precision piercing system of FIG. 21 at B;

FIG. 23 is an enlarged schematic view of the medical precision piercing system of FIG. 21 at C;

FIG. 24 is a schematic view of the M-M cross-sectional structure of the medical precision piercing system of FIG. 19;

FIG. 25 is an enlarged schematic view of the medical precision piercing system of FIG. 24 at D;

FIG. 26 is a schematic view of the N-N cross-sectional structure of the medical precision piercing system of FIG. 19;

FIG. 27 is a schematic view of a partial cross-sectional structure of the medical precision piercing system of FIG. 26;

FIG. 28 is an enlarged schematic view of the medical precision piercing system of FIG. 27 at F;

FIG. 29 is a schematic view of the pulley structure of FIG. 28;

fig. 30 is a schematic diagram of a bulk film structure.

Detailed Description

The invention is described in further detail below with reference to the accompanying drawings.

Fig. 1-18 schematically illustrate an omnidirectional lancing mechanism according to one embodiment of the present invention.

As shown in fig. 1, the omnibearing puncture mechanism comprises an omnibearing rotation mechanism and a puncture device 30, wherein the omnibearing rotation mechanism is used for driving the puncture device 30 to rotate around a certain point in a three-dimensional space by a set angle, the fixed point is arranged on an extension line of the puncture device where the puncture direction is located, and the set angle is set to be any value between 0 ° and 360 °.

When the omnibearing puncture mechanism is matched with CT (computed tomography) or MRI (magnetic resonance imaging), firstly, the omnibearing puncture mechanism is arranged on a positioning frame, the omnibearing puncture mechanism and a patient are fixed in relative positions with the CT or the MRI, a reference isocenter is established through a laser system (the reference isocenter is determined by an intersection point formed by laser lines emitted by the laser system on two sides and the upper part of the body of the patient and is used for determining a reference origin of three-dimensional coordinates of a puncture target in the body of the patient), meanwhile, an intersection point formed by intersecting laser lines emitted by a laser system is marked on the skin of the patient or the surface of a body membrane 52 (shown in fig. 30) or a head membrane of the patient, a reference coordinate system is established according to the intersection point, a metal marker is placed at the marking point, and a doctor determines the puncture target in the body of the patient, the space coordinates of the puncture target and the space coordinates of the needle insertion point through a medical image reconstructed through CT or MRI scanning so as to obtain the needle insertion position, needle insertion direction and needle insertion depth; when determining the needle insertion point and the needle insertion direction, important organs and tissues are avoided as far as possible, and puncture sequelae caused by puncturing the important organs and tissues are avoided; because the fixed points around which the omnibearing rotating mechanism drives the puncture device 30 to rotate are all located on the extension line of the puncture direction of the puncture device 30, namely, the fixed points of the omnibearing puncture mechanism are necessarily in the needle inserting direction when the omnibearing puncture mechanism is arranged on the positioning frame, or the fixed points of the omnibearing puncture mechanism are adjusted to the needle inserting direction through the driving device or the position adjusting mechanism arranged on the positioning frame, then, the rotation angle of the puncture device 30 is adjusted through the omnibearing rotation mechanism, so that the puncture direction of the puncture device 30 is collinear with the needle inserting direction, at the moment, the puncture device 30 punctures the skin of a patient along the needle inserting direction from the needle inserting point, and finally, the puncture device 30 accurately reaches the position of the puncture target according to the needle inserting depth acquired from the medical image, and returns along the original path when the puncture is finished. Through this all-round piercing depth constructs, can make piercing depth 30 in space within range rotation settlement angle, and the angle within range of settlement is 0 ~ 360, thereby make piercing depth 30's puncture direction unrestricted, make doctor can confirm under CT or MRI and the assistance of locating rack better and go into needle direction, go into needle position and go into needle degree of depth, in order to avoid important organs and tissues etc. reduce the risk of puncture, reduce the misery that the puncture caused the patient, avoid causing the sequela of puncture because of puncturing to important organs and tissues etc..

In this embodiment, as shown in fig. 1, the omnibearing rotation mechanism includes a first rotation mechanism 23 and a second rotation mechanism 24, the first rotation mechanism 23 is used for driving the second rotation mechanism 24 to drive the puncture device 30 to rotate together by a first set angle, the second rotation mechanism 24 is used for driving the puncture device 30 to rotate by a second set angle, and the value ranges of the first set angle and the second set angle are both 0 ° -360 °; the rotation axis of the first rotation mechanism 23 is perpendicular to the rotation axis of the second rotation mechanism 24, the rotation axis of the second rotation mechanism 24 is perpendicular to the puncturing direction of the puncturing device 30, and the rotation axis of the first rotation mechanism 23, the rotation axis of the second rotation mechanism 24 and the puncturing direction of the puncturing device 30 are intersected to form a fixed point. Therefore, after the needle insertion position, the needle insertion direction and the needle insertion depth are determined through the medical image reconstructed through CT or MRI scanning, on the premise that the fixed point is located in the needle insertion direction, the first rotating mechanism 23 drives the second rotating mechanism 24 to drive the puncture device 30 to rotate by a first set angle, then the second rotating mechanism 24 drives the puncture device 30 to rotate by a second set angle, so that the puncture device 30 rotates by a preset angle in a three-dimensional space, the puncture direction of the puncture device 30 is collinear with the needle insertion direction, and then the puncture device 30 punctures along the puncture direction. The first rotating mechanism 23 and the second rotating mechanism 24 may be servo motors.

In other embodiments, the omni-directional rotating mechanism may also be implemented as a universal rotating mechanism with a controllable rotation angle.

In this embodiment, the lancing device 30 includes a lancing mechanism for taking and placing solids and withdrawing or injecting fluid, the lancing mechanism being rotated about a fixed point under the determination of the second rotation mechanism 24.

In some embodiments, as shown in fig. 3-9, the puncture mechanism comprises a puncture needle for puncturing, an outer needle sleeve 347 for providing a puncture path for the puncture needle, and a puncture positioning driving mechanism for driving the puncture needle and the outer needle sleeve 347 to move in a puncture direction and limiting the feeding position of the outer needle sleeve 347 so as to realize needle tract tumor implantation prevention, and the puncture positioning driving mechanism drives the puncture needle and the outer needle sleeve 347 to rotate together around a fixed point under the driving of the second rotating mechanism 24, so that the puncture mechanism is also called needle tract tumor implantation prevention puncture mechanism 34.

When the puncture needle and the outer needle sleeve 347 are collinear with the needle insertion direction under the adjustment of the omnibearing rotation mechanism, the puncture needle and the outer needle sleeve 347 can be driven to feed along the puncture direction by the puncture positioning driving mechanism, when the outer needle sleeve 347 approaches to the focus position, the outer needle sleeve 347 is stopped to drive, and meanwhile, the puncture needle is continuously driven to continue to travel along the puncture direction in the puncture path provided by the outer needle sleeve 347 until the puncture needle reaches the needle insertion depth, at the moment, the puncture needle is penetrated into a focus, a detected or treated substance can be placed into the focus or sampled from the focus for detection, after the puncture needle finishes the picking and placing treatment, the puncture needle can be driven to move into the puncture path provided by the outer needle sleeve 347 by the puncture positioning driving mechanism, and then the puncture needle and the outer needle sleeve 347 are driven to move along the puncture direction by the puncture positioning driving mechanism, so that the puncture needle of the puncture mechanism is pulled out, and the puncture needle contacted with the focus is positioned in the puncture path provided by the outer needle sleeve 347 in the process of pulling the needle, so that the puncture needle is separated from normal tissues on the puncture needle pulling path, and the tumor caused by the contact with cells in the focus in the process of pulling needle is avoided.

In this embodiment, as shown in fig. 1, 3, 5 and 6, the outer needle sheath 347 is provided with a first cavity penetrating through two ends of the outer needle sheath 347, the puncture positioning driving mechanism includes a feeding driving mechanism 27, the feeding driving mechanism 27 is used for driving the positioning mechanism, the puncture driving mechanism, the puncture needle and the outer needle sheath 347 to move simultaneously in the puncture direction, and the feeding driving mechanism 27 may be provided on the second rotating mechanism; and also comprises a positioning mechanism arranged on the feeding driving mechanism 27, wherein the positioning mechanism is used for limiting the outer needle sleeve 347 when the outer needle sleeve 347 moves to the limiting position of the positioning mechanism; the puncture driving mechanism is used for driving the puncture needle and the outer needle sleeve to move in the puncture direction, and continuously driving the puncture needle to extend from the first cavity or retract into the first cavity at least along the puncture direction when the outer needle sleeve moves to the limit position of the positioning mechanism, wherein the positioning mechanism and the puncture driving mechanism can be directly arranged on the feed driving mechanism 27 or can be arranged on the feed driving mechanism 27 through a connecting piece, so long as the puncture needle can move under the driving of the feed driving mechanism 27. Thus, the puncture needle and the outer needle sleeve 347 can be driven to feed along the puncture direction through the puncture driving mechanism, when the outer needle sleeve 347 moves to the limit position of the positioning mechanism, the puncture driving mechanism does not drive the outer needle sleeve 347 to move, at the moment, the outer needle sleeve 347 approaches to the focus position, meanwhile, the puncture driving mechanism continues to drive the puncture needle to continue to move along the puncture direction in the first cavity until the puncture driving mechanism moves to the needle insertion depth, at the moment, the puncture needle penetrates into the focus, substances to be detected or treated can be placed into the focus, or samples can be taken from the focus for detection, after the puncture needle is taken and placed, the puncture needle can be driven to move at least to the first cavity through the puncture driving mechanism, and then the puncture needle and the outer needle sleeve 347 are driven to move together along the puncture direction through the feed driving mechanism 27, so that the puncture needle and the needle of the outer needle sleeve 347 can be pulled out.

In this embodiment, as shown in fig. 1, 3, 5 and 6, the positioning mechanism includes a positioning frame 344 and a positioning ring 345; one end of the positioning frame 344 is arranged on the feeding driving mechanism 27, or the positioning frame 344 can be driven by the feeding driving mechanism 27 instead of being directly arranged on the feeding driving mechanism 27, so long as the positioning frame 344 can be driven by the feeding driving mechanism 27 to travel in the puncture direction, the free end of the positioning frame 344 is provided with a positioning ring clamping structure for limiting the moving position of the positioning ring 345, and the positioning ring 345 is detachably and fixedly connected outside the outer needle sleeve 347 and is positioned between the free end of the positioning frame and the feeding driving mechanism 27; the puncture needle is arranged in the first cavity, and is arranged to drive the outer needle sleeve 347 to move in the puncture direction simultaneously under the drive of the puncture driving mechanism before the positioning ring 345 on the outer needle sleeve 347 moves to the positioning ring clamping structure; the self-positioning ring 345 is engaged with the positioning ring, and the puncture needle is driven by the puncture driving mechanism to extend from the first cavity or at least retract into the first cavity along the puncture direction. Therefore, when the outer needle sleeve 347 moves to the positioning ring clamping structure, the puncture driving mechanism does not drive the outer needle sleeve 347 to move under the clamping action of the positioning ring clamping structure, so that the position of the outer needle sleeve 347 is limited by the positioning ring clamping structure, and the operation is simple; meanwhile, the positioning ring 345 is detachably connected to the outer needle sleeve 347, so that the moving position of the outer needle sleeve 347 can be adjusted through the connection position of the positioning ring 345 on the outer needle sleeve 347, and the puncture mechanism can be suitable for preventing needle tract tumor implantation or pneumothorax puncture at different lesion positions.

Preferably, the outer needle sheath 347 is configured such that its friction with the needle is less than its friction with the retaining ring 345. Therefore, when the positioning ring 345 is not clamped in the positioning ring clamping structure, the puncture needle can be driven by the puncture driving mechanism to move and simultaneously drive the outer needle sleeve 347 to move along the puncture direction through friction force; when the positioning ring 345 is clamped in the positioning ring clamping structure, the friction force between the positioning ring 345 and the outer needle sleeve 347 is larger than that between the positioning ring 345 and the puncture needle, the outer needle sleeve 347 is still relative to the positioning ring clamping structure under the condition that the positioning ring 345 and the positioning ring clamping structure are kept relatively still, and at the moment, the puncture needle still can move in the puncture direction to puncture under the drive of the puncture driving mechanism, so that the outer needle sleeve 347 can be automatically converted from a moving state to a static state due to being clamped in the positioning ring clamping structure without operation control, and the operation is simple and convenient.

In this embodiment, as shown in fig. 9, the positioning ring 345 includes an outer ring 3453 and an inner ring 3454, which are both annular, wherein the outer ring 3453 is composed of two semicircular rings, and the two semicircular rings are detachably connected, specifically, the two semicircular rings are in snap connection, the inner ring 3454 is also composed of two semicircular rings, preferably, the inner ring 3454 is made of an elastic material, and the outer ring 3453 is made of a rigid material. When the outer ring 3453 is clamped outside the outer needle sleeve 347, the inner ring 3454 is located between the outer needle sleeve 347 and the outer ring 3453, and when the outer ring 3453 is clamped, the inner ring 3454 is pressed to deform the inner ring 3454, so that the friction force between the outer needle sleeve 347 and the inner ring 3454 is increased, and meanwhile, in order to avoid the deformation of the outer needle sleeve 347 when being pressed, the friction force between the outer needle sleeve 347 and the puncture needle is increased, the outer needle sleeve 347 is arranged into a rigid structure, and is specifically made of a rigid material, so that the friction force between the positioning ring 345 and the outer needle sleeve 347 is larger than the friction force between the positioning ring 345 and the puncture needle.

In this embodiment, as shown in fig. 3, 4, 6 and 7, the positioning ring clamping structure includes a wedge 3451 and a spring, where the wedge 3451 is connected to the positioning frame 344 by the spring and is connected to allow the positioning ring 345 to pass through along the puncture direction; and a limiting space for fixing the positioning ring 345 is formed between the wedge 3451 and the positioning frame 344, so that the positioning ring 345 can be limited by the limiting space enclosed by the wedge 3451 and the positioning frame 344.

Further, as shown in fig. 3, 4, 6 and 7, the inclined wedge 3451 is provided with an inclined surface, and is arranged such that an acute angle formed by the inclined surface and the axis of the outer needle sleeve 347 faces the positioning ring 345, and the end of the inclined surface is arranged such that the positioning ring 345 can pass between the end of the inclined surface and the outer wall of the outer needle sleeve 347 along the puncture direction under the combined action of the elastic force of the spring and the pushing force of the positioning ring 345. Thus, before the puncturing mechanism punctures, the outer needle sleeve 347 moves along the puncturing direction under the driving of the puncturing needle, and at the moment, the positioning ring 345 arranged on the outer needle sleeve 347 moves towards the inclined wedge 3451, as shown in fig. 3, because the inclined surface is arranged towards the feeding drive 27, when the positioning ring 345 moves along the puncturing direction and abuts against the inclined surface of the inclined wedge 3451, the inclined wedge 3451 is exerted with pressure towards the spring connected with the inclined wedge so as to compress the spring, the inclined wedge 3451 moves towards the direction of the spring connected with the inclined wedge, an opening for the positioning ring 345 to pass through is formed in the limiting space, after the positioning ring 345 moves to the limiting space, the positioning ring 345 does not exert thrust on the inclined wedge 3451 any more, the spring connected with the inclined wedge 3451 recovers to be long, and meanwhile, the inclined wedge 3451 is driven to move towards the outer needle sleeve 347, so that the limiting space is enclosed between the inclined wedge 3451 and the positioning frame 344, and at the moment, the limiting space limits the moving position of the positioning ring 345, the outer needle sleeve 347 and the positioning frame 344 are relatively fixed (as shown in fig. 6 and 7); because the inclined surface of the inclined wedge 3451 faces the feeding driving mechanism 27, when the positioning ring 345 moves towards the inclined wedge 3451 along the puncture direction, the inclined wedge 3451 can be automatically pushed away and moved into the limiting space, so that automatic clamping and positioning are realized; and when the positioning ring 345 moves towards the inclined wedge 3451 along the direction deviating from the puncture direction, the inclined wedge 3451 cannot be automatically pushed away, so that the positioning ring 345 moves into the positioning ring clamping structure and the limiting function in one direction.

Preferably, as shown in fig. 3, fig. 4, fig. 6 and fig. 7, the end portion of the spring connected with the inclined wedge 3451 is further connected with a shifting block 3452, the positioning frame 344 is provided with a through groove for placing the spring, the through groove is at least provided with two openings, namely a first opening and a second opening, the first opening is arranged on the end face facing the inclined wedge, the spring passes through the first opening to be connected with the inclined wedge, the second opening is arranged on the end face of the positioning frame 344, which is not provided with the first opening, the second opening is arranged along the axial direction of the spring, the shifting block 3452 passes through the second opening to be connected with the spring, thereby, the shifting block 3452 can drive the spring to move along the extending direction of the second opening, the compression or the recovery of the original length of the spring can be realized, when the spring is compressed, the positioning ring 345 originally positioned between the inclined wedge 3451 and the positioning frame 344 can be removed by moving the outer needle sleeve 347, and the position of the positioning ring 345 on the outer needle sleeve 347 can be adjusted by re-disassembling and installing the positioning ring 345.

Preferably, as shown in fig. 10 to 12, the puncture mechanism has not only the same structure as that of the puncture mechanism shown in fig. 3 to 9 described above, but also a connecting sleeve 346 is provided at the end of the outer needle sheath close to the feeding drive mechanism 27, and a sealing membrane 3461 is provided in the connecting sleeve 346 to prevent pneumothorax of the patient due to communication between the patient's body and the external environment when the outer needle sheath 347 is pulled out of the first cavity of the inner needle sheath 342 and the outer needle sheath 347 is left in the patient during the puncture. When the puncture needle passes through the connecting sleeve 346, the sealing diaphragm 3461 in the connecting sleeve 346 is propped against, the inner wall of the sealing diaphragm 3461 is abutted against the outer wall of the puncture needle, and the puncture needle is inserted into the outer needle sleeve 347; when the puncture needle is retracted between the connecting sleeve 346 and the feeding driving mechanism 27, the sealing diaphragm 3461 in the connecting sleeve 346 is restored to isolate the inside of the outer needle sleeve 347 from the environment, so that the air exchange between the chest cavity of the patient and the outside is prevented, and the pneumothorax caused by puncture is avoided. Thus, the lancing mechanism in this embodiment is also referred to as an anti-pneumothorax lancing mechanism 35.

Moreover, according to different structures, the uses of the needle tract tumor implantation puncture prevention mechanism 34 and the pneumothorax puncture prevention mechanism 35 are different, wherein the pneumothorax puncture prevention mechanism 35 is used for extracting solid objects from a patient body so as to detect; the needle-tract tumor implantation puncture prevention mechanism 34 can be used for placing solid matters into a patient body by arranging an openable needle cover 343 on an opening of the free end of the second cavity so as to achieve the aim of treatment or detection, and as shown in fig. 3 to 6 and 8, the needle cover 343 is hinged on one side of the inner needle sleeve 342 far away from the end of the first implantation prevention telescopic mechanism 348 and covers the port of the inner needle sleeve 342, and the size of the needle cover 343 is at least larger than the inner diameter of the inner needle sleeve 342 so that the needle cover 343 can only be opened outwards of the inner needle sleeve 342 or can be abutted against the end surface of the inner needle sleeve 342; before the puncture preventing tumor implantation puncture mechanism 34 does not puncture, solid particles 3411 to be placed in the human body are placed in the inner needle sheath 342, and the needle cover 343 is covered on the end of the inner needle sheath 342.

Specifically, as shown in fig. 3 to 12, the puncture preventing mechanism 34 for preventing tumor implantation of a needle tract and the puncture preventing mechanism 35 for preventing pneumothorax can be both arranged, the puncture needle comprises an inner needle 341 and an inner needle sleeve 342 with two ends penetrating through a second cavity arranged in the inner needle sleeve, the inner needle sleeve is arranged in the second cavity, and the inner needle 341 is arranged in the second cavity; wherein, the puncture driving mechanism of the needle-tract tumor implantation puncture preventing mechanism 34 comprises a first implantation preventing telescopic mechanism 349 for driving the inner needle 341 to extend from the second cavity or retract into the second cavity; and a second planting prevention telescoping mechanism 348 for driving the first planting prevention telescoping mechanism 349 and the inner needle sleeve 342 to move along the puncture direction so that the inner needle sleeve 342 extends out of the first cavity or retracts into the first cavity, wherein the second planting prevention telescoping mechanism 348 can be directly arranged on the feeding driving mechanism 27 or can be arranged on the feeding driving mechanism 27 through a connecting piece; the puncture driving mechanism of the pneumothorax puncture preventing mechanism 35 comprises a second pneumothorax preventing telescopic mechanism 352 for driving the inner needle 341 to extend out of the second cavity or retract into the second cavity, wherein the second pneumothorax preventing telescopic mechanism 352 can be an air cylinder; and a first pneumothorax preventing telescopic mechanism 351 for driving the second pneumothorax preventing telescopic mechanism 352 and the inner needle sleeve 342 to move along the puncture direction, so that the inner needle sleeve 342 extends out of the first cavity or retracts into the first cavity, and the first pneumothorax preventing telescopic mechanism 351 can be directly arranged on the feeding driving mechanism 27 or can be arranged on the feeding driving mechanism 27 through a connecting piece. When the first planting prevention telescoping mechanism 348 or the first pneumothorax prevention telescoping mechanism 351 drives the inner needle sleeve 342 and the outer needle sleeve 347 and the positioning ring 345 which are arranged outside the inner needle sleeve 342 to move along the puncture direction (as shown in fig. 3 to 5 or 10), the positioning ring 345 applies pressure to the inclined wedge 3451 under the driving of the first planting prevention telescoping mechanism 348 or the first pneumothorax prevention telescoping mechanism 351, so that a spring connected with the inclined wedge 3451 is compressed and contracted, the positioning ring 345 pushes away the inclined wedge 3451, when the positioning ring 345 moves to be out of contact with the inclined wedge 3451, the inclined wedge 3451 is restored to the original position under the support of the spring (namely, the inclined wedge 3451 and the positioning frame 344 enclose a limit space), the positions of the positioning ring 345 and the outer needle sleeve 347 cannot be pushed away due to the fact that the inclined wedge 3451 moves away from the puncture direction, and the positioning ring 345 is clamped in the positioning ring clamping structure, as shown in fig. 6 and 7 or 11. When the puncture mechanism is the needle tract tumor implantation puncture prevention mechanism 34, the tip of the outer needle sleeve 347 is kept at a small distance from the puncture target; the inner needle sheath 342 is then driven by the first anti-implant retraction mechanism 348 into position with the puncture target. Then the inner needle 341 and the inner needle sleeve 342 are driven to retract by a small distance through the first planting prevention telescopic mechanism 348, the retracting distance is equal to the diameter of the solid particles 3411 to be placed, and then the driving of the first planting prevention telescopic mechanism 348 is stopped; then, the inner needle 341 is driven to move along the puncture direction by the second planting prevention telescopic mechanism 349, the inner needle 341 pushes the solid particles 3411 under the driving of the second planting prevention telescopic mechanism 349, the solid particles 3411 push the needle cover 343 and move out of the inner needle sleeve 342, as shown in fig. 6 and 8, the solid particles 3411 are placed at the position where the puncture target is located, so as to assist treatment or diagnosis, and then the inner needle 341 and the inner needle sleeve 342 are driven to retract into the outer needle sleeve 347 by the first planting prevention telescopic mechanism 348. When the puncture mechanism is the pneumothorax puncture preventing mechanism 35, the inner needle sleeve 342 continues to move under the drive of the first pneumothorax preventing telescopic mechanism 351 until the lesion position is inserted, and at the moment, the drive of the first pneumothorax preventing telescopic mechanism 351 is stopped; at this time, the inner needle 341 is driven to slowly retract into the inner needle sleeve 342 for a small distance by the second pneumothorax preventing telescopic mechanism 352, then the driving of the first pneumothorax preventing telescopic mechanism 351 is continued to drive the needle into the target position, so that partial soft tissues are embedded into a cavity enclosed by the free end of the inner needle 341 and the inner wall of the inner needle sleeve 342, then the inner needle 341 is driven to quickly retract into the inner needle sleeve 342 by the second pneumothorax preventing telescopic mechanism 352, and negative pressure is formed in the cavity enclosed by the free end of the inner needle 341 and the inner wall of the inner needle sleeve 342 due to the rapid moving speed of the inner needle 341, so that a small piece of soft tissues at a lesion position is sucked into the inner needle sleeve 342 to realize sampling, and then the inner needle 341 and the inner needle sleeve 342 are driven to retract into the outer needle sleeve 347 by the first pneumothorax preventing telescopic mechanism 351. Then, no matter the puncture mechanism is the puncture mechanism 34 for preventing tumor implantation of needle tract or the puncture mechanism 35 for preventing pneumothorax, the puncture device 30 needs to be driven by the feeding driving mechanism 27 to pull out the needle along the opposite direction of the needle insertion direction, and the inner needle 341 and the inner needle sleeve 342 are sleeved in the outer needle sleeve 347 in the process of pulling out the needle, so that the inner needle 341 and the inner needle sleeve 342 which are in contact with the focus are prevented from polluting normal tissues and cells during needle pulling, and the tumor implantation of needle tract is prevented. Preferably, in order to facilitate controlling the driving strokes of the first planting prevention telescopic mechanism 348, the second planting prevention telescopic mechanism 349 and the first pneumothorax prevention telescopic mechanism 351, the first planting prevention telescopic mechanism 348, the second planting prevention telescopic mechanism 349 and the first pneumothorax prevention telescopic mechanism 351 adopt a structure that an oil cylinder or a motor drives a screw rod to drive a nut to move.

In other embodiments, the puncture positioning driving mechanism includes a puncture needle, an outer needle sheath 347 and a puncture positioning driving mechanism, where the puncture positioning driving mechanism includes a puncture needle driving mechanism, an outer needle sheath driving mechanism and a puncture driving mechanism, and specific structures and implementation manners of the puncture needle, the outer needle sheath 347 and the puncture driving mechanism are the same as those described above, and are not described in detail herein, except that the outer needle sheath driving mechanism drives the outer needle sheath 347 to move in the puncture direction and controls the stroke of the outer needle sheath 347, and the puncture needle driving mechanism drives the puncture needle to move together in the puncture direction and controls the strokes of the puncture needle and the puncture driving mechanism. The specific puncture ballast driving mechanism and the outer needle sleeve driving mechanism can be realized by adopting an oil cylinder or a servo motor with controllable driving stroke.

Preferably, the puncture mechanism further comprises a control module, wherein the control module is connected with the puncture positioning driving mechanism and the feeding driving mechanism, and is used for controlling working states of the puncture positioning driving mechanism and the feeding driving mechanism and recording. Specifically, the control module may be connected to the first rotating mechanism 23, the second rotating mechanism 24, the feeding driving mechanism 27, the first planting prevention telescopic mechanism 348, the second planting prevention telescopic mechanism 349, the first pneumothorax prevention telescopic mechanism 351 and the second pneumothorax prevention telescopic mechanism 352, so as to control the strokes and the working time of the first rotating mechanism 23, the second rotating mechanism 24, the feeding driving mechanism 27, the first planting prevention telescopic mechanism 348, the second planting prevention telescopic mechanism 349, the first pneumothorax prevention telescopic mechanism 351 and the second pneumothorax prevention telescopic mechanism 352, so as to realize automatic puncture of the puncture mechanism.

In still other embodiments, the lancing mechanism, as shown in FIGS. 13-15, includes an injection mechanism 36 for automatically withdrawing or injecting a gas or liquid; wherein the injection chamber 363 of the injection mechanism 36 is provided with two connectors 365, wherein one connector 365 is used for communicating the injection chamber 363 with the injection needle 364, and the connector 365 is used for communicating the injection chamber 363 with an external gas or liquid injection system or for communicating the injection chamber 363 with an external gas or liquid extraction system. In addition, other structures of the injection mechanism 36 may be the same as those of a conventional syringe, and may be configured such that the injection mechanism 36 further includes an injection telescoping mechanism 361 and an oil cylinder 362 as shown in fig. 13 to 15; the injection telescoping mechanism 361 is arranged on the feeding driving mechanism 27 or driven by the feeding driving mechanism 27, the oil cylinder 362 is arranged on the injection telescoping mechanism 361, the axial directions of the oil cylinder 362 and the feeding driving mechanism are parallel, one end of the injection cavity 363 is arranged on the cylinder body of the oil cylinder 362, a piston rod of the oil cylinder 362 is matched with the injection cavity 363 and stretches into the injection cavity 363, the other end of the injection cavity 363 is connected with the injection needle 364 through a connector 365, the axial direction of the injection needle 364 is parallel to the axial direction of the injection telescoping mechanism 361, and the injection cavity 363 is also connected with a connector 365. Thereby, the cylinder 362, the injection chamber 363, the injection needle 364 and the connector 365 can be driven to move in the needle insertion direction by the injection telescopic mechanism 361, and after the injection needle 364 is inserted into the target position in the patient, the injection liquid or gas in the injection chamber 363 can be injected into the target position in the patient by the extension of the piston rod of the cylinder 362, as shown in fig. 14 and 15; the liquid or gas in the puncture target of the patient can be extracted into the injection cavity 363 by retracting the piston rod of the cylinder 362, as shown in fig. 15, and meanwhile, since a connector 365 is further arranged on the injection cavity 363, the injection liquid or gas can be added in the injection process, or when the injection cavity 363 is full of the extracted liquid or gas, the liquid is extracted from the injection cavity 363 through the connector 365 arranged on the injection cavity 363, so that the continuity of injection and extraction is maintained.

Since a single penetration procedure may involve multiple steps, for example, when it is desired to disinfect the skin at the needle site, the penetration mechanism may be a disinfection mechanism; when local anesthesia is needed to be performed on the puncture site, the puncture mechanism can be an injection mechanism 36, and the puncture mechanism can also be a puncture biopsy mechanism, a puncture drug delivery mechanism and/or the like; when the patient is secured by a thermoplastic film or other securing means and the securing means is applied to the insertion site, a drilling mechanism 37 may also be provided on the puncturing device 30. In order to make the puncture device 30 realize different functions without repeated disassembly and assembly when switching different functions, and improve the puncture efficiency, puncture devices with different functions can be arranged on the puncture device 30, as shown in fig. 2, the puncture device 30 comprises a third rotating mechanism 31, a puncture frame 32 and a puncture connecting piece 33, and at least two puncture mechanisms are arranged; the puncture frame 32 is arranged on the second rotating mechanism 24, or is arranged to drive the puncture frame 32 to rotate through the second rotating mechanism 24, and the third rotating mechanism 31 arranged on the puncture frame 32 is arranged with the rotating shaft parallel to the puncture direction no matter what arrangement is adopted for placement; the third rotating mechanism 31 is disposed on the puncture frame 32, the puncture mechanisms are all disposed to be connected with the third rotating mechanism 31 through the puncture connecting member 33, and all the puncture mechanisms are located on a circumference defined by the aforementioned fixed point to the radius of the perpendicular line of the rotation shaft of the third rotating mechanism 31 and the drop foot as the center of a circle. Thus, the puncture device 30 may be provided with puncture mechanisms with different functions, so as to realize different functions, when a puncture mechanism with a specific function is required to be used, the third rotation mechanism 31 may drive the puncture connector 33 to drive the puncture mechanism to rotate until the puncture mechanism to be used rotates to the above-mentioned fixed point, at this time, the first rotation mechanism 23 and the second rotation mechanism 24 may be adjusted by the above-mentioned method, so that the puncture direction of the puncture mechanism to be used is collinear with the needle insertion direction, and puncture may be performed according to the set track. Because a plurality of puncture mechanisms with different functions can be arranged on the puncture connecting piece 33, the puncture mechanisms which are required to be used can be moved to the position collinear with the needle inserting direction by adjusting the first rotating mechanism 23 and the second rotating mechanism 24, the puncture mechanisms do not need to be replaced by repeated disassembly and assembly, the position precision of the puncture mechanisms can be ensured, the efficiency of the puncture operation is improved, and the puncture precision is ensured.

In the present embodiment, the third rotation mechanism 31 includes a motor, a stand of the motor of the third rotation mechanism 31 is mounted on the puncture frame 32, a rotation shaft of the motor of the third rotation mechanism 31 is connected to the puncture connecting member 33, and the rotation shaft of the motor of the third rotation mechanism 31 is arranged parallel to the puncture direction.

When the puncture mechanism is further provided with the feeding driving mechanism 27 and the puncture frame 32 is configured to be connected with the second rotating mechanism 24 through the feeding driving mechanism 27, in order to ensure the movement stability of the puncture device 30, as shown in fig. 1, two opposite sides of the puncture frame 32 are provided with the feeding driving mechanism 27, the rotating shaft of the first rotating mechanism 23 is connected with the second rotating mechanism 24 provided on the two feeding driving mechanisms 27 through a U-shaped connecting piece, wherein two ends of the opening of the U-shaped connecting piece 231 are respectively connected with the second rotating mechanism 24 provided on the two feeding driving mechanisms 27, and the arc-shaped section of the U-shaped connecting piece 231 is connected with the rotating shaft of the first rotating mechanism 23.

In order to make the application range of the medical precise puncture system capable of covering various puncture operations, such as taking out foreign matters in a body, placing an endoscope, blocking blood supply of a tumor, mounting after radiotherapy, and the like, a structure for manual puncture is provided, as shown in fig. 1 and 2, a puncture channel for moving a hand-held puncture needle 39 is further provided on a puncture connecting piece 33 of the puncture device 30, the direction of the puncture channel is the same as the moving direction of a feeding driving mechanism 27, the puncture channel is matched with the hand-held puncture needle 39, and the axis of the puncture channel is located on the circumference enclosed by the puncture mechanism.

In order to secure the puncture needle of the puncture device 30 by the head film or the body film 52 and to secure the puncture accuracy, as shown in fig. 1, 2 and 16, the puncture device 30 further includes a boring mechanism 37, as shown in fig. 16 to 18, the boring mechanism 37 including a drill 373, a boring control mechanism, and a boring motor 372 for driving the drill 373 and the boring control mechanism to rotate together; the drilling motor 372 is arranged on the puncture connecting piece 33 and is arranged in such a way that the rotating shaft of the drilling motor is parallel to the puncture direction, and the extending line of the rotating shaft of the drilling motor has an intersection point with the circumference enclosed by the puncture mechanism; the drilling control mechanism is configured to control the drill 373 to drill or stop drilling under the drive of the drilling motor 372 according to the received signal. Specifically, the drilling control mechanism comprises an abutting spring 374 and an abutting portion 375, wherein one end of the abutting spring 374 abuts against the outer end face of the rotating shaft of the drilling motor 372, the other end abuts against one end of the abutting portion 375, and the abutting portion 375 is sleeved on the drill 373; the abutting spring 374 is switched between a compressed state and a telescopic state according to a pressure applied to one end of the abutting portion 375, so that the cutting edge of the drill 373 is exposed to the outside of the abutting portion 375 or hidden inside the abutting portion 375.

In some embodiments, as shown in fig. 17, the drill control mechanism is provided on the rotation shaft of the drill motor 372, one end of the abutting portion 375 is hinged on the drill 373, the abutting spring 374 selected here is a torsion spring, torsion springs are provided on the hinge shafts of the abutting portion 375 and the drill 373, one end of the torsion spring abuts on the rotation shaft of the drill motor 372 connected to the drill 373, and the other end of the torsion spring abuts on the end face of the abutting portion 375 facing the rotation shaft of the drill motor 372.

In other embodiments, as shown in fig. 18, the drill bit 373 is disposed on the rotating shaft of the drill motor 372, the optional abutting spring 374 is a telescopic spring, the abutting portion 375 is connected to the rotating shaft of the drill motor 372 through the telescopic spring, specifically, one end of the telescopic spring is connected to an end face of the rotating shaft of the drill motor 372, where the drill bit 373 is disposed, the other end is connected to an end face of the abutting portion 375, which faces the rotating shaft of the drill motor 372, and the abutting portion 375 is sleeved outside the drill bit 373.

Whichever embodiment is adopted, the inner side surface of the abutting portion 375 abuts against the outer side surface of the drill 373, and the abutting portion 375 is made of hard material, so that when the drill 373 drills, the abutting portion 375 is driven by the drill 373 to further expand the drilled hole of the drill 373, and the reaming effect is achieved. When the boring motor 372, the boring head 373, the abutting spring 374 and the abutting portion 375 move together toward the head or body membrane 52, the abutting portion 375 is stopped from moving by being blocked by the head or body membrane 52, and as the boring motor 372, the boring head 373 and the abutting spring 374 move toward the head or body membrane 52, the abutting portion 375 is pressed by the head or body membrane 52 and compresses the abutting spring 374, when the boring surface of the boring head 373 contacts the head or body membrane 52, the boring head 373 can be driven by the boring motor 372 to bore a hole in the head or body membrane 52. When the drill 373 is not vertically drilled into the head membrane or the body membrane 52, a part of the drill 373 can drill through the head membrane or the body membrane 52, and at this time, the abutting portion 375 connected to the abutting spring 374 can abut against the body surface of the patient under the support of the compression spring, so as to compress the muscle of the patient, so as to avoid the body surface of the patient from contacting the cutting edge of the drill 373 until the drill 373 drills through the head membrane or the body membrane 52, thereby ensuring that the drilling mechanism 37 does not cause injury to the patient during drilling.

To ensure cleaning after drilling, the drilling mechanism 37 further comprises dust suction means for sucking out debris generated when the drill 373 drills. As shown in fig. 2 and 16, the dust collection device includes a housing, a dust collection tank 377, and an air pump 378; the casing forms the dust absorption cavity that is used for holding drill bit, drilling control mechanism and drilling motor 372, and is equipped with the drilling opening that is used for supplying drill bit 373 and drilling control mechanism to pass on the casing, and the air pump 378 is established on the casing, is equipped with the through-hole with dust absorption cavity and the air inlet intercommunication of air pump on the lateral wall of casing, the gas outlet and the dust removal jar 377 intercommunication of air pump 378. More specifically, as shown in fig. 16, the housing includes a mounting sleeve for forming a dust collection cavity and a telescopic dust collection cover 376, the mounting sleeve is sleeved on the drilling motor 372, and one end of the mounting sleeve forms a seal, and the other end of the mounting sleeve is open; the telescopic dust hood 376 comprises dust collection curtains and compression springs, wherein the dust collection curtains and the compression springs are all provided with a plurality of dust collection curtains, each dust collection curtain is connected to the end face of the opening of the installation sleeve at least through one compression spring, the adjacent dust collection curtains are mutually attached, and the free ends of all the dust collection curtains jointly enclose a drilling opening. Therefore, each dust collection curtain can be independently moved according to the pressure applied by the dust collection curtain, so that the free end of each dust collection curtain can be closely attached to the surface of the head film or the body film 52, leakage of chips is avoided, and the cleaning of a workplace is kept.

Preferably, the installation sleeve is arranged in a tubular shape, the installation sleeve is sleeved on the outer side of the drilling motor 372, the telescopic dust hood 376 is in a tubular shape, the telescopic dust hood 376 is coaxially connected with the installation sleeve and sleeved on the outer side of the drilling motor 372 or the drill 373 and the outer side of the drilling motor 372, the air pump 378 is arranged on the installation sleeve, a through hole communicated with an air inlet of the air pump 378 is formed in the side wall of the installation sleeve, and an air outlet of the air pump 378 is communicated with the dust removal tank. Therefore, scraps generated during drilling can be cleaned up through the dust collection device, and the influence of the scraps on the precision of puncture is avoided; because the telescopic dust hood 376 has the scalability, when the drilling mechanism 37 drills, the telescopic dust hood 376 deforms and is tightly attached to the surface of the head film or the body film 52, thereby avoiding the leakage of chips, keeping the workplace clean, simultaneously saving the work of cleaning the chips after the operator drills, reducing the workload of the operator and improving the drilling efficiency; and because the chips are cleaned while drilling, the chips are prevented from reducing the drilling precision.

Preferably, the drill 373 is connected with the drilling motor 372 through a connecting pipe, and the connecting pipe is coaxially connected with a rotating shaft of the drilling motor 372, and a through hole for communicating the inside and the outside of the connecting pipe is formed in the pipe wall of the connecting pipe, so that the air pump 378 sucks out scraps generated by drilling in the connecting pipe, and cleaning in the connecting pipe is guaranteed.

In order to facilitate control of the feeding of the drill 373 in the piercing direction, as shown in fig. 16, the boring mechanism 37 further includes a boring telescopic mechanism 371 for driving the boring motor 372 to reciprocate in the boring direction. Specifically, the drilling telescoping mechanism 371 includes motor, lead screw and flexible section of thick bamboo, the motor of drilling telescoping mechanism 371 is established on puncture connecting piece 33, the pivot of the motor of drilling telescoping mechanism 371 and the lead screw coaxial coupling of drilling telescoping mechanism 371, the flexible section of thick bamboo cover of drilling telescoping mechanism 371 is established in puncture connecting piece 33, and be equipped with on the internal diameter of the flexible section of thick bamboo adaptation of puncture connecting piece 33 and drilling telescoping mechanism 371 with the parallel rib of the direction of movement of feeding actuating mechanism 27, be equipped with the recess with this rib matching on the external diameter of the flexible section of thick bamboo of drilling telescoping mechanism 371, and the recess sets up along the direction of movement of feeding actuating mechanism 27, the internal diameter of the flexible section of thick bamboo of drilling telescoping mechanism 371 is equipped with the screw with the lead screw adaptation of drilling telescoping mechanism 371, the tip of the motor 372 of drilling of keeping away from the motor of drilling telescoping mechanism 371 is established at the flexible section of thick bamboo of drilling telescoping mechanism 371. When the motor of the drilling telescoping mechanism 371 drives the screw rod of the drilling telescoping mechanism 371 to rotate, the telescoping cylinder of the drilling telescoping mechanism 371 reciprocates along the axial direction of the screw rod of the drilling telescoping mechanism 371 due to the fact that the puncture connecting piece 33 limits the rotation of the telescoping cylinder of the drilling telescoping mechanism 371, so that the drilling motor 372, the drill 373 and the like are driven to reciprocate.

In this embodiment, as shown in fig. 5, 12, 14 and 16, the first planting prevention telescopic mechanism 348, the pneumothorax prevention telescopic mechanism 351 and the injection telescopic mechanism 361 are the same as those of the drilling telescopic mechanism 371, and include a motor, a screw rod and a telescopic cylinder, and are identical in setting mode and driving mode, and are not repeated here. The difference is that, as shown in fig. 5, the telescopic cylinder of the first planting prevention telescopic mechanism 348 is connected with the motor of the second planting prevention telescopic mechanism 349, the rotating shaft of the motor of the second planting prevention telescopic mechanism 349 is coaxially connected with the screw rod of the second planting prevention telescopic mechanism 349, the screw rod of the second planting prevention telescopic mechanism 349 is in threaded connection with the telescopic cylinder of the second planting prevention telescopic mechanism 349, the guide sleeve 3491 of the second planting prevention telescopic mechanism 349 is in a tubular shape, one end of the guide sleeve 3491 is arranged on the base of the motor of the second planting prevention telescopic mechanism 349, the inner diameter of the guide sleeve 3491 is provided with ribs parallel to the moving direction of the feeding driving mechanism 27, the telescopic cylinder 3492 of the second planting prevention telescopic mechanism 349 is positioned between the screw rod of the second planting prevention telescopic mechanism 349 and the guide sleeve 3491, a through groove which is matched with the ribs on the inner diameter of the guide sleeve 3491 and is arranged along the moving direction of the feeding driving mechanism is arranged on the outer diameter of the telescopic cylinder 349 of the second planting prevention telescopic mechanism 349, and the inner needle 341 is connected with the end part of the telescopic cylinder 349 of the second planting prevention telescopic mechanism 349, which is far away from the first planting prevention telescopic mechanism 348. When the motor of the second planting prevention telescoping mechanism 349 drives the screw rod of the second planting prevention telescoping mechanism 349 to rotate, the telescoping cylinder 3492 and the inner needle 341 of the second planting prevention telescoping mechanism 349 are driven to reciprocate along the axis direction of the screw rod of the second planting prevention telescoping mechanism 349. The difference is also that, as shown in fig. 12, the telescopic cylinder of the first pneumothorax preventing telescopic mechanism 351 is coaxially connected with the second pneumothorax preventing telescopic mechanism 352 of the pneumothorax preventing puncture mechanism 35. Also, as shown in fig. 14, the telescopic cylinder of the injection telescopic mechanism 361 is connected to the cylinder of the injection mechanism 36.

Further, in order to verify the puncture point and the puncture direction before puncturing, and to ensure the accuracy of puncturing, as shown in fig. 2, the puncturing device 30 further comprises a laser emitter 38; the laser emitter 38 is provided on the puncture connecting member 33 and is located on the circumference of the puncture mechanism assembly with the radiation direction of the radiation being parallel to the puncture direction. Therefore, the angle of the position of the needle hole drilled on the head membrane or the body membrane 52 by the drilling mechanism 37 can be confirmed through the laser emitter 38, and the needle insertion point and the needle insertion direction can be confirmed before the puncture mechanism performs puncture by the laser emitter 38, so that the puncture accuracy of the puncture mechanism is ensured, and the pain caused by inaccurate puncture and repeated puncture to a patient is avoided.

Fig. 19 to 30 schematically show a medical precision puncture system according to an embodiment of the present invention.

As shown in fig. 19 and 20, the medical precision puncture system includes the above-described omnidirectional puncture mechanism and a three-dimensional position adjustment mechanism for adjusting the three-dimensional position of the omnidirectional puncture mechanism, and the omnidirectional puncture mechanism is provided on the three-dimensional position adjustment mechanism. The three-dimensional position adjusting mechanism includes a first telescopic mechanism 22 and a plane moving mechanism 21 for driving the first telescopic mechanism 22 to move in a vertical plane, wherein the plane moving mechanism 21 is configured to drive the first telescopic mechanism 22 to move along a preset arc track, and the omnibearing puncture mechanism is arranged on the first telescopic mechanism 22, as shown in fig. 19, 20 and 26-29. When the first telescopic mechanism 22 is arranged on the plane moving mechanism 21, the plane moving mechanism 21 is used for driving the first telescopic mechanism 22 to drive the omnibearing puncture mechanism, in particular, when the omnibearing puncture mechanism comprises a first rotating mechanism 23, a second rotating mechanism and a puncture device 30, the plane moving mechanism 21 is used for driving the first telescopic mechanism 22 to drive the first rotating mechanism 23, the second rotating mechanism 24 and the puncture device 30 to move together in a vertical plane, at the moment, the first telescopic mechanism 22, the first rotating mechanism 23, the second rotating mechanism 24 and the puncture device 30 are sequentially connected, the first telescopic mechanism 22 is used for driving the first rotating mechanism 23 to drive the second rotating mechanism 24 and the puncture device 30 to move towards or away from the plane moving mechanism 21 together, the first rotating mechanism 23 is used for driving the second rotating mechanism 24 to drive the puncture device 30 to rotate together, and the second rotating mechanism 24 is used for driving the puncture device 30 to rotate; and the extension and retraction direction of the first extension and retraction mechanism 22 and the rotation axis of the first rotation mechanism 23 are both set to be perpendicular to the vertical plane formed by the movement positions of the plane movement mechanism 21, and the extension and retraction direction of the first extension and retraction mechanism 22 and the puncture direction of the puncture device 30 are both set to be perpendicular to the rotation axis of the second rotation mechanism 24.

When the medical accurate puncture system is matched with CT (computed tomography) or MRI (magnetic resonance imaging), the relative positions of the medical accurate puncture system and a patient are fixed with the CT or MRI, a reference isocenter is established through a laser system (the reference isocenter is determined by an intersection point formed by laser lines emitted by the laser system at two sides and the upper part of the body of the patient and is used for determining a reference origin of three-dimensional coordinates of a puncture target in the patient), meanwhile, an intersection point formed by the intersection of laser lines emitted by a laser system is marked on the skin of the patient or the surface of a body membrane 52 or a head membrane of the fixed patient, a reference coordinate system is established according to the intersection point, a metal marker is placed at the marking point, and a doctor determines the puncture target in the patient, the space coordinates of the puncture target and the space coordinates of the needle insertion point through CT or MRI scanning, so as to obtain the needle insertion position, the needle insertion direction and the needle insertion depth; when determining the needle insertion point and the needle insertion direction, important organs and tissues are avoided as far as possible, and puncture sequelae caused by puncturing the important organs and tissues are avoided; then the plane moving mechanism 21 and the first telescopic mechanism 22 drive the omnibearing puncture mechanism to move so as to enable the fixed point of the omnibearing puncture mechanism to move to a straight line where the needle inserting direction is located, and then the omnibearing rotation mechanism drives the puncture device 30 to rotate until the puncture direction of the puncture device 30 coincides with the needle inserting direction, so that puncture can be started; when the omnidirectional rotating mechanism comprises a first rotating mechanism 23 and a second rotating mechanism 24, and the first telescoping mechanism 22, the first rotating mechanism 23, the second rotating mechanism 24 and the puncturing device 30 are sequentially connected, the second rotating mechanism 24 and the puncturing device 30 can be driven to rotate together through the first rotating mechanism 23, the puncturing device 30 is driven to rotate through the second rotating mechanism 24, so that the puncturing direction of the puncturing device 30 is the same as the puncturing direction, then the first telescoping mechanism 22 is driven by the plane moving mechanism 21 to drive the first rotating mechanism 23, the second rotating mechanism 24 and the puncturing device 30 to move in a vertical plane, and the first telescoping mechanism 22 is driven by the first rotating mechanism 23 to drive the second rotating mechanism 24 and the puncturing device 30 to move together in a direction perpendicular to a plane formed by the moving positions of the plane moving mechanism 21, so that the puncturing device 30 is collinear with the puncturing direction, at this time, the puncturing device 30 can be punctured in the puncturing direction along the puncturing direction, the skin of a patient from the puncturing point accurately, and finally the puncturing device 30 returns to the primary puncturing path when reaching the target puncturing position according to the puncturing depth acquired from the medical image. Through this accurate puncture system of medical for the doctor can confirm needle direction, needle position and needle depth better under CT or MRI's assistance, in order to avoid important organs and tissues etc. reduce the risk of puncture, reduce the misery that the puncture caused to the patient, avoid causing the sequela of puncture because of puncturing to important organs and tissues etc. moreover, because piercing depth 30 is under the support of planar moving mechanism 21, first telescopic machanism 22, first rotary machanism 23 and second rotary machanism 24, can stab the puncture target in patient's body steadily, in the puncture process, piercing depth of piercing depth 30 can not rock, and accomplish the puncture after, piercing depth 30 can return along former route, reduce the misery that the puncture caused to the patient.

In the present embodiment, as shown in fig. 26 to 29, the planar moving mechanism 21 includes a rack 212, a rotation motor 213, a gear 214 fitted with the rack 212, an arc-shaped guide rail 215, and a pulley 216; the rack 212 and the arc guide 215 are both arranged in a coaxial arc shape, and are connected side by side, the gear 214 is connected with the pulley 216 through the rotating motor 213, specifically, the rotating motor 213 is arranged on the pulley 216, the gear 214 is coaxially connected with the rotating shaft of the rotating motor 213, the gear 214 is adapted to the rack 212, and the pulley 216 is clamped on the arc guide 215, in this embodiment, as shown in fig. 29, a motor mounting hole 2161 for mounting the rotating motor 213, a slider 2162 for adapting to the arc guide 215, and a rotatable ball is arranged on the bottom surface of the slider 2162, so as to reduce friction between the pulley 216 and the arc guide 215, and the stand of the rotating motor 213 is connected with the first telescopic mechanism 22 or the first rotating mechanism 23. Therefore, when the gear 214 is driven to rotate by the rotating motor 213, the pulley 216 is simultaneously clamped on the arc-shaped guide rail 215, so that the gear 214 drives the first telescopic mechanism 22 or the first rotating mechanism 23 to reciprocate along an arc-shaped track in a vertical plane together when moving along the arc-shaped rack 212, and the puncture device 30 moves in the vertical plane. In other embodiments, the planar moving mechanism 21 may also include a horizontal moving mechanism and a vertical moving mechanism, where the vertical moving mechanism is disposed on a moving component of the horizontal moving mechanism, and the moving direction of the vertical moving mechanism is perpendicular to the moving direction of the horizontal moving mechanism, and the first telescopic mechanism 22 or the first rotating mechanism 23 may be disposed on the moving component of the vertical moving mechanism.

In this embodiment, as shown in fig. 24 and 25, the first telescopic mechanism 22 includes a motor, a screw rod, a fixing rod and a telescopic tube, the base of the motor of the first telescopic mechanism 22 is mounted on the moving component of the planar moving mechanism 21, the rotating shaft of the motor is perpendicular to the vertical plane formed by the moving position of the planar moving mechanism 21, the screw rod of the first telescopic mechanism 22 is coaxially connected with the rotating shaft of the motor of the first telescopic mechanism 22, one end of the fixing rod is connected to the base of the motor of the first telescopic mechanism 22, the fixing rod is sleeved outside the screw rod of the first telescopic mechanism 22, an internal thread adapted to the screw rod of the first telescopic mechanism 22 is arranged between the fixing rod and the screw rod of the first telescopic mechanism 22, ribs are arranged on the inner diameter of the telescopic tube, a clamping groove 521 corresponding to the ribs is arranged on the outer diameter of the telescopic tube, the first rotating mechanism 23 is arranged on one end of the telescopic tube far away from the motor of the first telescopic mechanism 22, when the motor of the first telescopic mechanism 22 drives the first telescopic mechanism 22 to rotate, and the fixing rod is sleeved outside the screw rod is prevented from moving in the forward direction of the first telescopic mechanism 22; when the motor of the first telescopic mechanism 22 is reversed, the telescopic tube moves in the direction in which the motor of the first telescopic mechanism 22 is located, and thereby moves in the direction approaching or moving away from the planar moving mechanism 21 with the first rotating mechanism 23 and the puncture device 30. In other embodiments, the first telescopic mechanism 22 may also be an oil cylinder or a gas cylinder, where a piston rod of the oil cylinder or the gas cylinder is perpendicular to a vertical plane formed by the moving position of the plane moving mechanism 21, and the first rotating mechanism 23 is connected to the piston rod of the oil cylinder or the gas cylinder.

In the present embodiment, as shown in fig. 24, the first rotation mechanism 23 includes a motor, a housing of the motor of the first rotation mechanism 23 is mounted on the first telescopic mechanism 22, a rotation shaft of the motor of the first rotation mechanism 23 is connected to the second rotation mechanism 24, and the rotation shaft of the motor of the first rotation mechanism 23 is arranged to be perpendicular to a vertical plane constituted by the moving positions of the plane moving mechanism 21.

In the present embodiment, as shown in fig. 19 and 21, the second rotation mechanism 24 includes a motor, a housing of the motor of the second rotation mechanism 24 is mounted on the first rotation mechanism 23, a rotation shaft of the motor of the second rotation mechanism 24 is connected to the puncturing device 30, and the rotation shaft of the motor of the second rotation mechanism 24 is arranged to be perpendicular to both the rotation shaft of the first rotation mechanism 23 and the puncturing direction of the puncturing device 30.

In order to further ensure the accuracy of the relative position between the medical accurate puncture system and the CT or MRI, so as to ensure the accuracy of puncture, the medical accurate puncture system further comprises a reference coordinate system auxiliary mechanism for establishing a reference coordinate system of the medical accurate puncture system, wherein the reference coordinate system auxiliary mechanism is arranged on the plane moving mechanism 21, specifically may be arranged on the plane frame 211 of the plane moving mechanism, and is arranged such that the coordinate plane thereof is parallel to the moving plane where the plane moving mechanism 21 is located (the plane where the plane moving mechanism is located is a vertical plane formed by the moving positions of the plane moving mechanism 21, that is, the vertical plane where the arc track is located). When the medical accurate puncture system is used, a patient can be relatively fixed with the medical accurate puncture system, the medical accurate puncture system is relatively fixed with CT or MRI, a reference coordinate system is established through the medical accurate puncture system, and meanwhile, a doctor can determine the coordinate of a puncture target of the patient in the reference coordinate system and the coordinate of a needle insertion point through a medical image reconstructed by CT or MRI scanning so as to obtain a needle insertion position, a needle insertion direction and a needle insertion depth; when the medical accurate puncture system is used, an external reference coordinate system establishment mechanism is not needed to establish a reference coordinate system, so that the problem of the installation accuracy of the medical accurate puncture system and the external reference coordinate system establishment mechanism during relative fixation is solved, the installation efficiency of the medical accurate puncture system is improved, and accurate puncture is realized.

In some embodiments, as shown in fig. 19, 21 and 27, the reference frame assist mechanism is a laser system 40; the laser system 40 includes a first laser emitter 41 and two second laser emitters 42, the first laser emitter 41 and the second laser emitter 42 are both disposed on the planar frame 211 of the planar moving mechanism 21 and the plane formed is parallel to the vertical plane formed by the moving position of the planar moving mechanism 21, wherein the first laser emitter 41 is disposed at one end of the planar moving mechanism 21 far away from the ground, the two second laser emitters 42 are disposed on two sides of the first laser emitter 41 and on one side of the first laser emitter 41 near the ground, the two second laser emitters 42 are disposed at equal heights, and the two second laser emitters 42 emit laser light in directions where each other are located, and the first laser emitter 41 emits laser light in the ground direction. Thus, the intersection of the laser lines may be marked by the laser system 40 on the patient's skin or on the surface of the patient-fixed body membrane 52 or the head membrane, from which the reference coordinate system is established. In other embodiments, the reference frame auxiliary mechanism is a metal mark point, at least two metal mark points are provided, and each metal mark point is disposed on the plane frame 211 of the plane moving mechanism 21, and a straight line formed by the metal mark points is parallel to a vertical plane formed by the moving position of the plane moving mechanism 21. When CT or MRI scanning is used, the metal mark points are positioned on the scanned part of the human body, so that a reference coordinate system can be established according to the metal mark points, the mark intersection points on the skin of a patient or the surface of a body membrane or a head membrane of a fixed patient are not needed, and a metal marker is placed, so that the operation is quick.

Further, in order to make the reference frame auxiliary mechanism form the origin of the reference frame at a proper position, the medical precision puncture system further comprises a second telescopic mechanism 43, the reference frame auxiliary mechanism is arranged on the plane moving mechanism 21 through the second telescopic mechanism 43, and the second telescopic mechanism 43 is used for driving the reference frame auxiliary mechanism to reciprocate in a direction perpendicular to a vertical plane where the arc track is located. The second telescopic mechanism 43 is provided on the planar frame 211 at this time. Specifically, as shown in fig. 21, the laser system 40 further includes a second telescopic mechanism 43; the first laser transmitter 41 and the second laser transmitter 42 are each separately provided on one second telescopic mechanism 43, and are provided on the plane frame 211 of the plane moving mechanism 21 through the second telescopic mechanism 43, and the telescopic direction of the second telescopic mechanism 43 is perpendicular to the vertical plane constituted by the moving positions of the plane moving mechanism 21. Thus, the positions of the first and second laser emitters 42 may be simultaneously adjusted by the second telescopic mechanism 43 so that the laser forms an intersection at a suitable location of the patient's skin or the surface of the body membrane 52 or the head membrane of the stationary patient. In this embodiment, the specific structure of the second telescopic mechanism 43 is the same as that of the first telescopic mechanism 22, and includes a motor, a screw rod, a fixing rod and a telescopic tube, the second telescopic mechanism 43 is the same as that of the first telescopic mechanism 22, which is not described herein, and the difference is that the base of the motor of the second telescopic mechanism 43 is mounted on the planar frame 211 of the planar moving mechanism 21, the rotation axis of the motor of the second telescopic mechanism 43 is perpendicular to the vertical plane formed by the moving position of the planar moving mechanism 21, the first laser emitter 41 and the second laser emitter 42 are separately disposed at the end of the telescopic tube of one second telescopic mechanism 43, which is far away from the motor of the second telescopic mechanism 43, and the manner in which the second telescopic mechanism 43 drives the first laser emitter 41 and the second laser emitter 42 to approach or far away from the planar moving mechanism 21 is the same as that of the first telescopic mechanism 22 to drive the first rotary mechanism 23, which is not described herein.

In order to fix the body position of the patient and ensure the accuracy of the puncture, as shown in fig. 19 to 21 and 24 to 27, the medical precision puncture system further comprises a bottom plate 50, and a three-dimensional position adjusting mechanism is arranged on the bottom plate 50. Specifically, the first moving mechanism 26 is disposed on the bottom plate 50, the surface of the bottom plate 50 is parallel to the moving direction of the first moving mechanism 26 and perpendicular to a vertical plane formed by the moving position of the plane moving mechanism 21, and the bottom plate 50 is detachably provided with a head film and/or a body film 52, and the head film and the body film 52 are made of low-temperature thermoplastic plates. Therefore, when the medical accurate puncture system and CT or MRI are matched to establish a reference isocenter and determine the space coordinates of a puncture target in a patient, on one hand, the body position of the patient can be fixed through the low-temperature thermoplastic plate, and the reduction of the puncture precision of the medical accurate puncture system caused by the fact that the actual puncture target position is not coincident with the space coordinates of the puncture target determined by CT or MRI due to the displacement of the patient is avoided; on the other hand, the intersection point of the laser line can be marked on the surface of the low-temperature thermoplastic plate for fixing the patient, the needle hole is drilled at the position of the needle insertion point of the low-temperature thermoplastic plate, the puncture needle of the puncture device 30 penetrates through the needle insertion hole on the low-temperature Wen Resu plate and penetrates into the puncture target position of the patient along the needle insertion direction, and the puncture needle further ensures the puncture precision due to the support of the low-temperature thermoplastic plate in the process of penetrating into the skin of the patient.

In order to facilitate the installation and the disassembly of the head film or the body film 52, as shown in fig. 19, an installation seat 53 is arranged on the bottom plate 50, an installation through groove 531 matched with the thickness of the body film 52 or the head film is arranged on the installation seat 53, an installation insert 54 is inserted into the installation seat 53 along the direction perpendicular to the installation through groove 531, and the installation insert 54 passes through the installation through groove 531 in the process of inserting the installation seat 53; correspondingly, the head film or the body film 52 is provided with a clamping groove 521 which is matched with the mounting plug-in 54, and the clamping groove 521 is arranged at two sides of the head film or the body film 52, and as shown in fig. 30, two sides of the body film 52 are provided with the clamping groove 521. When both sides of the head film or body film 52 provided with the clamping grooves 521 are inserted into the mounting through grooves 531 of the mounting base 53, the mounting insert 54 may be inserted into the clamping grooves 521 of the head film or body film 52 located in the mounting through grooves 531 to fix the head film or body film 52 to the base.

In order to further fix the body position of the patient, a vacuum pad or foaming glue is placed on the base, when the patient lies on or lies on the vacuum pad or foaming glue, the vacuum bag or the foaming glue is shaped to be consistent with the surface of the body of the patient, and the air in the vacuum bag is pumped out of the vacuum bag to harden or the foaming glue is prolonged along with the placement time to harden and stabilize the shape so as to fix the body position of the patient.

In order to increase the movement range of the medical precision puncture system and improve the flexibility of the use of the medical precision puncture system, as shown in fig. 19, 21 and 27, the medical precision puncture system further comprises a position adjustment mechanism for adjusting the position of the three-dimensional position adjustment mechanism, which is disposed on the bottom plate 50 through the position adjustment mechanism. Specifically, the position adjusting mechanism includes a lifting mechanism 25 for driving the planar moving mechanism 21 to lift and/or a first moving mechanism 26 for driving the planar moving mechanism 21 to reciprocate in a horizontal plane, wherein the lifting direction of the lifting mechanism 25 is parallel to the moving plane of the planar moving mechanism 21 and perpendicular to the telescoping direction of the first telescoping mechanism 22, and the moving direction of the first moving mechanism 26 is parallel to the telescoping direction of the first telescoping mechanism 22.

Specifically, when the position adjustment mechanism does not include the first moving mechanism 26, as shown in fig. 19 and 21, the plane frame 211 of the plane moving mechanism 21 is provided on the elevating mechanism 25, and the elevating direction of the elevating mechanism is parallel to the vertical plane constituted by the moving position of the plane moving mechanism 21 and perpendicular to the telescoping direction of the second telescoping mechanism 43. In this embodiment, as shown in fig. 19 and 21, the lifting mechanism 25 includes a guide rail, a slider, a screw rod and a motor, wherein the guide rail is mutually matched with the slider, the guide rail is perpendicular to the horizontal plane, the motor of the lifting mechanism 25 is mounted on the slider, the rotating shaft of the motor of the lifting mechanism 25 is coaxially connected with the screw rod of the lifting mechanism 25, a screw hole matched with the screw rod of the lifting mechanism 25 is arranged on the guide rail at a position corresponding to the lifting mechanism 25, and the plane moving mechanism 21 is arranged on the slider. When the motor of the lifting mechanism 25 drives the screw rod of the lifting mechanism to rotate, the guide rail is in engagement connection with the slide block, and therefore the slide block moves up and down relative to the guide rail (for example, when the motor of the lifting mechanism 25 rotates forward, the slide block rises, and when the motor of the lifting mechanism 25 rotates backward, the slide block descends), and the movement of the slide block simultaneously drives the plane moving mechanism 21, the first telescopic mechanism 22, the first rotating mechanism 23, the second rotating mechanism 24, the puncturing device 30, the laser system 40 and the like to move together. Therefore, the plane moving mechanism 21 can be driven by the lifting mechanism 25 to drive the first telescopic mechanism 22, the first rotating mechanism 23, the second rotating mechanism 24, the puncture device 30 and the reference coordinate system auxiliary mechanism to lift or descend together so as to adapt to patients with different sizes.

When the position adjustment mechanism does not include the elevating mechanism 25, the planar frame 211 of the planar moving mechanism 21 is provided on the first moving mechanism 26, specifically, the planar frame 211 of the planar moving mechanism 21 is provided on the first moving mechanism 26.

Therefore, in the process of using the medical accurate puncture system together with CT or MRI, when a reference coordinate system is established by using a laser system of CT or MRI, in order to avoid that the puncture device 30, the second rotating mechanism 24, the first rotating mechanism 23 and the first telescopic mechanism 22 shield laser of CT or MRI, in addition, when CT or MRI scanning is carried out, in order to avoid that the puncture device 30, the second rotating mechanism 24, the first rotating mechanism 23 and the first telescopic mechanism 22 shield scanning parts to form medical image artifacts, the first moving mechanism 26 drives the lifting mechanism 25 to drive the plane moving mechanism 21, the first rotating mechanism 23, the first telescopic mechanism 22, the second telescopic mechanism 43, the second rotating mechanism 24 and the puncture device 30 to move together. Due to the arrangement of the first moving mechanism 26, the travel of the medical accurate puncture system in the horizontal direction is increased, and the flexibility of use is increased; the relative position is not required to be too accurate when the medical accurate puncture system is installed with CT or MRI, the installation difficulty is reduced, the installation speed is increased, and the puncture efficiency is improved.

In this embodiment, as shown in fig. 19 and 21, the first moving mechanism 26 includes a motor, a screw, a guide rail, and a slider, wherein the motor of the first moving mechanism 26 is mounted on the guide rail of the first moving mechanism 26, the screw of the first moving mechanism 26 is coaxially connected with a rotation shaft of the motor of the first moving mechanism 26, the guide rail of the first moving mechanism 26 is adapted to the slider of the first moving mechanism 26, simultaneously, a screw thread adapted to the screw of the first moving mechanism 26 is provided on the slider of the first moving mechanism 26, and the lifting mechanism 25 is provided on the slider of the first moving mechanism 26, and the guide rail and the screw of the first moving mechanism 26 are provided in a horizontal direction. When the motor of the first moving mechanism 26 drives the screw of the first moving mechanism 26 to rotate, the slide of the first moving mechanism 26 reciprocates along the axial direction of the screw of the first moving mechanism 26 with the change of the steering direction of the motor of the first moving mechanism 26 due to the rotation of the slide of the first moving mechanism 26 being restricted by the guide rail of the first moving mechanism 26, thereby driving the lifting mechanism 25 and the planar moving mechanism 21, the first retracting mechanism 22, the first rotating mechanism 23, the puncturing device 30, and the like to move in the horizontal direction.

When the elevating mechanism 25 and the first moving mechanism 26 are simultaneously set up in the position adjusting mechanism, as shown in fig. 19 and 21, the planar frame 211, the elevating mechanism 25 and the first moving mechanism 26 are connected in this order, and the first moving mechanism 26 drives the elevating mechanism 25 and the planar frame 211 to reciprocate in the horizontal plane, preferably, the direction of the reciprocation in the horizontal plane is parallel to the telescoping direction of the first telescoping mechanism 22; the elevating mechanism 25 drives the plane frame 211 to reciprocate in a vertical plane, and preferably, the direction of reciprocation in the vertical plane is perpendicular to the telescoping direction of the first telescoping mechanism 22.

In order to ensure that the relative position is not required to be too accurate when the medical accurate puncture system is installed with CT or MRI, the installation difficulty is reduced, the installation speed is increased, and the puncture efficiency is improved. As shown in fig. 19 and 21, the medical precision puncture system further includes a first moving mechanism 26 for driving the lifting mechanism 25 to reciprocate in a horizontal plane, the lifting mechanism 25 is provided on the first moving mechanism 26, and a moving direction of the first moving mechanism 26 is parallel to the horizontal plane and perpendicular to a lifting direction of the lifting mechanism 25. At this time, the specific embodiments of the lifting mechanism 25 and the first moving mechanism 26 are the same as those of the lifting mechanism 25 and the first moving mechanism 26, and will not be repeated. After the reference coordinate system is established and the needle inserting position, the needle inserting direction and the needle inserting depth are determined, the lifting mechanism 25 is driven by the first moving mechanism 26 to drive the plane moving mechanism 21, the first rotating mechanism 23, the first telescopic mechanism 22, the second telescopic mechanism 43, the second rotating mechanism 24 and the puncturing device 30 to move together, and the puncturing position and the puncturing direction of the puncturing device 30 are adjusted to be in place, so that puncturing can be performed; thereby make this medical accurate piercing depth mechanism both can be applicable to the patient of different sizes, have higher flexibility simultaneously, when this medical accurate piercing depth system is in the same place with CT or MRI moreover, the relative position need not too accurate, reduces the installation degree of difficulty to accelerate installation rate, improvement puncture efficiency.

In order to increase the driving mode of the puncture device 30 for pulling out the needle, as shown in fig. 19, 21 and 27, the medical precision puncture system further comprises a feeding driving mechanism 27 for driving the puncture device 30 to reciprocate along a rotation axis perpendicular to the second rotation mechanism 24; the feed drive mechanism 27 is provided on the second rotation mechanism 24, the puncture device 30 is provided on the feed drive mechanism 27, and the moving direction of the feed drive mechanism 27 is parallel to the puncture direction of the puncture device 30. Thus, the puncture device 30 can be driven by the feed drive mechanism 27 to perform puncture or needle withdrawal.

In this embodiment, as shown in fig. 19, 21 and 27, the feeding driving mechanism 27 includes a motor, a screw rod and a slider, a guide rail parallel to the piercing direction may be provided on the piercing device 30, the slider of the feeding driving mechanism 27 is adapted to the guide rail, meanwhile, the motor of the feeding driving mechanism 27 is mounted on the piercing device 30, the screw rod of the feeding driving mechanism 27 is coaxially connected with the motor of the feeding driving mechanism 27, the screw rod of the feeding driving mechanism 27 is parallel to the guide rail provided on the piercing device 30, a screw hole adapted to the screw rod of the feeding driving mechanism 27 is further provided on the slider of the feeding driving mechanism 27, and the slider of the feeding driving mechanism 27 is further connected with the second rotating mechanism 24. When the motor of the feed driving mechanism 27 drives the screw of the feed driving mechanism 27 to rotate, the slider of the feed driving mechanism 27 is driven to move in the axial direction of the screw of the feed driving mechanism 27, thereby moving the slider of the feed driving mechanism 27 and the second rotating mechanism 24 provided on the slider of the feed driving mechanism 27 relative to the puncture device 30.

In order to realize automatic position adjustment during puncture, in this embodiment, this medical accurate puncture system still includes control module, and control module is connected with omnidirectional rotating mechanism, piercing depth 30 and three-dimensional position adjustment mechanism, and control module is used for controlling omnidirectional rotating mechanism, piercing depth 30 and three-dimensional position adjustment mechanism's operating condition to record. Specifically, the control module is connected to the planar moving mechanism 21, the first telescopic mechanism 22, the first rotating mechanism 23, the second rotating mechanism 24, and the puncturing device 30, and is used for controlling and recording the operating states of the planar moving mechanism 21, the first telescopic mechanism 22, the first rotating mechanism 23, the second rotating mechanism 24, and the puncturing device 30. Thus, the control module can control the movement tracks of the plane moving mechanism 21, the first telescopic mechanism 22, the first rotating mechanism 23, the second rotating mechanism 24 and the puncturing device 30 so as to realize puncturing automation and ensure puncturing accuracy.

The application method of the medical accurate puncture system comprises the following steps,

s301, determining a reference isocenter of a patient and the position of a puncture target through CT or MRI, and determining a needle inserting position, a needle inserting direction and a needle inserting depth;

S303, adjusting the plane moving mechanism 21, the first telescopic mechanism 22, the first rotating mechanism 23 and the second rotating mechanism 24 to make the puncturing direction of the puncturing device 30 and the puncturing direction collinear.

In some embodiments, to fix the body position of the patient, before step S301, the following steps are further included:

s101: placing a vacuum pad or foaming glue on the base, shaping the vacuum bag or foaming glue to enable the shape of the vacuum bag or foaming glue to be consistent with the surface of the body of the patient when the patient lies on or lies on the vacuum pad or foaming glue, and sucking the gas in the vacuum bag out of the vacuum bag to harden or prolonging the placing time to enable the foaming glue to harden and stabilize the shape so as to fix the body position of the patient.

In order to further fix the body position of the patient, between step S101 and step S301, the following steps are further included:

s201: when the patient is on the base, the head or body membrane 52 is mounted on the mount 53 of the base to fix the position of the patient.

In other embodiments, in order to fix the body position of the patient, step S201 may be performed just before step S301, where the patient is fixed to the base by the head membrane or the body membrane 52 detachably mounted on the mount 53 of the base.

When lancing device 30 includes a plurality of lancing mechanisms, drilling mechanism 37, laser transmitter 38, hand-held lancing needle 39 and injection mechanism 36, the following steps are further included between step S301 and step S303:

S302: the axis of the lancing mechanism, the drilling mechanism 37, the laser emitter 38, the injection mechanism 36 or the lancing channel for moving the hand-held lancing needle 39, which is required to be used, is rotated to the intersection of the second rotation mechanism 24 and the rotation shaft of the first rotation mechanism 23 by the third rotation mechanism 31.

In the invention, the general telescopic mechanism and the moving mechanism can be realized by adopting a mode of driving a screw rod to drive a nut to move by adopting a motor, and can also be realized by adopting an oil cylinder or an air cylinder, so long as the telescopic or moving state can be realized, the specific realization mode of the telescopic mechanism or the moving mechanism is not limited; while the hand-held lancet 39 can be manually adjusted. In the present invention, the detachable connection may be a bolt connection or a snap connection, as long as the detachable connection of two objects can be achieved, and the specific implementation manner of the detachable connection is not particularly limited.

In the present invention, the medical precision puncture system may include only the plane moving mechanism 21, the first retracting mechanism 22, the first rotating mechanism 23, the second rotating mechanism 24, and the puncture device 30 that move in a vertical plane; the laser system 40, the lifting mechanism 25, the first moving mechanism 26, the feeding driving mechanism 27 and the control module can be respectively or combined on the medical accurate puncture system for realizing different purposes; at least two puncture mechanisms, which may be a needle tract tumor implantation puncture mechanism 34, a pneumothorax puncture mechanism 35 and/or an injection mechanism 36, may be arranged on the puncture device 30 for realizing different functions, and preferably, the needle tract tumor implantation puncture mechanism 34, the pneumothorax puncture mechanism 35 and/or the injection mechanism 36 are detachably arranged; the bottom plate 50, the head membrane and/or the body membrane 52 can be added in the medical accurate puncture system for realizing the fixing function in the puncture process, and the drilling mechanism 37 and the laser emitter 38 can be additionally arranged in the medical accurate puncture system for further ensuring the accuracy of puncture. The mechanism can be additionally arranged only one according to the needs, and can also be additionally arranged in a combined way according to the needs so as to achieve better puncture effect.

What has been described above is merely some embodiments of the present invention. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the invention.

Claims

1. The omnibearing puncture mechanism is characterized by comprising an omnibearing rotation mechanism and a puncture device (30), wherein the omnibearing rotation mechanism is used for driving the puncture device (30) to rotate around a certain point in a three-dimensional space for a set angle, and the omnibearing puncture mechanism comprises a main body and a main body,

the fixed point is arranged on an extension line of the puncture device (30) where the puncture direction is, and the set angle is set to be any value between 0 and 360 degrees;

the puncture device (30) comprises a puncture mechanism and a drilling mechanism (37) for carrying out picking and placing treatment;

the drilling mechanism (37) comprises a drill bit (373), a drilling control mechanism, a drilling motor (372) for driving the drill bit (373) and the drilling control mechanism to rotate together, an abutting spring (374) and an abutting part (375);

the drilling motor (372) is arranged to have a rotating shaft parallel to the puncturing direction, and the drilling control mechanism is arranged to control the drill bit (373) to drill or stop drilling under the driving of the drilling motor (372) according to the received signal;

One end of the abutting spring (374) abuts against the outer end face of the rotating shaft of the drilling motor (372), the other end of the abutting spring abuts against one end of the abutting portion (375), and the abutting portion (375) is sleeved on the drill bit (373);

the abutting spring (374) is switched between a compressed state and an extended state according to the pressure applied to the other end of the abutting portion (375), so that the cutting edge of the drill (373) is exposed to the outside of the abutting portion (375) or hidden inside the abutting portion (375).

2. The omnibearing puncture mechanism according to claim 1, wherein the omnibearing rotation mechanism comprises a first rotation mechanism (23) and a second rotation mechanism (24), the first rotation mechanism (23) is used for driving the second rotation mechanism (24) to rotate by a first set angle, the second rotation mechanism (24) is used for driving the puncture device (30) to rotate by a second set angle, and the value ranges of the first set angle and the second set angle are 0-360 degrees;

the rotating shaft of the first rotating mechanism (23) is perpendicular to the rotating shaft of the second rotating mechanism (24), the rotating shaft of the second rotating mechanism (24) is perpendicular to the puncturing direction of the puncturing device (30), and the rotating shaft of the first rotating mechanism (23), the rotating shaft of the second rotating mechanism (24) and the puncturing direction of the puncturing device (30) are intersected to form the fixed point.

3. The omnidirectional puncture mechanism according to claim 2, characterized in that said puncture mechanism is rotated about a fixed point under the drive of said second rotation mechanism (24).

4. The omnidirectional puncture mechanism of claim 3, wherein,

the puncture mechanism includes:

a puncture needle for puncturing;

an outer needle sheath (347) for providing a penetration path for the needle; and

and the puncture positioning driving mechanism is used for driving the puncture needle and the outer needle sleeve (347) to move in the puncture direction and limiting the feeding position of the outer needle sleeve (347) so as to realize needle tract tumor implantation prevention.

5. The omnidirectional puncture mechanism of claim 4, wherein the outer needle sheath (347) is provided with a first cavity extending through both ends thereof, the puncture positioning drive mechanism comprising

A feed driving mechanism (27) arranged on the second rotating mechanism (24) and used for driving the positioning mechanism, the puncture driving mechanism, the puncture needle and the outer needle sleeve (347) to move simultaneously in the puncture direction;

the positioning mechanism is arranged on the feeding driving mechanism (27) and is used for limiting the outer needle sleeve (347) when the outer needle sleeve (347) moves to the limiting position of the positioning mechanism; and

And the puncture driving mechanism is arranged on the feeding driving mechanism (27) and is used for driving the puncture needle and the outer needle sleeve (347) to move in the puncture direction and continuously driving the puncture needle to extend from the first cavity or at least retract into the first cavity along the puncture direction when the outer needle sleeve (347) moves to the limit position of the positioning mechanism.

6. The omnibearing puncture mechanism according to claim 5, wherein the puncture needle comprises an inner needle (341) and an inner needle sleeve (342) with two ends penetrating through a second cavity arranged in the inner needle, the inner needle sleeve (342) is arranged in the first cavity, and the inner needle (341) is arranged in the second cavity;

the puncture driving mechanism comprises

A first anti-planting telescopic mechanism (349) for driving the inner needle (341) to extend from or retract into the second cavity; and

and the second planting prevention telescopic mechanism (348) is used for driving the first planting prevention telescopic mechanism (349) and the inner needle sleeve (342) to move along the puncture direction so as to enable the inner needle sleeve (342) to extend out of the first cavity or retract into the first cavity.

7. The omnibearing puncture mechanism according to claim 5, wherein an end portion of the outer needle sheath (347) close to the feeding drive mechanism (27) is further sheathed with a connecting sheath (346), and a deformable sealing diaphragm (3461) is arranged in the connecting sheath (346).

8. An all-round lancing mechanism according to claim 3, wherein the lancing mechanism includes an injection mechanism (36) for automatically withdrawing or injecting gas or liquid;

the injection mechanism comprises an injection cavity (363) of the injection mechanism (36), wherein at least two connectors (365) are arranged on the injection cavity (363), one connector (365) is used for communicating the injection cavity (363) with an injection needle (364), and the connector (365) with the connector is used for communicating the injection cavity (363) with an external gas or liquid injection system or communicating the injection cavity (363) with an external gas or liquid extraction system.

9. The omnidirectional puncture mechanism according to any of claims 3 to 8, characterized in that said puncture device (30) further comprises a third rotation mechanism (31), a puncture frame (32) and a puncture connection (33), and that said puncture mechanism is provided with at least two;

The puncture frame (32) is arranged on the second rotating mechanism (24), and the third rotating mechanism (31) is arranged on the puncture frame (32) and is arranged such that the rotating shaft of the third rotating mechanism is parallel to the puncture direction;

the puncture mechanisms are all arranged to be connected with the third rotating mechanism (31) through the puncture connecting piece (33), and all puncture mechanisms are located on a circumference defined by taking a perpendicular line from the fixed point to a rotating shaft of the third rotating mechanism (31) as a radius and taking a drop foot as a circle center.

10. The omnidirectional puncture mechanism according to claim 9, wherein said drilling motor (372) is provided on said puncture connector (33) and an extension of the rotation axis thereof has an intersection point with said circumference.

11. The omnidirectional puncture mechanism of claim 10, wherein the drilling mechanism (37) further comprises dust extraction means for extracting debris generated during drilling by the drill (373).

12. The omnidirectional puncture mechanism according to claim 10, characterized in that said puncture device (30) further comprises a laser emitter (38), said laser emitter (38) being arranged on said puncture connection (33) on said circumference, and said laser emitter (38) being arranged with its emission direction of radiation parallel to said puncture direction.

13. A medical precision puncture system comprising the omnidirectional puncture mechanism according to any one of claims 1 to 12 and a three-dimensional position adjustment mechanism for adjusting the three-dimensional position of the omnidirectional puncture mechanism, the omnidirectional puncture mechanism being provided on the three-dimensional position adjustment mechanism.

14. The medical precision puncture system according to claim 13, characterized in that the three-dimensional position adjustment mechanism comprises a first telescopic mechanism (22) and a plane movement mechanism (21) for driving the first telescopic mechanism (22) to move in a vertical plane, the plane movement mechanism (21) being arranged to drive the first telescopic mechanism (22) to move along a preset arc-shaped track, the omnidirectional puncture mechanism being arranged on the first telescopic mechanism (22).

15. The medical precision puncture system according to claim 14, further comprising a reference coordinate system auxiliary mechanism for establishing a reference coordinate system of the medical precision puncture system, the reference coordinate system auxiliary mechanism being provided on the plane moving mechanism (21) and being arranged such that a coordinate plane thereof is parallel to a vertical plane in which the arc-shaped locus is located.

16. The medical precision puncture system according to claim 15, further comprising a second telescopic mechanism (43), wherein the reference frame auxiliary mechanism is arranged on the plane moving mechanism (21) through the second telescopic mechanism (43), and the second telescopic mechanism (43) is used for driving the reference frame auxiliary mechanism to reciprocate along a direction perpendicular to a vertical plane in which the arc-shaped track is arranged.

17. The medical precision puncture system according to any of claims 13 to 16, further comprising a base plate (50); the three-dimensional position adjusting mechanism is arranged on the bottom plate (50), a head film and/or a body film (52) are detachably arranged on the bottom plate (50), and the head film and the body film (52) are made of low-temperature thermoplastic plates.

18. The medical precision puncture system according to claim 17, further comprising a position adjustment mechanism for adjusting a position of the three-dimensional position adjustment mechanism, the three-dimensional position adjustment mechanism being disposed on the base plate (50) by the position adjustment mechanism.

19. The medical precision penetration system of claim 18, further comprising a control module;

the control module is connected with the omnibearing rotating mechanism, the puncture device (30) and the three-dimensional position adjusting mechanism, and is used for controlling the working states of the omnibearing rotating mechanism, the puncture device (30) and the three-dimensional position adjusting mechanism and recording.