CN111358534A

CN111358534A - Ultrasonic guided puncture device and system

Info

Publication number: CN111358534A
Application number: CN201811594688.5A
Authority: CN
Inventors: 黄明进; 宫明晶; 赵明昌; 莫若理
Original assignee: Wuxi Chison Medical Technologies Co Ltd
Current assignee: Wuxi Chison Medical Technologies Co Ltd
Priority date: 2018-12-25
Filing date: 2018-12-25
Publication date: 2020-07-03
Also published as: WO2020133140A1

Abstract

The invention relates to the technical field of ultrasonic equipment, and particularly discloses an ultrasonic guided puncture device, wherein the ultrasonic guided puncture device comprises: the ultrasonic probe module can be in communication connection with the host module and is used for detecting a puncture target and sending an ultrasonic signal of the detected puncture target to the host module; the puncture control module can be in communication connection with the host module and is used for forming a puncture control signal according to the position information of the puncture target obtained after the host module processes the ultrasonic signal; and the puncture module is electrically connected with the puncture control module and is used for automatically puncturing the puncture target according to the puncture control signal. The invention also discloses an ultrasonic guided puncture system. The ultrasonic guided puncture device provided by the invention can provide puncture efficiency and puncture accuracy.

Description

Ultrasonic guided puncture device and system

Technical Field

The invention relates to the technical field of ultrasonic equipment, in particular to an ultrasonic guided puncture device and an ultrasonic guided puncture system comprising the same.

Background

At present, the application of ultrasonic equipment in clinical diagnosis and treatment is very popular, and great contribution is made to doctors to accurately know the illness state of patients, make medical treatment plans and assist in treatment.

At present, ultrasound is widely used for puncture guidance, but after a probe is manually used for scanning an ultrasonic probe on the surface of a tissue to be detected of a human body, an ultrasonic image is manually used for depth judgment of the tissue such as a blood vessel, and then manual puncture is performed. Thus, three judgment operations are required, such as how to perform fast ultrasonic probe scanning of the effective region, how to judge the depth of other tissues such as blood vessels on the ultrasonic image, and how to select a proper puncture position and puncture angle for puncturing.

However, the phenomena of inaccurate puncture target identification and inaccurate positioning exist through manual participation, and the puncture time is longer due to three times of judgment operations performed manually, so that the puncture efficiency is influenced.

Therefore, how to provide puncturing efficiency and accuracy becomes a technical problem to be solved by those skilled in the art.

Disclosure of Invention

The present invention is directed to solve at least one of the technical problems of the prior art, and provides an ultrasound-guided lancing device and an ultrasound-guided lancing system including the same, so as to solve the problems of the prior art.

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

the ultrasonic probe module can be in communication connection with the host module and is used for detecting a puncture target and sending an ultrasonic signal of the detected puncture target to the host module;

the puncture control module can be in communication connection with the host module and is used for forming a puncture control signal according to the position information of the puncture target obtained after the host module processes the ultrasonic signal;

and the puncture module is electrically connected with the puncture control module and is used for automatically puncturing the puncture target according to the puncture control signal.

Preferably, the ultrasonic probe module comprises a probe shell and a detection module arranged at one end of the probe shell, wherein the detection module can be in communication connection with the host module and is used for detecting the puncture target and sending the detected ultrasonic signal of the puncture target to the host module.

Preferably, the puncture module comprises: first motor, second motor, centre gripping module and linking bridge, the linking bridge respectively with the stiff end of first motor and the output of second motor are connected, the centre gripping module sets up the output of first motor, the output of first motor can drive reciprocal linear motion is to the centre gripping module along first direction, the output of second motor can drive linking bridge is reciprocal linear motion along the second direction, and then drives first motor with reciprocal linear motion is to the centre gripping module along the second direction.

Preferably, the first direction is perpendicular to the supporting plane, and the second direction forms an included angle a with the supporting plane.

Preferably, the included angle a ranges from 10 degrees to 70 degrees.

Preferably, the puncture module further comprises a first slide rail and a second slide rail, the second slide rail is arranged on the connecting support and used for providing a sliding track for the first motor to do reciprocating linear motion along the first direction, and the first slide rail is arranged on the probe shell and used for providing a sliding track for the second motor to do reciprocating linear motion along the second direction.

Preferably, the centre gripping module includes holder and centre gripping locking screw, the holder sets up the output of first motor, set up the screw thread through-hole on the holder, centre gripping locking screw sets up in the screw thread through-hole, the holder is used for the centre gripping pjncture needle, centre gripping locking screw is used for adjusting the centre gripping dynamics of holder.

Preferably, the ultrasound-guided puncture device further comprises a support module for supporting the ultrasound probe module, the puncture control module and the puncture module.

Preferably, the support module includes base, first movable part and second movable part, the upper surface of base forms the support plane, be provided with the sliding tray on the support plane, the one end setting of first movable part is in the sliding tray, the one end of second movable part is provided with first through-hole, and the other end is provided with the second through-hole, first through-hole cover is established the other end of first movable part, the second through-hole cover is established the other end of probe housing, first movable part can slide in the sliding tray, first movable part can drive the second movable part is along the perpendicular to support planar direction motion.

Preferably, the second movable part comprises a fixing plate and a rotary locking screw, the fixing plate and the rotary locking screw are both arranged on the second through hole, the fixing plate is used for fixing the probe shell, and the rotary locking screw is used for locking the probe shell.

Preferably, the stent module further comprises a spacer, and the spacer is arranged between the probe shell and the second movable part.

Preferably, the support module includes base, high position control mechanism, horizontal position adjustment mechanism and coupling mechanism, the upper surface of base forms the supporting plane, high position control mechanism sets up perpendicularly on the supporting plane, coupling mechanism sets up high position control mechanism's removal end, horizontal position control mechanism's stiff end with coupling mechanism connects, horizontal position control mechanism's removal end is connected the ultrasonic probe module, high position control mechanism can drive coupling mechanism follows the perpendicular to support planar direction motion, horizontal position control mechanism can drive the ultrasonic probe module along with the parallel direction motion in supporting plane. .

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

Preferably, the ultrasound probe module and the host module are provided as one body.

Preferably, the puncture control module and the host module are provided as one body.

According to the ultrasonic guided puncture device provided by the invention, the puncture target is detected through the ultrasonic probe module, an ultrasonic signal is formed and sent to the host module, the host module processes the ultrasonic signal, then the position information of the puncture target is extracted and sent to the puncture control module, and the puncture control module forms a control signal according to the position information of the puncture target to control the puncture module to automatically puncture the puncture target.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

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

Fig. 2 is a schematic action diagram of an ultrasound-guided puncture device provided by the present invention.

Fig. 3 is a schematic view of the ultrasonic guided puncture device according to the present invention in a state where a puncture target is not penetrated.

Fig. 4 is a schematic diagram of a state of the ultrasonic guided puncture device provided by the present invention penetrating a puncture target.

Fig. 5 is a schematic view of an intermediate state between the two states of fig. 3 and 4.

Fig. 6 is a schematic structural diagram of an embodiment of a rack module according to the present invention.

Fig. 7 is a schematic view of a rotational assembly structure of the ultrasonic probe module and the bracket module according to the present invention.

Fig. 8 is a schematic structural diagram of an embodiment of a clamping module according to the present invention.

Fig. 9 is a schematic structural diagram of another embodiment of a rack module provided in the present invention.

Fig. 10 is a schematic structural view of an embodiment of the puncture module provided in the present invention.

Fig. 11 is a schematic structural diagram of another embodiment of a clamping module according to the present invention.

Fig. 12 is a schematic structural diagram of the ultrasonic guided puncture device provided by the present invention, which employs the clamping module shown in fig. 11.

Fig. 13 is a schematic structural diagram of a protective housing according to the present invention.

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

Fig. 15 is a schematic structural diagram of another embodiment of a rack module provided in the present invention.

Fig. 16 is a schematic view of the mounting of the holder module and the ultrasonic probe module according to the present invention.

Fig. 17 is a schematic view of the installation positions of the ultrasonic probe module and the puncture module provided in the present invention.

FIG. 18 is a schematic view of the installation position of another embodiment of the ultrasound probe module and the puncture module provided in the present invention.

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

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

the ultrasonic probe module 100 can be in communication connection with the host module 300, and is used for detecting a puncture target and sending an ultrasonic signal of the detected puncture target to the host module 300;

the puncture control module 500 can be in communication connection with the host module 300, and is configured to form a puncture control signal according to the position information of the puncture target obtained after the host module 300 processes the ultrasonic signal;

and the puncture module 200 is electrically connected with the puncture control module 500 and is used for automatically puncturing a puncture target according to the puncture control signal.

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

Specifically, as shown in fig. 3, 4 and 10, the puncture module 200 includes: first motor 210, second motor 220, centre gripping module 230 and linking bridge 240, linking bridge 240 respectively with the stiff end of first motor 210 and the output of second motor 220 are connected, centre gripping module 230 sets up the output of first motor 210, the output of first motor 210 can drive centre gripping module 230 is along first direction reciprocating linear motion, the output of second motor 220 can drive linking bridge is along the second direction reciprocating linear motion, and then drives first motor 210 with centre gripping module 230 is along the second direction reciprocating linear motion.

Further specifically, the first direction is perpendicular to the supporting plane, and the second direction forms an included angle a with the supporting plane.

Preferably, the included angle a ranges from 10 degrees to 70 degrees.

It should be noted that the supporting plane is a plane denoted by P in fig. 3 to 5, i.e., an upper surface of the base. The connecting bracket 240 is respectively fixedly connected with the fixed end of the first motor 210 and the output end of the second motor 220, the clamping module 230 is fixedly connected with the output end of the first motor 210, the output end of the first motor 210 can drive the clamping module 230 to do reciprocating linear motion in the direction of M1, and the output end of the second motor 220 can drive the module consisting of the connecting bracket 240, the first motor 210 and the clamping module 230 to do reciprocating linear motion in the direction of Z2. The Z2 direction is vertical to P, the M1 direction forms an included angle a with P, the value range of a is 10-70 degrees, and 15 degrees, 20 degrees, 30 degrees, 45 degrees and 60 degrees are preferentially selected. The angle a shown in fig. 3 and 4 is 20 °.

It should be understood that the first motor 210 can adjust the depth of the puncture, and the second motor 220 can implement the needle inserting process, so that the precise puncture of the puncture target detected by the detecting module 110 can be realized through the simple combination of the two motors.

In addition, when the use purposes are different, the corresponding aims can be achieved by adjusting the stroke of the motor and the value of the included angle a.

It should be noted that the first motor 210 and the second motor 220 may be linear propulsion motors. Compared with the traditional motor, the linear propulsion motor has the advantages that the output end of the motor directly carries out linear propulsion movement, and assembly parts and assembly errors are reduced.

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

It should be understood that the first slide rail 250 is disposed on the probe housing 120, the second motor 220 is capable of reciprocating on the first slide rail 250 in the second direction, the second slide rail 260 is disposed on the connecting bracket 240, and the first motor 210 is capable of reciprocating on the second slide rail 260 in the first direction.

The first motor 210 and the second motor 220 of the present invention may also be rotating motors, an output shaft of the rotating motor is provided with an external thread, and a connection portion between the output shaft of the rotating motor and the connection bracket 240 is provided with a screw hole matching with the external thread. A common rotating shaft motor can be adopted, and the motor shaft and the screw rod are matched to achieve the motor effect of the embodiment.

It should be noted that, by using the first slide rail 250 and the second slide rail 260, the smoothness of the movement can be increased, and the precision of the movement can be improved.

As a specific embodiment of the clamping module 230, as shown in fig. 8, the clamping module 230 includes a clamping member 231 and a clamping locking screw 232, the clamping member 231 is disposed at an output end of the first motor 210, a threaded through hole is disposed on the clamping member 231, the clamping locking screw 232 is disposed in the threaded through hole, the clamping member 231 is used for clamping the puncture needle 270, and the clamping locking screw 232 is used for adjusting a clamping force of the clamping member 231.

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

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

In addition to the above-mentioned embodiment of the holding module 230, in order to ensure the safety of the puncture module 200 in use, as shown in fig. 13 and 14, the ultrasound guided puncture device further includes a protective housing 600, and the protective housing 600 is fixedly connected to the probe housing 120 to dispose the puncture module 200 in the protective housing 600. In addition, in order to realize normal use of the puncture module 200, a puncture hole 610 is provided in the protective housing 600, and the puncture needle can protrude out of the protective housing 600 through the puncture hole 610.

The shape of the piercing hole 610 may be determined according to the sectional shape of the rod portion of the clamping module 230 and the distance of vertical movement, and may be a rectangular shape, a kidney shape, or the like, and may be specifically provided as needed. A flexible shielding structure may be disposed on the puncture 610 to prevent dust.

Specifically, as shown in fig. 1 and 2, in order to support the puncture module and the ultrasound probe module, the ultrasound guided puncture apparatus further includes a support module 400, and the support module 400 is configured to support the ultrasound probe module 100, the puncture control module 500, and the puncture module 200.

As a first specific embodiment of the cradle module, as shown in fig. 6, the cradle module 400 includes a base 410, a first movable portion 420 and a second movable portion 430, a supporting plane is formed on an upper surface of the base 410, a sliding groove 411 is formed on the supporting plane, one end of the first movable portion 420 is disposed in the sliding groove 411, one end of the second movable portion 430 is disposed with a first through hole 434, and the other end is disposed with a second through hole 435, the first through hole 431 is disposed at the other end of the first movable portion 420, the second through hole 435 is disposed at the other end of the probe housing 120, the first movable portion 420 can slide in the sliding groove 411, and the first movable portion 420 can drive the second movable portion 430 to move along a direction perpendicular to the supporting plane.

It should be understood that the movement of the ultrasonic probe module 100 and the puncture module 200 in the Z1 direction and the Y1 direction can be achieved by providing the first movable part 420 and the second movable part 430, as shown in fig. 2 and 6. For example, when the first movable part 420 slides in the sliding slot 411, the ultrasonic probe module 100 and the puncture module 200 can be driven to move along the Y1 direction, and when the second movable part 430 is sleeved on the first through hole 434 of the first movable part 420 and moves along the axial direction of the first movable part (i.e. the direction perpendicular to the supporting plane), the probe module 100 and the puncture module 200 can be driven to move along the Z1 direction.

It should be further noted that the ultrasonic probe module 100 may implement rotation along its center, for example, rotation in the direction of R1 shown in fig. 2, specifically, the ultrasonic probe module 100 may be adjusted manually to rotate, or the ultrasonic probe module 100 may be controlled by a motor to rotate automatically, and a specific embodiment may be selected according to a requirement, which is not limited herein.

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

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

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

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

Fig. 2 illustrates a structure in which the rack module 400 moves in two directions, but may be configured to move in three directions according to requirements.

As a second specific embodiment of the rack module 400, as shown in fig. 9, the rack module 400 includes a base 410, a height position adjusting mechanism 440, a horizontal position adjusting mechanism 450, and a connecting mechanism 460, the upper surface of the base 410 forms a support plane, the height position adjustment mechanism 440 is vertically disposed on the support plane, the connecting mechanism 460 is disposed at the moving end of the height position adjusting mechanism 440, the fixed end of the horizontal position adjusting mechanism 450 is connected with the connecting mechanism 460, the moving end of the horizontal position adjusting mechanism 450 is connected to the ultrasonic probe module 100, the height position adjustment mechanism 440 can move the connection mechanism 460 in a direction perpendicular to the support plane, the horizontal position adjusting mechanism 450 can drive the ultrasonic probe module 100 to move along the direction parallel to the supporting plane.

It should be understood that the horizontal and vertical adjustment of the ultrasonic probe module 100 can be realized by the horizontal position adjusting mechanism 450 and the height position adjusting mechanism 440, which facilitates the detection of the puncture target position.

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

As a third specific embodiment of the stent module 400, as shown in fig. 15, the ultrasonic probe module 100 can be directly fixed to a surface of a fixed object, such as a wall surface, at a certain height by the fixing mount 480. The height adjustment of the ultrasonic probe module 100 in the vertical direction is realized by the fine adjustment structure connected with the ultrasonic probe module 100. The fixing portion 180 may be fixed by a fastener (e.g., a screw) or may be fixed by a highly viscous medium such as a strong glue.

Fig. 16 is a schematic view of the mounting of the holder module and the ultrasonic probe module according to the present invention. As shown in fig. 16, the holder module 400 and the ultrasonic probe module 100 of the present invention are in a gate structure. Fig. 17 is a schematic view of the installation positions of the ultrasonic probe module and the puncture module provided in the present invention. As shown in fig. 17, the puncture module 200 punctures in a direction perpendicular to the aperture direction r. In another embodiment, as shown in FIG. 18, the piercing direction of the piercing module 200 pierces along the aperture direction r. It should be understood that puncturing by the puncture needle in the aperture direction r and perpendicular to the aperture direction r is not a simple change in the assembly position of the puncture module and the ultrasonic probe module, because the two mounting modes, i.e., in-plane ultrasonic detection and out-of-plane ultrasonic detection, involve different image signal processing modes.

As a second aspect of the present invention, an ultrasound-guided lancing system is provided, wherein as shown in fig. 1, the ultrasound-guided lancing system includes a host module 300 and the ultrasound-guided lancing apparatus described above, the host module 300 is respectively connected to an ultrasound probe module 100 and a lancing control module 200 in the ultrasound-guided lancing apparatus in a communication manner, the host module 300 can perform image processing on an ultrasound signal of a lancing target detected by the ultrasound probe module 100 to obtain position information of the lancing target, so that the lancing control module 500 of the ultrasound-guided lancing apparatus can control the lancing module 200 to automatically lance the lancing target according to the position information of the lancing target.

According to the ultrasonic guided puncture system provided by the invention, the puncture target is detected through the ultrasonic probe module, an ultrasonic signal is formed and sent to the host module, the host module processes the ultrasonic signal, then the position information of the puncture target is extracted and sent to the puncture control module, and the puncture control module forms a control signal according to the position information of the puncture target to control the puncture module to automatically puncture the puncture target.

As a specific embodiment, the ultrasound probe module 100 and the host module 300 are provided as one body.

The ultrasonic detection is realized by integrating the ultrasonic probe module 100 and the host module 300, and the portable ultrasonic detection device can be conveniently carried, for example, by a palm ultrasonic mode.

As another, particularly real-time, manner, the penetration control module 500 and the mainframe module 300 are provided as one body.

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

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

For the specific embodiment of the ultrasound-guided puncture system provided by the present invention, reference may be made to the foregoing description of the ultrasound-guided puncture device, and details thereof will not be described herein.

It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.

Claims

1. An ultrasonically guided puncture device, comprising:

2. The ultrasound-guided lancing device of claim 1, wherein the ultrasound probe module comprises a probe housing and a detection module disposed at one end of the probe housing, the detection module being communicatively connectable to a host module for detecting the target and transmitting the detected ultrasound signal of the target to the host module.

3. The ultrasound-guided lancing device of claim 2, wherein the lancing module comprises: first motor, second motor, centre gripping module and linking bridge, the linking bridge respectively with the stiff end of first motor and the output of second motor are connected, the centre gripping module sets up the output of first motor, the output of first motor can drive reciprocal linear motion is to the centre gripping module along first direction, the output of second motor can drive reciprocating linear motion is to the linking bridge along the second direction.

4. The ultrasound-guided puncture device of claim 3, wherein the first direction is perpendicular to a support plane and the second direction is at an angle a to the support plane.

5. The ultrasound-guided lancing device of claim 4, wherein the included angle a ranges from 10 ° to 70 °.

6. The ultrasound-guided lancing device of claim 3, wherein the lancing module further comprises a first slide rail and a second slide rail, the second slide rail being disposed on the connecting bracket for providing a slide track for the first motor to reciprocate linearly in the first direction, the first slide rail being disposed on the probe housing for providing a slide track for the second motor to reciprocate linearly in the second direction.

7. The ultrasound-guided puncture device according to claim 3, wherein the clamping module comprises a clamping member and a clamping locking screw, the clamping member is disposed at the output end of the first motor, a threaded through hole is disposed on the clamping member, the clamping locking screw is disposed in the threaded through hole, the clamping member is used for clamping the puncture needle, and the clamping locking screw is used for adjusting the clamping force of the clamping member.

8. The ultrasound-guided lancing device of claim 2, further comprising a cradle module for supporting the ultrasound probe module, the lancing control module, and the lancing module.

9. The ultrasound guided puncture device according to claim 8, wherein the holder module comprises a base, a first movable portion and a second movable portion, a support plane is formed on the upper surface of the base, a sliding groove is formed on the support plane, one end of the first movable portion is disposed in the sliding groove, a first through hole is disposed at one end of the second movable portion, a second through hole is disposed at the other end of the second movable portion, the first through hole is sleeved at the other end of the first movable portion, the second through hole is sleeved at the other end of the probe housing, the first movable portion can slide in the sliding groove, and the first movable portion can drive the second movable portion to move in a direction perpendicular to the support plane.

10. The ultrasound-guided puncture device according to claim 9, wherein the second movable portion includes a fixing piece and a rotation locking screw, both of which are disposed on the second through hole, the fixing piece is used to fix the probe housing, and the rotation locking screw is used to lock the probe housing.

11. The ultrasound-guided puncture device of claim 9, wherein the cradle module further comprises a spacer disposed between the probe housing and the second movable portion.

12. The ultrasound-guided lancing device according to claim 8, wherein the holder module comprises a base, a height position adjusting mechanism, a horizontal position adjusting mechanism and a connecting mechanism, the upper surface of the base forms a support plane, the height position adjusting mechanism is vertically disposed on the support plane, the connecting mechanism is disposed at a moving end of the height position adjusting mechanism, a fixed end of the horizontal position adjusting mechanism is connected to the connecting mechanism, the moving end of the horizontal position adjusting mechanism is connected to the ultrasound probe module, the height position adjusting mechanism can drive the connecting mechanism to move in a direction perpendicular to the support plane, and the horizontal position adjusting mechanism can drive the ultrasound probe module to move in a direction parallel to the support plane.

13. An ultrasonic guided puncture system, comprising a host module and the ultrasonic guided puncture device of any one of claims 1 to 12, wherein the host module is in communication connection with an ultrasonic probe module and a puncture control module in the ultrasonic guided puncture device, respectively, and the host module can perform image processing on an ultrasonic signal of a puncture target detected by the ultrasonic probe module to obtain position information of the puncture target, so that the puncture control module of the ultrasonic guided puncture device can control the puncture module to perform automatic puncture on the puncture target according to the position information of the puncture target.

14. The ultrasound-guided puncture system of claim 13, wherein the ultrasound probe module and the host module are provided as one piece.

15. The ultrasound-guided puncture system of claim 13, wherein the puncture control module and the host module are provided as one piece.