CN112890946B

CN112890946B - Handheld puncturing device and control method

Info

Publication number: CN112890946B
Application number: CN202110070317.2A
Authority: CN
Inventors: 赫捷; 史岩; 翟亚琪; 高维良; 戴静; 肖剑; 熊飞; 张军; 罗富良; 黄乾富
Original assignee: Cancer Hospital and Institute of CAMS and PUMC; Hygea Medical Technology Co Ltd
Current assignee: Cancer Hospital and Institute of CAMS and PUMC; Hygea Medical Technology Co Ltd
Priority date: 2021-01-19
Filing date: 2021-01-19
Publication date: 2022-02-01
Anticipated expiration: 2041-01-19
Also published as: CN112890946A

Abstract

The application provides a hand-held puncturing device and a control method, the hand-held puncturing device is used for assisting in puncturing of a medical needle, and comprises: a base having a handle and a user input device for receiving preset needle insertion information; a motor having a mover; the transmission mechanism is connected with the motor and comprises a moving part for connecting and fixing the medical needle; and the controller is used for controlling the operation of the motor according to the preset needle inserting information. According to the embodiment of the application, the pain of a patient caused by misoperation when a doctor punctures a medical needle can be reduced.

Description

Handheld puncturing device and control method

Technical Field

The application relates to the technical field of medical equipment, in particular to a handheld puncture device and a control method.

Background

The intervention type frozen tumor ablation operation needs to use a frozen ablation needle to perform ablation on a tumor part, and a doctor needs to plan the angle and the depth of the frozen ablation needle entering a human body before performing the operation so as to realize better operation effect and a needle inserting channel. In the past, it is common practice to determine the tumor position and size by shooting CT tomography or ultrasonic images, and then determine the channel of the ablation needle entering the human body, i.e. the inclination angle and the insertion depth relative to the human body plane, by combining the layout of the bones, blood vessels and nerves of the human body.

The ablation needle is used for puncturing into a human body in the operation process, and a large puncturing force is needed to penetrate when the ablation needle meets fascia or a thoracic diaphragm in the puncturing process. Because of the large penetration force required, ablation needle deflection can easily occur once control is not good. After the ablation needle is punctured into a human body, a ruler is needed to measure whether the insertion depth of the ablation needle accords with the plan of the operation, and once the depth is not enough, the ablation needle needs to be punctured continuously, so that the patient suffers from the pain of puncturing again; while too deep insertion is prone to damage other organ tissues.

Disclosure of Invention

The application aims to provide a handheld puncture device and a control method, which can reduce the pain of a patient caused by misoperation when a doctor punctures a medical needle.

The present application provides in one aspect a hand-held puncturing device for assisting in the puncturing of a medical needle, comprising:

a base having a handle and a user input device for receiving preset needle insertion information;

a motor having a mover;

the transmission mechanism is connected with the motor and comprises a moving part for connecting and fixing the medical needle; and

and the controller is used for controlling the operation of the motor according to the preset needle inserting information.

In some embodiments, the medical needle further comprises a force sensor for detecting resistance information of the medical needle in real time, and the controller is configured to control the motor to switch operation in at least a first mode and a second mode according to the resistance information.

In some embodiments, the controlling the motor to switch between operating in at least a first mode and a second mode according to the resistance information includes:

and when the resistance of the medical needle is judged to be in a preset range according to the resistance information, controlling the motor to operate in a first mode, and when the resistance of the medical needle is judged to be beyond the preset range according to the resistance information, controlling the motor to operate in a second mode.

In some embodiments, the preset needle insertion information includes preset needle insertion depth information, and the controller is further configured to:

obtaining first needle insertion depth information corresponding to the motor operating in a first mode and second needle insertion depth information corresponding to the motor operating in a second mode;

obtaining third needle inserting depth information according to the preset needle inserting depth information, the first needle inserting depth information and the second needle inserting depth information;

and when the resistance of the medical needle is judged to return to the preset range according to the resistance information, controlling the motor to be switched to the first mode to operate according to the third needle inserting depth information.

In some embodiments, the first mode is a unidirectional needle insertion mode, and the second mode is a vibration needle insertion mode; or

The first mode is a first speed mode and the second mode is a second speed mode.

In some embodiments, the base further has a slider parallel to a longitudinal direction of the medical needle, and the moving member is slidably supported by the slider.

In some embodiments, the motor is a linear motor, and the moving member is integrally formed with the mover.

In some embodiments, the motor includes a cylindrical stator disposed in the sliding seat, and the mover is disposed outside a circumference of the cylindrical stator.

In some embodiments, the transmission device further includes a screw coaxially connected to the mover, and the moving member is threadedly coupled to the screw.

In some embodiments, a fastener for securing the medical needle to the traveler is further included; the moving member and fastener form a clamping assembly; the medical needle includes a needle body and a needle handle housed and positioned inside the clamp assembly.

In some embodiments, the opposite sides of the moving member and the fastening member are respectively provided with a clamping groove, the clamping grooves of the moving member and the fastening member together form a limiting space for accommodating the needle handle, and the inner wall profile of the limiting space is matched with the outer wall profile of the needle handle.

In some embodiments, the medical needle is a cryoablation needle; the medical needle further comprises a needle tail portion bent out from the lateral direction of the needle handle portion, and the fastener is further provided with a through hole communicated with the limiting space so that the needle tail portion can penetrate through the through hole.

Another aspect of the present application provides a puncture device control method including:

acquiring preset needle insertion information and medical needle resistance information detected in real time; and

and controlling the operation of the motor according to the preset needle inserting information and the resistance information.

In some embodiments, the controlling the operation of the motor according to the preset needle insertion information and the resistance information includes:

In some embodiments, the needle insertion information includes needle insertion depth information, and the controlling the operation of the motor according to the preset needle insertion information and the resistance information further includes:

obtaining first needle insertion depth information corresponding to the motor running in the first mode and obtaining second needle insertion depth information corresponding to the motor running in the second mode;

In some embodiments, the needle insertion depth information includes a needle insertion depth value, the first mode is a one-way needle insertion mode, and the second mode is a vibration needle insertion mode;

the obtaining first needle insertion depth information corresponding to the motor operating in the first mode comprises: calculating a first needle insertion depth value according to the motor driving information corresponding to the first mode;

the obtaining second needle insertion depth information corresponding to the motor operating in the second mode comprises: calculating a second needle insertion depth value according to the vibration times of the second mode and the effective forward step length of each vibration;

the obtaining of the third needle insertion depth information according to the preset needle insertion depth information, the first needle insertion depth information and the second needle insertion depth information includes: and subtracting the first needle insertion depth value and the second needle insertion depth value from a preset needle insertion depth value to obtain a third needle insertion depth value.

In some embodiments of the present application, after the motor is triggered, the puncturing of the medical needle can be automatically completed according to the set needle insertion information. Through making the puncture process automatic, can reduce the misery that brings the patient because of doctor's misoperation, for example, through the automatic control of the depth of inserting the needle, can prevent that medical needle puncture too deeply from injuring other organ tissues, or puncture the depth inadequately and need many times puncture etc..

In some embodiments of the present application, when the resistance encountered during the puncturing process is small, the puncturing is performed in the unidirectional needle insertion mode more quickly, so that the puncturing time can be reduced, and when the resistance encountered during the puncturing process is large, for example, when the resistance encountered during the puncturing process is fascia or thoracic diaphragm, or under the condition of liver cirrhosis, the puncturing is performed in the vibration needle insertion mode until the resistance area is broken through. The adoption of the vibration needle inserting mode can reduce the puncture force, reduce the possibility of tissue deformation and needle deflection and reduce the pain of patients.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.

FIG. 1 illustrates a handheld lancing device according to one embodiment of the present application;

FIG. 2 shows the base in the lancing device of FIG. 1;

FIG. 3 shows a screw motor in the lancing device of FIG. 1;

fig. 4 shows a moving member in the puncture device of fig. 1;

FIG. 5 illustrates a fastener in the puncturing device of FIG. 1;

FIG. 6 illustrates the medical needle in the puncturing device of FIG. 1;

FIG. 7 illustrates a handheld lancing device according to another embodiment of the present application;

FIG. 8 illustrates a motor mover in the puncturing device of FIG. 7;

fig. 9 illustrates a puncture device control method according to an embodiment of the present application;

fig. 10 shows a puncture device control method according to another embodiment of the present application.

The reference numerals in the figures are explained below:

10, 20-handheld puncture device, 100-base body, 200-sliding base, 202-side wall, 204-connecting wall, 206-groove, 208-sliding groove, 300-handle, 302-display screen, 304-setting button, 306-switch, 400-motor, 402-cylindrical stator, 404-end cover, 406-mover, 408-center hole, 502-screw rod, 510-moving piece, 512-threaded hole, 514-flange, 516-clamping groove, 518-through groove, 520-fastener, 522-clamping groove, 524-through hole, 526-through groove, 600-medical needle, 602-needle tail, 604-needle body, 606-needle handle and 608-connecting part.

Detailed Description

Preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It is to be understood that, although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are intended to be inclusive and mean that, for example, they may be fixedly connected or detachably connected or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The technical solutions of the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

Fig. 1 shows a handheld puncturing device according to an embodiment of the present application, fig. 2 shows a base in the puncturing device of fig. 1, fig. 3 shows a screw motor in the puncturing device of fig. 1, fig. 4 shows a medical needle in the puncturing device of fig. 1, fig. 5 shows a moving member in the puncturing device of fig. 1, and fig. 6 shows a fastener in the puncturing device of fig. 1.

Referring to fig. 1 to 6, a handheld puncturing device 10 of the present embodiment includes a base 100,

The motor 400, a transmission mechanism connected with the motor 400 and a controller; wherein the transmission mechanism includes a mover 510 for fixing the medical needle 600.

The base 100 includes a sliding seat 200 parallel to the puncturing direction X and a handle 300 extending laterally from the sliding seat 200, and the sliding seat 200 and the handle 300 may be integrally formed or may be assembled after being formed separately.

The slider 200 has a pair of spaced apart side walls 202 and a connecting wall 204 connecting the pair of side walls 202, the pair of side walls 202 and the connecting wall 204 together forming a recess 206, the notch of the recess 206 facing away from the handle 300. The two side walls 202 are respectively formed with slide grooves 208 parallel to the puncture direction X, and the two slide grooves 208 of the two side walls 202 are provided at opposite positions. It is understood that in other embodiments, the connecting wall 204 may not be provided on the slider 200, and the two sliding grooves 208 may be offset.

The handle 300 is provided with a display 302, a setting button 304 and a switch 306. The needle insertion information of the medical needle 600, such as needle insertion depth information, needle insertion angle information, needle insertion speed information, etc., may be set by the setting button 304. The required needle insertion information can be obtained, for example, by analyzing the image detection image. The set information may be displayed via the display screen 302. After the setting is completed, the end of the slider 200 of the puncturing device is tightly attached to the skin surface of the patient, and the puncturing device 10 can be started to automatically complete the puncturing task according to the preset needle inserting information by pressing the switch 306. It will be appreciated that in other embodiments, other types of user input devices may be used for setting and/or switch control, for example, the display screen 302 may be a touch screen display through which needle insertion information of a medical needle may be set.

In this embodiment, the motor 400 is a rotary motor, and includes a stator fixed to the base 100 and a mover magnetically coupled to the stator, and the rotary motion output from the mover is converted into a linear motion along the puncture direction X via a transmission mechanism. The rotating electric machine in the present embodiment may be a stepping motor. The needle insertion depth information input through the user input device may be a needle insertion depth value, but is not limited thereto, and for example, the needle insertion depth information may also be a needle insertion depth level, and the controller may obtain a needle insertion depth value corresponding to the needle insertion depth level through a table lookup. After the controller obtains the required depth value of needle insertion, the number of pulses corresponding to the depth value of needle insertion is obtained according to the depth value of needle insertion, the step angle of the motor 400 and the thread pitch of the screw 502, and a corresponding pulse signal is output to the motor driver, so that the motor outputs the required rotation angle, and the medical needle 600 is driven to perform moving puncture according to the preset depth value of needle insertion. The controller may display the depth of the medical needle 600 during insertion on the display screen 302 in real time. It will be appreciated that in other embodiments, other types of rotary motors may be used, such as servo motors and the like.

The transmission mechanism comprises a screw 502 connected with the rotor, and the screw 502 can be used as an output shaft of the motor 400 and forms a screw motor together with the motor. In this embodiment, the moving member 510 is a slider. The screw 502 is disposed in the groove 206 of the sliding base 200, and its axial direction is parallel to the puncturing direction X. One end of the screw 502 is coaxially fixed with the mover of the motor, and the other end is rotatably supported by the slide 200. The sliding block 510 is provided with a threaded hole 512 matched with the screw 502, the outer surface of the sliding block 510 is provided with a flange 514 matched with the sliding groove 208 in the sliding base 200, the sliding block 510 is sleeved on the screw 502 through the threaded hole 512, and when the rotor of the motor drives the screw 502 to rotate, the sliding block 510 screwed with the screw 502 moves along the axial direction of the screw 502, so that the medical needle 600 fixed on the sliding block 510 is driven to move along the puncture direction X. It is understood that in other embodiments, the sliding block 510 can be slidably supported on the sliding base 200 in other manners, for example, a sliding groove can be formed on the sliding block 510, and a flange can be formed on the sliding base 200. It will be appreciated that in other embodiments, other types of transmission mechanisms may be used. For example, a rack and pinion structure may be employed, with the medical needle 600 secured to the rack. The rotating motor drives the gear to rotate, and the gear drives the meshed racks to move linearly, so that the medical needle 600 is driven to move and puncture. It is understood that the transmission mechanism may also be a belt transmission, a sprocket transmission, a worm gear transmission, a lead screw transmission, a crank mechanism transmission, a cam mechanism transmission, etc., and may convert the rotational motion output by the motor 400 into the linear motion of the moving member 510.

In this embodiment, the medical needle 600 is a cryoablation needle, and includes a needle tail 602 and a needle assembly, and the needle tail 602 is fixedly connected to a main body (not shown) of the cryoablation treatment system. The needle assembly extends in a puncture direction X and includes a needle portion 604 and a needle handle 606, with a needle tail portion 602 bent laterally out of the needle handle 606. The cryoablation needle 600 is provided with a medium circulation pipe, a thin vacuum pipe is arranged outside the medium circulation pipe of the needle body part 604, a thick vacuum cover is arranged outside the medium circulation pipe of the needle handle part 606, the vacuum cover is in sealing connection with the vacuum pipe, and a vacuum layer is formed between the vacuum cover and the medium circulation pipe. The low-temperature medium with pressure starts from the main machine, passes through the inflow medium circulation pipe at the needle tail part 602 and the inflow core pipe assembly at the needle body part, reaches the needle point inner cavity, and returns to the main machine through the backflow medium circulation pipe in the needle tail part 602 after heat exchange.

The cryoablation needle 600 is secured to the slider 510 via a fastener 520 on a side of the slider 510 facing away from the handle 300. In this embodiment, the cryoablation needle 600 may be positioned inside the slider assembly formed by the slider 510 and the fastener 520 via its vacuum enclosure. Specifically, the slider 510 is provided with a clamping groove 516 on one side back to the handle 300, the fastener 520 is provided with a clamping groove 522 on one side facing the handle 300, the clamping groove 516 of the slider 510 and the clamping groove 522 of the fastener together form a limiting space of the vacuum cover, and the contour shape of the inner wall of the limiting space is matched with the contour shape of the outer wall of the vacuum cover 614. The fastener 520 also forms a through hole 524 which is communicated with the clamping groove 522 at the lateral direction and is used for the needle tail part 602 of the cryoablation needle 600 to pass through, and the hole wall of the through hole 524 is matched with the size of the corresponding position of the needle tail part 602 so as to stably support the needle tail part 602. The slider 510 further has a through groove 518 communicating with the catching groove 516 in the X direction, the fastener 520 further has a through groove 526 communicating with the catching groove 522 in the X direction, the through groove 518 of the slider 510 and the through groove 526 of the fastener together form a through hole, and the vacuum cover of the needle stem 606 and the connecting portion 608 of the vacuum tube of the needle body 604 are supported. During installation, the vacuum cover of the cryoablation needle 600 is placed into the slot 516 of the slider 510, the needle tail 602 is inserted through the through hole 524 of the fastener 520, and the vacuum cover is stabilized in the spacing space after the fastener 520 is assembled to the slider 510 by means of magnetic force or screws. It will be appreciated that in other embodiments, other suitable structures may be used to secure medical needle 600 to traveler 510, for example, the fastener may be a clip that engages needle handle 606 and secures it to traveler 510, for example, by a bolt, thereby fixedly securing cryoablation needle 600 to traveler 510.

The vacuum cover of the needle handle is clamped in the limiting space matched with the outline of the vacuum cover, so that the cryoablation needle 600 is convenient to replace, the installation stability of the cryoablation needle 600 is good, and the needle body shaking during puncture is favorably reduced. In addition, the handle 300 and the needle tail 602 are disposed on different lateral sides of the needle assembly (in this embodiment, on opposite sides of the needle assembly), so that the operation of the cryoablation treatment system and the operation of puncturing by the physician holding the puncturing device are not affected by each other. It will be appreciated that the hand-held lancing device of the present application is not limited to assisted lancing with cryoablation needles, but may be used to assist lancing with other types of medical needles.

The handheld puncturing device provided by the embodiment can automatically complete puncturing of the medical needle according to the set needle inserting information after the motor is triggered. Through making the puncture process automatic, can reduce the misery that brings the patient because of doctor's misoperation, for example, through the automatic control of the depth of inserting the needle, can prevent that medical needle puncture too deeply from injuring other organ tissues, or puncture the depth inadequately and need many times puncture etc..

It will be appreciated that in some embodiments, the puncturing device 10 is further provided with an angle sensor for detecting the angle at which the medical needle 600 is inserted. The needle insertion angle information can be input through the setting button 304, and the controller can output angle adjustment prompt information on the display screen 302 according to the input needle insertion angle information and the angle information detected by the angle sensor, so as to assist a doctor to accurately place the puncture device 10 according to a preset needle insertion angle to complete puncture.

It will be appreciated that in some embodiments, the puncturing device 10 is further provided with a position sensor for detecting the moving distance (i.e., the needle insertion depth) of the medical needle 600 in real time, and the position sensor may be, for example, an infrared sensor or an ultrasonic sensor. In an implementation, can install position sensor in the terminal surface that moving member 510 is opposite with puncture direction X, have interference portion on motor stator or the base member, and the detected signal that launches with position sensor is reflected back after reaching the interference portion of motor stator or base member along puncture direction X, from this, can realize the real-time detection of medical needle 600 needle insertion depth, and this real-time detection result can show on display screen 302. In the process of automatic puncture by controlling the motor by the controller, the medical needle movement information detected in real time can be obtained, whether the needle insertion depth of the medical needle reaches the preset needle insertion depth value or not is judged, if not, automatic puncture is continued, and if so, the motor is stopped to run, and the puncture is stopped.

In the above embodiment, the motor and the transmission mechanism are provided outside the handle 300. It will be appreciated that in other embodiments, the motor and transmission may be partially or entirely disposed within the handle 300.

Fig. 7 shows a handheld puncturing device 20 according to another embodiment of the present application, and fig. 8 shows a motor mover in the puncturing device of fig. 7. The same parts of this embodiment as those of the previous embodiment are not described again, and the differences will be mainly described below.

Referring to fig. 7 and 8, in the present embodiment, the motor is a linear motor, and includes a cylindrical stator 402 disposed in the sliding seat 200 of the base 100, the stator 402 has a primary winding, an axial direction of the stator 402 is parallel to the puncturing direction X, and two axial ends are respectively and fixedly supported by the motor end cover 404 and the sliding seat 200. The mover 406 of the motor 400 is provided with a secondary winding, and the mover 406 of the motor is inserted through the outer side of the cylindrical stator 402 through a center hole 408 thereof, and forms an air gap with the stator 402. When alternating current is applied to the primary winding of the stator 402, a traveling wave magnetic field is generated in the air gap, and the secondary winding of the mover 406 is cut by the traveling wave magnetic field, so that electromotive force is induced and a current is generated, and the current interacts with the magnetic field in the air gap to generate electromagnetic thrust which makes the mover 406 linearly move in the axial direction of the stator 402.

After the controller obtains the required depth value of needle insertion, it can determine the corresponding driving information according to the depth value of needle insertion and the motor pole pitch parameter, and drive the motor with the driving information, so that the motor mover 406 drives the medical needle 600 to perform moving puncture according to the depth value of needle insertion. The controller may display the depth of the needle insertion during the penetration of the medical needle 600 on the display screen 302 in real time. It will be appreciated that in other embodiments, other types or configurations of linear motors may be used, for example, flat plate linear motors, ultrasonic motors, etc. In some embodiments, the motor mover 406 may be used to move the medical needle 600 in a unidirectional needle insertion mode, and in other embodiments, the motor mover 406 may be used to move the medical needle 600 in a vibrating needle insertion mode.

In this embodiment, the motor mover 406 is integrally formed with a moving member for fixing the medical needle 600, and a flange 514 engaged with a sliding groove in the slider 200 is provided on an outer surface of the mover 406, so that the mover 406 linearly moves under the sliding support of the slider 200. In the embodiment, the medical needle is driven to puncture by the electromagnetic thrust of the motor, a conversion mechanism from rotary motion to linear motion is not needed, the structure is simple, and the noise is low.

In other embodiments, a force sensor may be attached to the medical needle 600 for detecting resistance information received by the medical needle 600 during needle penetration. The controller switches the operation mode of the motor according to the detection signal of the force sensor. Resistance information detected by the force sensor and/or operating mode information of the motor may be displayed on the display screen 302 in real time.

In one specific implementation, when the controller determines that the resistance of the medical needle 600 is within the preset range according to the resistance information, the motor mover 406 is driven in the unidirectional needle insertion mode to move the needle in the puncture direction, when the controller determines that the resistance of the medical needle exceeds the preset range according to the resistance information, the motor mover 406 is driven in the vibration needle insertion mode to move the needle in the puncture direction, and when the controller determines that the resistance of the medical needle 600 returns to the preset range according to the resistance information, the motor mover 406 is driven in the unidirectional needle insertion mode again to continue the needle insertion in the puncture direction until the medical needle 600 reaches the set needle insertion depth.

In this embodiment, the motor operates in the unidirectional needle insertion mode, and the motor outputs unidirectional motion to drive the medical needle to move along the puncture direction all the time. In this embodiment, the operation of the motor in the vibration needle insertion mode means that the motor outputs linear reciprocating motion (also called linear vibration), and the forward step length of each vibration is larger than the backward step length, so that the medical needle can be driven to move along the puncture direction in the vibration process.

In this embodiment, when the resistance encountered during the puncturing process is small, the puncturing is performed in the unidirectional needle insertion mode more quickly, so that the puncturing time can be reduced, and when the resistance encountered during the puncturing process is large, for example, when the resistance encountered during the puncturing process is fascia or thoracic diaphragm, or under the condition of liver cirrhosis, the puncturing is performed in the vibration needle insertion mode until the resistance region is broken through. The adoption of the vibration needle inserting mode can reduce the puncture force, reduce the possibility of tissue deformation and needle deflection and reduce the pain of patients.

Fig. 9 is a flowchart illustrating a method of controlling a puncture device according to an embodiment of the present application. It will be appreciated that the method of the present embodiment is applicable to, but not limited to, the hand-held puncturing devices described above. Referring to fig. 9, the method of the present embodiment includes:

in S901, preset needle insertion information and medical needle resistance information detected in real time are obtained.

The preset needle insertion information may include, but is not limited to, some or all of needle insertion depth information, needle insertion angle information, and needle insertion speed information.

The resistance information of the medical needle in the puncture process can be obtained by detecting the force sensor arranged on the medical needle.

In S902, the operation of the motor is controlled according to the preset needle insertion information and the resistance information.

The motor can be controlled to operate in different modes according to the preset needle inserting information and the resistance information, and the operation time of the motor can be controlled according to the preset needle inserting information and the resistance information.

Operating the motor in different modes may refer to operating in different speed modes. For example, in some embodiments, the preset needle insertion information includes needle insertion rotation speed information, and when it is determined that the resistance of the medical needle is within a preset range according to the resistance information, the motor is controlled to operate in a first speed mode according to the needle insertion rotation speed information, and when it is determined that the resistance of the medical needle is beyond the preset range according to the resistance information, the motor is controlled to operate in a second speed mode according to different needle insertion rotation speed information.

Operating the motor in different modes may also refer to operating in different movement modes. For example, in some embodiments, the motor is controlled to operate in a unidirectional needle insertion mode when it is determined from the resistance information that the resistance of the medical needle does not exceed a preset threshold, and the motor is controlled to operate in a vibrational needle insertion mode when it is determined from the resistance information that the resistance of the medical needle exceeds the preset threshold.

The resistance information may reflect differences in the body tissue in which the medical needle is located. In the embodiment, the motor is controlled by using the medical needle resistance information detected in real time, so that the motor can be correspondingly adjusted and operated in a mode or time suitable for different human tissues in the puncture process, and the damage of the puncture process to the human tissues is favorably reduced.

Fig. 10 is a schematic flow chart illustrating a puncture device control method according to another embodiment of the present application. It will be appreciated that the method of the present embodiment is applicable to, but not limited to, the hand-held puncturing devices described above. Referring to fig. 10, the method of the present embodiment includes:

in S1001, preset needle insertion depth information is obtained.

The predetermined needle insertion depth information, which may be a needle insertion depth value or a needle insertion depth level, may be received via a user input device on a handle of the lancing device. If the depth level of the needle insertion is the needle insertion depth level, the depth value of the needle insertion corresponding to the needle insertion depth level can be obtained through a table lookup.

In S1002, the motor is controlled to operate in the one-way needle insertion mode.

In this embodiment, the motor operates in the unidirectional needle insertion mode, and the motor outputs unidirectional motion to drive the medical needle to move along the puncture direction all the time.

In S1003, it is determined whether or not the medical needle resistance information detected in real time exceeds a preset threshold, and if not, the process returns to S1002, and if so, S1004 is executed.

In S1004, the motor is controlled to operate in the oscillation needle insertion mode.

In the embodiment, the motor operates in a vibration needle insertion mode, and the motor outputs linear reciprocating motion, and the forward step length of each vibration is larger than the backward step length, so that the medical needle can be driven to move along the puncture direction in the vibration process.

In the puncture process, the resistance information of the medical needle is obtained by detecting the force sensor arranged on the medical needle in real time. When meeting high resistance areas such as fascia, thoracic diaphragm, liver cirrhosis and the like, the resistance information of the medical needle can be increased, and if the resistance information exceeds a preset threshold value, the vibration needle inserting mode can be adjusted to reduce the puncture force, reduce the possibility of tissue deformation and needle deflection and reduce the pain of a patient.

In S1005, the resistance information of the medical needle detected in real time is obtained, and it is determined whether the resistance information exceeds a preset threshold value, if so, the process returns to S1004, and if not, S1006 is executed.

In S1006, the control motor continues to operate in the one-way needle insertion mode until the medical needle reaches the preset needle insertion depth.

The resistance experienced by the medical needle may decrease after the needle passes through the high resistance area. If the detected resistance information is again lower than the preset threshold value, which indicates that the medical needle has passed through the high resistance area, the needle can be rapidly inserted again in the unidirectional needle insertion mode.

In one specific implementation, when it is determined in S1005 that the resistance information does not exceed the preset threshold, a first needle insertion depth value corresponding to the operation of the motor in the one-way needle insertion mode in S1002 and a second needle insertion depth value corresponding to the operation of the motor in the vibration needle insertion mode in S1004 may be obtained, and then the first needle insertion depth value and the second needle insertion depth value are subtracted from the preset needle insertion depth value to obtain a third needle insertion depth value, and then motor driving information corresponding to the third needle insertion depth value in the one-way needle insertion mode is obtained, so as to control the motor in the one-way needle insertion mode.

The first depth value can be calculated according to the motor driving information corresponding to the one-way needle insertion mode in S1002, and the second depth value can be calculated according to the vibration frequency of the vibration needle insertion mode and the effective forward step length of each vibration, where the effective forward step length of each vibration is equal to the difference between the forward step length and the backward step length.

In another implementation, a position sensor may be provided to detect the distance traveled by the medical needle (i.e., the depth of insertion) in real time. The above method may further comprise: and obtaining the medical needle movement information detected in real time, judging whether the needle insertion depth of the medical needle reaches a preset needle insertion depth value, if not, continuing to execute the process, and if so, stopping the motor to stop puncturing.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

The technical solution according to the present invention has been described in detail above with reference to the accompanying drawings.

Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A hand-held puncturing device (10, 20) for assisting in the puncturing of a medical needle (600), comprising:

a base (100) having a handle (300) and user input means for receiving preset needle insertion information;

a motor (400) having a mover (406);

a transmission mechanism connected with the motor (400), wherein the transmission mechanism comprises a moving member (510) used for connecting and fixing the medical needle (600); and

the controller is used for controlling the operation of the motor (400) according to the preset needle inserting information;

a force sensor for detecting resistance information of the medical needle (600) in real time;

the controller is configured to control the motor (400) to switch operation in at least a first mode and a second mode depending on the resistance information, including: controlling the motor (400) to operate in a first mode when it is determined that the resistance of the medical needle (600) is within a preset range according to the resistance information, and controlling the motor (400) to operate in a second mode when it is determined that the resistance of the medical needle (600) is outside the preset range according to the resistance information;

the preset needle insertion information includes preset needle insertion depth information, and the controller is further configured to:

obtaining first needle insertion depth information corresponding to the operation of the motor (400) in a first mode, and second needle insertion depth information corresponding to the operation of the motor (400) in a second mode;

and when the resistance of the medical needle (600) is judged to return to the preset range according to the resistance information, controlling the motor (400) to be switched to the first mode to operate according to the third needle feeding depth information.

2. The apparatus of claim 1, wherein:

the first mode is a unidirectional needle inserting mode, and the second mode is a vibration needle inserting mode; or

3. The device according to claim 1 or 2, wherein said base body (100) further has a slider (200) parallel to a longitudinal direction of said medical needle (600), and said moving member (510) is slidably supported by said slider (200).

4. The apparatus of claim 3, wherein the motor (400) is a linear motor, and the mover (510) is integrally formed with the mover (406).

5. The device according to claim 4, wherein the motor (400) comprises a cylindrical stator (402) arranged inside the slide (200), and the mover (406) is arranged outside the circumference of the cylindrical stator (402).

6. The device according to claim 3, further comprising a screw (502) coaxially coupled to the mover (406), the mover (510) being threadedly coupled to the screw (502).

7. The device of claim 3, further comprising a fastener (520) for securing said medical needle (600) to said traveler (510); the mover (510) and fastener (520) forming a clamping assembly; the medical needle (600) includes a needle body (604) and a needle handle (606), the needle handle (606) being received and positioned within the clamp assembly.

8. The device as claimed in claim 7, wherein the moving member (510) and the fastening member (520) are provided with a slot (516, 522) on the opposite sides, the slot (516) of the moving member (510) and the slot (522) of the fastening member (520) together form a spacing space for accommodating the needle shank (606), and the inner wall profile of the spacing space matches with the outer wall profile of the needle shank (606).

9. The device of claim 8, wherein the medical needle (600) is a cryoablation needle; the medical needle (600) further comprises a needle tail portion (602) bent out from the side of the needle handle portion (606), and the fastener (520) is further provided with a through hole (524) communicated with the limiting space for the needle tail portion (602) to pass through.

10. A puncture device control method characterized by comprising:

controlling the operation of the motor according to the preset needle inserting information and the resistance information, and the method comprises the following steps: when the resistance of the medical needle is judged to be within a preset range according to the resistance information, controlling the motor to operate in a first mode, and when the resistance of the medical needle is judged to be beyond the preset range according to the resistance information, controlling the motor to operate in a second mode;

the preset needle insertion information comprises preset needle insertion depth information, and the operation of the motor is controlled according to the preset needle insertion information and the resistance information, and further comprises: obtaining first needle insertion depth information corresponding to the motor running in the first mode and obtaining second needle insertion depth information corresponding to the motor running in the second mode; obtaining third needle inserting depth information according to the preset needle inserting depth information, the first needle inserting depth information and the second needle inserting depth information; and when the resistance of the medical needle is judged to return to the preset range according to the resistance information, controlling the motor to be switched to the first mode to operate according to the third needle inserting depth information.

11. The method of claim 10, wherein:

the preset needle insertion depth information comprises needle insertion depth values, the first mode is a one-way needle insertion mode, and the second mode is a vibration needle insertion mode;