CN113476119B - Puncture device and puncture method - Google Patents
Puncture device and puncture method Download PDFInfo
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- CN113476119B CN113476119B CN202110963212.XA CN202110963212A CN113476119B CN 113476119 B CN113476119 B CN 113476119B CN 202110963212 A CN202110963212 A CN 202110963212A CN 113476119 B CN113476119 B CN 113476119B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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Abstract
The embodiment of the application provides a puncture outfit and a puncture method. In the puncture outfit provided by the embodiment of the application, the first switch, the driving mechanism, the first button, the camera and the electric signal detection unit are all in communication connection with the control device, so that the control device can control the driving mechanism to stop driving according to a stop driving signal based on the first switch, the first button, the camera and/or the electric signal detection unit. When the control device fails to control the driving mechanism to stop driving according to the stop driving signal, the second switch is triggered to cut off the electric connection between the power supply and the control device, so that the driving mechanism is stopped effectively in an emergency. The stop driving of the driving mechanism is controlled through multiple safety protection measures, so that the situation that the driving mechanism cannot be normally stopped after a single safety protection measure fails can be prevented, the safety protection performance of the puncture outfit can be improved, and the probability that the puncture assembly of the puncture outfit causes accidental injury to tissues in a patient body can be reduced.
Description
Technical Field
The application relates to the technical field of medical instruments, in particular to a puncture outfit and a puncture method.
Background
The puncture outfit is a medical instrument for providing an instrument channel for an operation, and is widely applied along with the development of medical technology.
However, in the use process of the existing puncture outfit, the work and stop work of the driving mechanism of the puncture outfit can be controlled only by the power switch, which is not only inconvenient for the operation of medical personnel, but also has less safety protection measures and lower safety protection performance, thus leading to the increase of the probability of accidental injury of the puncture assembly of the puncture outfit to the tissues in the body of a patient and bringing unnecessary injury to the patient.
Disclosure of Invention
The puncture outfit and the puncture method are provided aiming at the defects of the prior art, and the technical problem that the probability of accidental injury of the puncture assembly of the puncture outfit to the tissues in a patient body is increased due to the fact that the safety protection performance of the puncture outfit is low in the prior art is solved.
In a first aspect, the present application provides a puncture device, including: the device comprises a first switch, a driving mechanism, a first button, a camera, an electric signal detection unit, a second switch, a control device and a power supply;
the first switch, the driving mechanism, the first button, the camera and the electric signal detection unit are all in communication connection with the control device; the electric signal detection unit and the control device are electrically connected with the driving mechanism; one end of the second switch is electrically connected with the control device, and the other end of the second switch is electrically connected with the power supply.
Optionally, the puncture instrument further comprises a puncture assembly in driving connection with the drive mechanism.
Optionally, the first button comprises a first sub-button, the first sub-button being communicatively connected to the control device;
the first sub-button is electrically connected with the driving mechanism, and when the first sub-button is in a first state, the control device controls the driving mechanism to drive the puncture assembly to move in a first mode; and when the first sub-button is in the second state, sending a second driving stopping signal to the control device, so that the control device controls the driving mechanism to stop driving according to the second driving stopping signal.
Optionally, the first button further comprises a second sub-button, and the second sub-button is in communication connection with the control device;
the second sub-button is electrically connected with the driving mechanism, and when the second sub-button is in the first state, the control device controls the driving mechanism to drive the puncture assembly to move in a second mode; and when the second sub-button is in the second state, stopping driving the driving mechanism, and sending a second driving stopping signal to the control device, so that the control device controls the driving mechanism to stop driving according to the second driving stopping signal.
Optionally, the camera is located at an end of the puncture assembly remote from the drive mechanism;
the control device is also used for generating a third driving stopping instruction when the set requirement is met according to the puncture image information sent by the camera, so that the driving mechanism stops driving according to the third driving stopping signal.
Optionally, the electric signal detection unit includes a current detection unit, and the current detection unit is electrically connected to the driving mechanism and is used for detecting a current signal of the driving mechanism;
the control device is further used for generating a fourth driving stopping instruction when the current signal sent by the current detection unit is determined to be larger than the first threshold value, so that the driving mechanism stops driving according to the fourth driving stopping signal.
In a second aspect, the present application provides a puncturing method based on the puncturing device provided in the first aspect, including:
when the driving mechanism is still in a driving state after receiving a first stop driving signal based on triggering the first switch, a second stop driving signal based on triggering the first button, a third stop driving signal based on the camera and/or a fourth stop driving signal based on the electric signal detection unit, the electric connection between the control device and the power supply is cut off based on an emergency stop signal triggering the second switch, so that the driving mechanism stops driving.
Optionally, controlling the driving mechanism to stop driving based on a second stop driving signal triggering the first button comprises:
when the driving mechanism of the puncture outfit is in a working state, the control device of the puncture outfit controls the driving mechanism to stop driving when receiving a second driving stopping signal sent by the first sub-button of the first button or the second sub-button of the first button.
Optionally, controlling the driving mechanism to stop driving based on a second stop driving signal triggering the first button, comprising:
when the driving mechanism of the puncture outfit is in a working state, the control device of the puncture outfit controls the driving mechanism to stop driving when receiving a second driving stopping signal generated by the first button based on the first trigger instruction;
when the control device receives a first driving signal generated by the first button based on the second trigger instruction, the control device controls the driving mechanism to drive the puncture assembly to move in a first mode; and when the control device receives a second driving signal generated by the first button based on a third trigger instruction, the control device controls the driving mechanism to drive the puncture assembly to move in a second mode.
Optionally, controlling the driving mechanism to stop driving based on a third stop driving signal of the camera includes:
when the driving mechanism of the puncture outfit is in a working state and the control device meets the set requirement according to the puncture image information sent by the camera, a third driving stopping signal is generated, so that the driving mechanism stops driving according to the third driving stopping signal.
Optionally, controlling the driving mechanism to stop driving based on a fourth stop driving signal of the electric signal detection unit includes:
when the control device determines that the current signal sent by the current detection unit is greater than the first threshold value in the working state of the driving mechanism of the puncture outfit, a fourth driving stopping signal is generated, so that the driving mechanism stops driving according to the fourth driving stopping signal.
The technical scheme provided by the embodiment of the application brings beneficial technical effects that:
in the puncture outfit provided by the embodiment of the application, the first switch, the driving mechanism, the first button, the camera, the current detection unit and the signal detection unit are all in communication connection with the control device, so that the control device can control the driving mechanism to stop driving according to a stop driving signal based on the first switch, the first button, the camera and/or the electric signal detection unit. When the control device fails to control the driving mechanism to stop driving according to the driving stop signal, the second switch is triggered to cut off the electric connection between the power supply and the control device, namely, the electric connection between the power supply and other parts in the puncture outfit is cut off, thereby realizing the effective stop of the driving mechanism. In the puncture outfit that this application embodiment provided, through the stop drive of multiple safety protection measure control actuating mechanism, can prevent that single safety protection measure from becoming invalid the back, lead to the condition that actuating mechanism can not normally stop to appear to can improve the safety protection performance of puncture outfit, can reduce the probability that the puncture subassembly of puncture outfit caused the accidental injury to the internal tissue of patient.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a puncture outfit provided by an embodiment of the present application;
FIG. 2 is a schematic view of a partial internal structure of the puncture instrument shown in FIG. 1 according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a frame of the puncture instrument shown in FIG. 1 according to an embodiment of the present disclosure;
fig. 4 is a schematic flowchart of a process of generating a third stop driving signal based on a camera in a puncturing method according to an embodiment of the present application;
fig. 5 is a graph showing a variation of an average luminance value of information of a puncture image shot by a camera in a puncture process in another puncture method according to the embodiment of the present application.
Description of reference numerals:
10-a first switch; 20-a drive mechanism; 30-a first button; 31-a first sub-button; 32-a second sub-button; 40-a camera; 50-an electrical signal detection unit; 60-a second switch; 70-a control device; 80-a power supply; 90-a puncture assembly; 101-sterile protective shell; 102-display screen.
Detailed Description
Reference will now be made in detail to the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar parts or parts having the same or similar functions throughout. In addition, if a detailed description of the known art is not necessary for illustrating the features of the present application, it is omitted. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
It will be understood by those within the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
The inventor of the application researches and discovers that the puncture outfit on the market at present can only control the work and stop work of the driving mechanism of the puncture outfit through a power switch, the safety protection performance of the puncture outfit is low, the probability of accidental injury of the puncture assembly of the puncture outfit to the tissues in a patient body is increased, and unnecessary injury is brought to the patient.
Moreover, whether the driving mechanism of the puncture outfit works or not is controlled only through the power switch, and medical personnel who need to operate the puncture outfit not only need to observe the condition of the puncture assembly in the patient body in real time, but also need to observe the working condition of the driving mechanism at the same time, so that the operation of the medical personnel is inconvenient, and the probability of accidental injury of the puncture assembly to the tissues in the patient body is easily increased.
The application provides a puncture outfit and a puncture method, which aim to solve the technical problems in the prior art.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments.
The embodiment of the application provides a puncture outfit, which is shown in fig. 1 in a schematic structural view, is shown in fig. 2 in a schematic view of a partial internal structure of the puncture outfit shown in fig. 1, and is shown in fig. 3 in a schematic frame view of the puncture outfit shown in fig. 1. This puncture ware includes: a first switch 10, a driving mechanism 20, a first button 30, a camera 40, an electric signal detection unit 50, a second switch 60, a control device 70 and a power supply 80.
The first switch 10, the driving mechanism 20, the first button 30, the camera 40 and the electric signal detection unit 50 are all in communication connection with the control device 70; the electric signal detection unit 50 and the control device 70 are electrically connected with the driving mechanism 40 and are used for detecting the working state of the driving mechanism 40; the second switch 60 has one end electrically connected to the control device 70 and the other end electrically connected to the power source 80.
In the puncture instrument provided in the embodiment of the present application, the first switch 10, the driving mechanism 20, the first button 30, the camera 40, and the electric signal detection unit 50 are all communicatively connected to the control device 70, so that the control device 70 can control the driving mechanism 20 to stop driving according to a stop driving signal based on the first switch 10, the first button 30, the camera 40, and/or the electric signal detection unit 50. If the controller 70 fails to control the driving mechanism 20 to stop driving based on the stop driving signal, the second switch 60 is triggered to cut off the electrical connection between the driving mechanism 20 and the power source 80, thereby achieving an emergency stop of the driving mechanism 20.
In the puncture outfit provided by the embodiment of the application, the driving stopping mechanism of the driving mechanism 20 is controlled by various safety protection measures, so that the situation that the driving mechanism 20 cannot be normally stopped can be prevented from occurring after the single safety protection measure fails, the safety protection performance of the puncture outfit can be improved, and the probability that the puncture assembly of the puncture outfit causes accidental injury to tissues in a patient body can be reduced.
In the embodiment of the present application, the first switch 10, the driving mechanism 20, the first button 30, the camera 40 and the electric signal detecting unit 50 of the puncture outfit are all connected to the control device 70 in communication. The first switch 10 and the first button 30 are used to generate a corresponding stop driving signal if triggered, so that the control device 70 controls the stop driving of the driving mechanism 20 according to the stop driving signal. Optionally, the drive mechanism 20 includes a drive motor.
Optionally, the camera 40 is configured to monitor puncture image information during a puncture process during operation of the puncture device, and when it is recognized that the puncture image information contains a set identifier, send a driving stopping signal to the control device 70, and the control device 70 controls the driving stopping of the driving mechanism 20 according to the driving stopping signal. The electrical signal detecting unit 50 is further electrically connected to the driving mechanism 40, and is configured to monitor an operating state of the driving mechanism 20 during the operation of the puncture device, and send a driving stopping signal to the control device 70 when the operating state of the driving mechanism 20 is not satisfied with a set condition, and the control device 70 controls the driving stopping of the driving mechanism 20 according to the driving stopping signal. The specific working principle of the puncture device provided in the embodiment of the present application in the puncture process will be described in detail later with reference to the puncture method, and will not be described again here.
In the embodiment of the present application, one end of the second switch 60 is electrically connected to the control device 70, and the other end is electrically connected to the power source 80, so that in the case that the driving mechanism 20 cannot be controlled to stop driving through the first switch 10, the first button 30, the camera 40 or the safety protection measure of the electric signal detection unit 50, the second switch 60 is triggered to cut off the electrical connection between the power source 80 and the control device 70, that is, the electrical connection between the driving mechanism 20 and the power source 80, thereby achieving an emergency stop of the driving mechanism 20.
Alternatively, the second switch 60 is operated in the normal on state, i.e. in the conducting state between the power source 80 and the control device 70. When an emergency occurs, the second switch 60 can effectively cut off the electrical connection between the power source 80 and the control device 70 through the physical operation of the user, and when the electrical connection between the power source 80 and the control device 70 needs to be restored, the electrical connection between the power source 80 and the control device 70 can be restored through the physical operation of the second switch 60 consciously by the user. Alternatively, the power supply 80 includes a dry cell battery, a storage battery, or the like.
As will be understood by those skilled in the art, since one end of the second switch 60 is electrically connected to the control device 70 and the other end is electrically connected to the power source 80, when the user is faced with an abnormal situation during the operation of the puncture instrument, the user can also directly cut off the electrical connection between the power source 80 and the control device 70 through the second switch 60, so that the driving mechanism 20 stops driving for the first time. An abnormal situation faced by the user may be a situation in which, during the puncturing process of the puncture instrument, the user observes, with the aid of an endoscope, that the puncturing assembly of the puncture instrument may be about to cause accidental injuries to the tissues inside the patient's body.
In the embodiment of the present application, the second switch 60 is a mechanical switch, so that the second switch can directly cut off the circuit connection between the power supply 80 and the control device 70, thereby improving the reliability of the emergency stop of the driving mechanism 20 by the second switch 60.
Alternatively, the initial operation state of the second switch 60 is a normally closed state, i.e., the power supply 80 and the control device 70 are in an off state. The second switch 60 is a mechanical switch, and when the user uses the switch, the power source 80 and the control device 70 are turned on in advance to operate the puncture device, and when the user uses the switch, the second switch 60 is turned off.
In the puncture outfit provided by the embodiment of the application, any one of the safety protection measures of the first switch 10, the first button 30, the camera 40 or the electric signal detection unit 50 is triggered universally, so that the driving mechanism 20 can stop driving, and the puncture outfit can be conveniently used by medical staff. Furthermore, after any of the above safety measures fails, the second switch 60 may be used to cut off the electrical connection between the driving mechanism 20 and the power source 80, so as to control the driving mechanism 20 to stop in an emergency. The stop driving of the driving mechanism 20 is controlled by multiple safety protection measures, so that the situation that the driving mechanism 20 cannot be normally stopped after a single safety protection measure fails can be prevented, the safety protection performance of the puncture outfit can be improved, and the probability that the puncture assembly of the puncture outfit causes accidental injury to tissues in a patient body can be reduced.
In one embodiment of the present application, when the user triggers the first switch 10, the first switch 10 sends a first stop driving signal to the control device 70, and the control device 70 controls the stop driving of the driving mechanism 20, i.e. cuts off the electrical connection between the control power source 80 and the driving mechanism 20 according to the first stop driving signal. When the user operates the first switch 10 to reset, the control device 70 controls the conduction of the circuit between the power source 80 and the driving mechanism 20 and between the power source and the camera 40. The triggering mode of the first switch 10 includes touching, pressing, clicking and the like.
In one embodiment of the present application, the penetrator further includes a puncture assembly 90 drivingly connected to drive mechanism 20.
In the embodiment of the present application, the puncturing assembly 90 is driven by the driving mechanism 20 to move, so as to puncture the superficial dermal tissue of the patient. Compare in the mode that manual control puncture subassembly 90 removed, the puncture ware labour saving and time saving that this application embodiment provided, and the application of force is stable, can avoid medical personnel to rotate puncture subassembly 90 repeatedly when the blind is worn and to the damage that sick health organization caused.
Optionally, the puncture assembly 90 includes a puncture needle and a sheath tube covering the puncture needle, and the puncture needle and the sheath tube are detachably connected to facilitate the removal of the puncture needle after the subsequent puncture needle and the sheath tube are both inserted into the target position of the body tissue of the patient, leaving the sheath tube for the next operation.
In one embodiment of the present application, when the user triggers the first switch 10, the first switch 10 sends a first driving stopping signal to the control device 70, and the control device 70 controls the driving stopping of the driving mechanism 20 according to the first driving stopping signal. Optionally, the triggering manner of the first switch 10 includes touching, pressing, clicking, and the like.
In one embodiment of the present application, the first button 30 comprises a first sub-button 31, the first sub-button 31 is communicatively connected to the control device 70; the first sub-button 31 is electrically connected to the driving mechanism 20, such that the control device 70 controls the driving mechanism 20 to drive the puncture assembly 90 to move in a first manner when the first sub-button 31 is in the first state; when the first sub-button 31 is in the second state, a second stop driving signal is sent to the control device 70, so that the control device 70 controls the driving mechanism 20 to stop driving according to the second stop driving signal.
In the embodiment of the present application, when the user triggers the first sub-button 31 and makes the first sub-button 31 in the first state, the first sub-button 31 sends a first driving signal to the control device 70, and the control device 70 controls the driving mechanism 20 to drive the puncture assembly 90 to move in the first manner according to the first driving signal. Alternatively, the first mode of movement is embodied in that the driving mechanism 20 drives the puncture assembly 90 to move in a direction close to the biological tissue, i.e. forward relative to the patient.
When the user triggers the first sub-button 31 and makes the first sub-button 31 in the second state, the first sub-button 31 sends a second stop driving signal to the control device 70, and the control device 70 controls the driving mechanism 20 to stop driving according to the second stop driving signal.
In one embodiment of the present application, the first button 30 further comprises a second sub-button 32, the second sub-button 32 being communicatively coupled to the control device 70; the second sub-button 32 is electrically connected to the driving mechanism 20, such that the control device 70 controls the driving mechanism 20 to drive the puncture assembly 90 to move in the second manner when the second sub-button 32 is in the first state; when the second sub-button 32 is in the second state, a second stop driving signal is sent to the control device 70, so that the control device 70 controls the driving mechanism 20 to stop driving according to the second stop driving signal.
In the embodiment of the present application, when the user activates the second sub-button 32 and makes the second sub-button 32 in the first state, the second sub-button 32 sends a second driving signal to the control device 70, and the control device 70 controls the driving mechanism 20 to drive the puncture assembly 90 to move in the second manner according to the second driving signal. Alternatively, the second mode of movement is, in particular, the driving mechanism 20 drives the puncture assembly 90 in a direction away from the biological tissue, i.e. backwards with respect to the patient.
When the user triggers the second sub-button 32 and makes the second sub-button 32 in the second state, the second sub-button 32 sends a second stop driving signal to the control device 70, and the control device 70 controls the driving mechanism 20 to stop driving according to the second stop driving signal.
Optionally, in this embodiment of the application, the first state of the first sub-button 31 and the second sub-button 32 is a pressed state, and after the external force applied to the first sub-button 31 or the second sub-button 32 is removed, the first sub-button 31 or the second sub-button 32 returns to the original position under the action of the elastic member inside the button, that is, the second state of the first sub-button 31 and the second sub-button 32 is obtained.
In one embodiment of the present application, when the user triggers the first button 30 in the first trigger manner, the first button 30 sends a second stop driving signal to the control device 70, and the control device 70 controls the driving mechanism 20 to stop driving according to the second stop driving signal. When the user activates the first button 30 in the second activation manner, the first button 30 sends a first activation signal to the control device 70, and the control device 70 controls the driving mechanism 20 to drive the puncture assembly 90 to move in the first manner according to the first activation signal, i.e., controls the puncture assembly 90 to move forward relative to the patient. When the user activates the first button 30 in the third triggering mode, the first button 30 sends a second driving signal to the control device 70, and the control device 70 controls the driving mechanism 20 to drive the puncture assembly 90 to move in the second mode according to the second driving signal, i.e. controls the puncture assembly 90 to move backward relative to the patient.
Optionally, the first triggering manner corresponds to a first triggering instruction in the following, the second triggering manner corresponds to a second triggering instruction in the following, and the third triggering manner corresponds to a third triggering instruction in the following.
Alternatively, the first trigger mode may be that the first button 30 is in the reset state, the second trigger mode may be that a plurality of presses are continuously performed, and the third trigger mode may be that a plurality of presses are performed at set time intervals. A person skilled in the art can specifically set the value of the set duration, such as 3 seconds, 5 seconds and the like, according to the actual requirement; the number of pressing times is specifically set, such as 3 times, 4 times, and the like.
In one embodiment of the present application, the camera 40 is located at an end of the spike assembly 90 distal from the drive mechanism 20; the control device 70 is further configured to generate a third stop driving command when the setting requirement is satisfied according to the puncture image information sent by the camera 40, so that the driving mechanism 20 stops driving according to the third stop driving signal.
In the embodiment of the present application, as shown in fig. 1 and fig. 2, the camera 40 is located at an end of the puncture assembly 90 away from the driving mechanism 20, so that during the puncture process, the camera 40 can shoot the body tissue of the patient contacted by the puncture assembly 90, which is convenient for the camera 40 to shoot the puncture image information.
Optionally, the camera 40 can move back and forth along with the puncture assembly 90, so that the user can adjust the puncture image information shot by the camera 40 according to different puncture conditions.
It should be noted that the control device 70 includes therein an image information processing unit for processing the puncture image information transmitted by the camera 40. It is understood by those skilled in the art that an image information processing unit may be separately provided to reduce the operation data of the control device 70, and the image information processing unit is communicatively connected to both the camera 40 and the control device 70 to receive and process the puncture image information transmitted by the camera 40, and when the puncture image information satisfies the setting requirement, a third stop driving command is generated and transmitted to the control device 70, so that the control device 70 controls the driving mechanism 20 to stop driving.
In one embodiment of the present application, as shown in fig. 2, the puncture outfit further comprises a display screen 100, and the display screen 100 is in communication connection with the camera 40, so that the display screen 100 can display the puncture image information shot by the camera 40, and the user can visually know the position of the puncture assembly 90 in the patient. Optionally, the display screen 102 is a touch screen, and the display screen 102 is in communication connection with the control device 70, so that a user can send instruction information to the control device 70 through the touch screen 102. As shown in fig. 1, the puncture instrument further comprises a sterile protective housing 101, and optionally, the second switch 60 is in a normally-off state when the puncture assembly 90 is not assembled into the sterile protective housing 101; when the spike assembly 90 is assembled to the sterile containment housing 101, the second switch 60 is normally open, which facilitates the user to activate the first switch 10 after the second switch 60 is not activated during normal operation.
In one embodiment of the present application, the electrical signal detection unit 50 includes a current detection unit electrically connected to the driving mechanism 20 for detecting a current signal of the driving mechanism 20; the control device 70 is further configured to generate a fourth stop driving instruction when determining that the current signal sent by the current detection unit is greater than the first threshold value, so that the driving mechanism 20 stops driving according to the fourth stop driving signal.
In the embodiment of the present application, the current detection unit of the electrical signal detection unit 50 is electrically connected to the driving mechanism 20 to detect the current signal of the driving mechanism 20. Alternatively, the first threshold is a rated current of the driving mechanism 20, and when the control device 70 determines that the current signal sent by the current detection unit is greater than the rated current, the driving mechanism 20 is in an overload state and is easily damaged to cause a shutdown phenomenon, so that the puncturing assembly 90 is easily caused to accidentally injure tissue in the patient's body. Therefore, when the control device 70 determines that the current signal sent by the current detection unit is larger than the rated current, the control device 70 generates a fourth stop driving command and controls the driving mechanism 20 to stop driving according to the fourth stop driving signal.
It should be noted that the electrical signal detecting unit 50 may further include a voltage detecting unit, electrically connected to the driving mechanism 20, for detecting a voltage signal of the driving mechanism 20, and the control device 70 is further configured to generate a fourth driving stopping instruction when the voltage signal sent by the voltage detecting unit is determined to be greater than the rated voltage value, so that the driving mechanism 20 stops driving according to the fourth driving stopping signal.
The electric signal detecting unit 50 may further include a temperature detecting unit, the temperature detecting unit is configured to detect a temperature of the driving mechanism 20 in an operating state, and the control device 70 is further configured to generate a fourth driving stopping instruction when it is determined that the temperature signal sent by the temperature detecting unit is greater than a set temperature threshold value, so that the driving mechanism 20 stops driving according to the fourth driving stopping signal.
In one embodiment of the present application, the control device 70 includes a processor. Alternatively, the Processor may be a CPU (Central Processing Unit), a general-purpose Processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array) or other Programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. A processor may also be a combination of computing functions, e.g., comprising one or more microprocessors, a DSP and a microprocessor, or the like.
Based on the same inventive concept, the embodiment of the application provides a puncture method of a puncture outfit, which comprises the following steps:
when the driving mechanism 20 is still in the driving state upon receiving the first stop driving signal based on triggering the first switch 10, the second stop driving signal based on triggering the first button 30, the third stop driving signal based on the camera 30, and/or the fourth stop driving signal based on the electric signal detection unit 50, the electrical connection between the control device 70 and the power source 80 is cut off based on the emergency stop signal triggering the second switch 60, so that the driving mechanism 20 stops driving.
Alternatively, during operation of the puncture instrument, when the user is faced with an abnormal situation, the user may also directly cut off the electrical connection between the power source 80 and the control device 70 through the second switch 60, i.e., cut off the point connection between the power source 80 and other parts of the puncture instrument, so that the driving mechanism 20 stops driving for the first time.
In one embodiment of the present application, controlling the driving mechanism to stop driving based on a first stop driving signal that triggers the first switch 10 includes: when the user triggers the first switch 10, the first switch 10 sends a first driving stopping signal to the control device 70, and the control device 70 controls the driving stopping of the driving mechanism 20 according to the first driving stopping signal. Optionally, the triggering manner of the first switch 10 includes touching, pressing, clicking, and the like.
In one embodiment of the present application, controlling the driving mechanism 20 to stop driving based on the second stop driving signal triggering the first button 30 includes: when the control device 70 of the puncture instrument receives the second stop driving signal sent by the first sub-button 31 of the first button 30 or the second sub-button 32 of the first button 30 while the driving mechanism 20 of the puncture instrument is in the operating state, the driving mechanism 20 is controlled to stop driving.
Alternatively, when the user triggers the first sub-button 31 and makes the first sub-button 31 in the second state, the first sub-button 31 sends a second stop driving signal to the control device 70, and the control device 70 controls the driving mechanism 20 to stop driving according to the second stop driving signal.
Alternatively, when the user triggers the second sub-button 32 and makes the second sub-button 32 in the second state, the second sub-button 32 sends a second stop driving signal to the control device 70, and the control device 70 controls the driving mechanism 20 to stop driving according to the second stop driving signal.
In one embodiment of the present application, controlling the driving mechanism 20 to stop driving based on the second stop driving signal triggering the first button 30 includes: when the control device 70 of the puncture instrument receives the second stop drive signal generated by the first button 30 based on the first trigger command while the drive mechanism 20 of the puncture instrument is in the operating state, the drive mechanism 20 is controlled to stop driving.
In the embodiment of the present application, when the control device 70 receives the first driving signal generated by the first button 30 based on the second trigger command, the control device controls the driving mechanism 20 to drive the puncture assembly 90 to move in the first manner; when the control device 70 receives a second driving signal generated by the first button 30 based on the third trigger command, it controls the driving mechanism 20 to drive the puncture assembly 90 to move in the second manner.
Alternatively, when the user triggers the first button 30 in the first trigger manner, the first button 30 sends a second stop driving signal to the control device 70, and the control device 70 controls the driving mechanism 20 to stop driving according to the second stop driving signal.
When the user activates the first button 30 in the second activation manner, the first button 30 sends a first activation signal to the control device 70, and the control device 70 controls the driving mechanism 20 to drive the puncture assembly 90 to move in the first manner according to the first activation signal, i.e., controls the puncture assembly 90 to move forward relative to the patient.
When the user activates the first button 30 in the third activation manner, the first button 30 sends a second activation signal to the control device 70, and the control device 70 controls the driving mechanism 20 to drive the puncture assembly 90 to move in the second manner according to the second activation signal, i.e., controls the puncture assembly 90 to move backward relative to the patient.
In the embodiment of the application, the first trigger mode corresponds to a first trigger instruction, the second trigger mode corresponds to a second trigger instruction, and the third trigger mode corresponds to a third trigger instruction.
In one embodiment of the present application, controlling the driving mechanism 20 to stop driving based on the third stop driving signal of the camera 40 includes: when the control device 70 satisfies the setting requirement based on the puncture image information transmitted from the camera 40 while the drive mechanism 20 of the puncture instrument is in operation, a third stop drive signal is generated so that the drive mechanism 20 stops driving based on the third stop drive signal.
A flowchart of the control device 70 for generating the third stop driving signal based on the camera 40 is shown in fig. 4, and includes the following steps S401 to S405:
s401, puncture image information sent by the camera is received.
Alternatively, the control device 70 receives the puncture image information transmitted by the camera 40.
S402, determining whether the color value of the puncture image information meets a first setting requirement; if yes, the process proceeds to S403, and if not, the process returns to S401.
Alternatively, the control device 70 may puncture whether the color value of the image information meets the first setting requirement, for example, the color value includes an R/G/B value. The first setting requirement is: the R value is more than 200, the R value is more than the G value, and the R value is more than the B value.
And S403, extracting texture information from the puncture image information.
During the puncturing process, the texture of superficial tissues such as skin and the texture of internal tissues of the human body are different, and thus, the puncturing position of the puncturing member 90 can be determined based on the texture information.
S404, determining whether the distance between adjacent textures in the texture information is larger than a set distance threshold value; if yes, the process proceeds to S405, and if not, the process returns to S403.
Optionally, the distance threshold is set to 4 mm.
S405, a third stop driving signal is generated.
In one embodiment of the present application, the control device 70 may generate the third stop driving signal based on the camera 40, and during the puncturing process, there is a difference between the brightness of the punctured image information obtained by the camera 40 when the skin surface is punctured and after the skin surface is punctured, and therefore, it is determined whether to generate the third stop driving signal according to the brightness information of the punctured image information sent by the camera. Specifically, the control device 70 is configured to analyze the information of the puncture image at a set reading frequency, and optionally, the control device 70 analyzes one puncture image every 66 milliseconds, and reads the brightness value of each pixel point in each puncture image, and the brightness value is represented by a numerical value of 0 to 255.
The average brightness value of the whole puncture image is obtained by accumulating the brightness values of all the pixel points, and a change curve of the average brightness value of the puncture image is formed, as shown in fig. 5, the abscissa represents time in units of s (seconds), and the ordinate represents the average brightness value. The change that the puncture image is gradually reduced by a certain amplitude is identified through a hill climbing algorithm, and when the puncture image enters a brightness change area for the first time, namely the area indicated by A in the figure 5, the puncture image is identified as starting to enter the puncture process; when the blood pressure in the blood pressure region enters the brightness change region, i.e. the region B in fig. 5, it is indicated that the puncture assembly 90 penetrates the superficial tissues at this moment, and a third stop driving signal is generated to control the driving mechanism 20 to stop rotating, so that the intelligent control puncture is realized, the safe puncture effect is achieved, and the internal tissues are effectively prevented from being accidentally injured.
In one embodiment of the present application, controlling the driving mechanism 20 to stop driving based on the fourth stop driving signal of the electric signal detection unit 50 includes: when the control device 70 determines that the current signal sent by the current detection unit is greater than the first threshold value in the operating state of the drive mechanism 20 of the puncture instrument, a fourth drive stop signal is generated so that the drive mechanism 20 stops driving in accordance with the fourth drive stop signal.
In the embodiment of the present application, when the control device 70 determines that the current signal sent by the current detection unit is greater than the rated current, the control device 70 generates a fourth stop driving command, and controls the driving mechanism 20 to stop driving according to the fourth stop driving signal. Therefore, the phenomenon that the driving mechanism 20 is in an overload state for a long time and is damaged to cause a halt can be avoided, and the puncture assembly 90 is prevented from accidentally injuring the tissues in the body of a patient.
By applying the embodiment of the application, at least the following beneficial effects can be realized:
in the puncture instrument provided in the embodiment of the present application, the first switch 10, the driving mechanism 20, the first button 30, the camera 40, and the electric signal detection unit 50 are all communicatively connected to the control device 70, so that the control device 70 can control the driving mechanism 20 to stop driving according to a stop driving signal based on the first switch 10, the first button 30, the camera 40, and/or the electric signal detection unit 50. When the control device 70 fails to control the driving mechanism 20 to stop driving based on the stop driving signal, the second switch 60 is triggered to cut off the electrical connection between the driving mechanism 20 and the power source 80, that is, the electrical connection between the power source 80 and the other parts of the puncture instrument, thereby achieving an emergency stop of the driving mechanism 20.
In the puncture outfit that this application embodiment provided, through the stop drive of multiple safety protection measure control actuating mechanism 20, can prevent that single safety protection measure from becoming invalid the back, lead to the condition that actuating mechanism 20 can not normally stop to appear to can improve the safety protection performance of puncture outfit, can reduce the probability that the puncture subassembly of puncture outfit caused the accidental injury to the internal tissue of patient.
Those of skill in the art will appreciate that the various operations, methods, steps in the processes, acts, or solutions discussed in this application can be interchanged, modified, combined, or eliminated. Further, other steps, measures, or schemes in various operations, methods, or flows that have been discussed in this application can be alternated, altered, rearranged, broken down, combined, or deleted. Further, steps, measures, schemes in the prior art having various operations, methods, procedures disclosed in the present application may also be alternated, modified, rearranged, decomposed, combined, or deleted.
In the description of the present application, it is to be understood that the terms "center", "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 only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. 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 application, the meaning of "a plurality" is two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
In the description herein, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a few embodiments of the present application and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present application, and that these improvements and modifications should also be considered as the protection scope of the present application.
Claims (3)
1. A puncture instrument, comprising: the device comprises a first switch, a driving mechanism, a first button, a camera, an electric signal detection unit, a second switch, a control device, a puncture assembly and a power supply; the puncture assembly is in driving connection with the driving mechanism;
the first switch, the driving mechanism, the first button, the camera and the electric signal detection unit are all in communication connection with the control device; the electric signal detection unit and the control device are both electrically connected with the driving mechanism, and the electric signal detection unit is used for monitoring the working state of the driving mechanism; one end of the second switch is electrically connected with the control device, the other end of the second switch is electrically connected with the power supply, and the second switch is a mechanical switch;
the first button comprises a first sub-button and a second sub-button, and the first sub-button and the second sub-button are both in communication connection with the control device; the first sub-button is electrically connected with the driving mechanism, and when the first sub-button is in a first state, the control device controls the driving mechanism to drive the puncture assembly to move in a first mode; when the first sub-button is in a second state, sending a second driving stopping signal to the control device, so that the control device controls the driving mechanism to stop driving according to the second driving stopping signal; the second sub-button is electrically connected with the driving mechanism, and when the second sub-button is in a first state, the control device controls the driving mechanism to drive the puncture assembly to move in a second mode; and when the second sub-button is in a second state, sending the second stop driving signal to the control device, so that the control device controls the driving mechanism to stop driving according to the second stop driving signal.
2. The lancing device of claim 1, wherein the camera is located at an end of the lancing assembly distal from the drive mechanism;
the control device is further used for generating a third driving stopping instruction when the set requirement is met according to the puncture image information sent by the camera, so that the driving mechanism stops driving according to the third driving stopping instruction.
3. The puncture instrument according to claim 1, wherein the electric signal detecting unit comprises a current detecting unit electrically connected to the driving mechanism for detecting a current signal of the driving mechanism;
the control device is further configured to generate a fourth driving stopping instruction when it is determined that the current signal sent by the current detection unit is greater than the first threshold, so that the driving mechanism stops driving according to the fourth driving stopping instruction.
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| CN202110963212.XA CN113476119B (en) | 2021-08-20 | 2021-08-20 | Puncture device and puncture method |
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| CN108599628A (en) * | 2017-11-30 | 2018-09-28 | 珠海格力节能环保制冷技术研究中心有限公司 | Emergency stop control device, servo-driver and servo-drive system |
| CN108848667A (en) * | 2015-12-11 | 2018-11-20 | 天津瑞奇外科器械股份有限公司 | Modular signal interface system and energy puncture outfit |
| CN211633501U (en) * | 2019-12-10 | 2020-10-09 | 鑫海合星科技（大连）有限公司 | Small-wound wireless visual puncture outfit |
| CN113133815A (en) * | 2021-04-22 | 2021-07-20 | 施爱德（厦门）医疗器材有限公司 | Puncture outfit |
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| WO2011024515A1 (en) * | 2009-08-24 | 2011-03-03 | オリンパスメディカルシステムズ株式会社 | Medical device |
| DE102010060877B4 (en) * | 2010-11-29 | 2013-08-29 | Reiner Kunz | trocar |
| JP6019253B2 (en) * | 2014-01-16 | 2016-11-02 | シャープ株式会社 | Internal surveillance camera system and auxiliary equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108848667A (en) * | 2015-12-11 | 2018-11-20 | 天津瑞奇外科器械股份有限公司 | Modular signal interface system and energy puncture outfit |
| CN108599628A (en) * | 2017-11-30 | 2018-09-28 | 珠海格力节能环保制冷技术研究中心有限公司 | Emergency stop control device, servo-driver and servo-drive system |
| CN211633501U (en) * | 2019-12-10 | 2020-10-09 | 鑫海合星科技（大连）有限公司 | Small-wound wireless visual puncture outfit |
| CN113133815A (en) * | 2021-04-22 | 2021-07-20 | 施爱德（厦门）医疗器材有限公司 | Puncture outfit |
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