CN113598910A - Coplane restraint supersound guide piercing depth based on microcomputer control - Google Patents

Abstract

The invention relates to a coplanar constraint ultrasonic guided puncture device based on microcomputer control, and belongs to the technical field of ultrasonic equipment. Wherein the ultrasonic guide puncture device comprises an ultrasonic probe, a connecting mechanism and a puncture mechanism, the connecting mechanism can feed back information according to the ultrasonic probe, the coplanar constraint between the puncture needle and the effective sector of the ultrasonic detection is realized through the transmission of a motor-driving belt wheel-tensioning wheel-redirection belt wheel-synchronous belt-linear slide rail-push rod mechanism in the connecting mechanism, and the puncture angle can be adjusted in a large range, the mode can realize larger transmission ratio, a very small motor is used for driving a heavier mechanism, the self-locking can be kept in the adjusting process, the puncture mechanism forms two motors with different planes, namely a driving pulley, a direction-changing pulley, a synchronous belt and a linear slide rail power transmission chain through the two micro motors, realizes the function integration of extraction and injection, and greatly improves the puncture precision and the puncture efficiency.

Description

Coplane restraint supersound guide piercing depth based on microcomputer control

Technical Field

The invention belongs to the technical field of ultrasonic equipment, and relates to a coplanar constraint ultrasonic guided puncture device based on microcomputer control.

Background

The traditional vein puncture is characterized in that the vein is judged by visual identification or hand touch, the mode is mostly dependent on the experience and hand feeling of an operator, and puncture failure is easily caused. Statistically, in current clinical work, the venipuncture failure rate is as high as 20%. For tumor patients who take chemotherapy as a main treatment method, chemotherapy drugs have great damage to blood vessels and tissues, so that venipuncture of the patients is more difficult, meanwhile, the patients are weak, repeated venipuncture may cause scars on the wall of a shallow vein, and the difficulty of re-puncture is further increased. Therefore, how to improve the success rate of one-time puncture and avoid discomfort of patients, particularly tumor patients, caused by repeated puncture is an important problem concerned by patients, family members and medical care personnel. Ultrasound-assisted puncture is proved to be an effective venipuncture guiding technology, while electrically controlled medical equipment has the advantages of good repeatability and high precision, and some mechanisms combine the advantages of the two to develop research on the electrically controlled puncture equipment guided by medical images such as ultrasound.

The ultrasonic guided puncture method is divided into two puncture methods, namely an in-plane puncture method and an out-of-plane puncture method. The in-plane puncture method can completely display the needle insertion route and dynamically observe the puncture process, but the puncture needle and the target blood vessel are required to be always kept in the ultrasonic image in the puncture process due to the long puncture route, so that the technical requirement on an operator is higher. Because the ultrasonic sound beam is narrow, the needle point of the puncture needle is more common to run out of the sound beam. A high degree of operator coordination between the probe and the needle is required. And the effective scanning of the ultrasonic probe is a very thin sector area, and the puncture needle is expected to be always positioned on the sector plane in the puncture process. Conventional manual lancing does not do this.

At present, an auxiliary device and an abdominal cavity puncture device for thoracic puncture biopsy are reported in China, but the development of a robot suitable for venous blood sampling is late, and robots suitable for venous blood sampling are developed recently by Beijing Meinashi company and Shanghai Maoque company, but mature electronic control type equipment special for venous puncture does not exist in China. The American Vasculogic company develops a robot for venous blood drawing, adopts a blood vessel imaging instrument and an in-plane ultrasonic auxiliary guide puncture, but is limited in that the blood vessel imaging instrument can only puncture a superficial vein (the depth is less than 10 mm). Generally, the robot suitable for venipuncture at present mainly faces to the shallow vein blood sampling of hospitals and communities, can not meet the use requirement of chemotherapy puncture tube placing operation, adopts four-axis and six-axis mechanical arms, is large in size, inconvenient to move and not suitable for the bedside venipuncture requirement of tumor patients.

Therefore, the electronic control type ultrasonic guiding puncture device can be adapted to the existing ultrasonic detection device and puncture needle, coplanar constraint puncture guiding is provided by multiple degrees of freedom, operation is flexible, occupied space is small, puncture is accurate, integration level of functions is high, and the electronic control type ultrasonic guiding puncture device is convenient to mount and dismount, so that accuracy and efficiency of surgery can be greatly improved, and popularization of accurate minimally invasive surgery is facilitated.

Disclosure of Invention

In view of the above, the present invention provides an ultrasound guided puncture device capable of realizing an electrically controlled coplanar constraint.

In order to achieve the purpose, the invention provides the following technical scheme:

a coplane restraint ultrasonic guide puncture device based on microcomputer control comprises an ultrasonic probe 1, a connecting mechanism 2 and a puncture mechanism 3;

the connecting mechanism 2 is connected to the ultrasonic probe 1, one end, close to the skin, of the puncture mechanism 3 is hinged to a fastener III 6 at the head of the ultrasonic probe, and the middle of the puncture mechanism 3 is connected with the middle of the connecting mechanism 2 through a connecting rod 8;

the connecting mechanism 2 comprises a connecting mechanism supporting plate 12, a connecting mechanism shell 16, a linear guide rail I17, an angle control motor 10, a driving belt wheel I11, a tensioning wheel 13, a redirection belt wheel I14, a connecting block III 18, a connecting rod 15 and a first synchronous belt;

the connecting mechanism comprises a connecting mechanism shell 16, a connecting mechanism supporting plate 12, a linear guide rail I17, a driving belt wheel I11 and a redirection belt wheel I14, wherein the connecting mechanism shell 16 is provided with the connecting mechanism supporting plate 12, the connecting mechanism supporting plate 12 is provided with the linear guide rail I17, the driving belt wheel I11 and the redirection belt wheel I14 are arranged on the connecting mechanism shell 16 at intervals from top to bottom, a tension wheel 13 is fixedly arranged in the middle of the connecting mechanism shell 16 through two connecting rods 15, one side of a first synchronous belt is wound on the driving belt wheel I11, the tension wheel 13 and the redirection belt wheel I14, the other side of the first synchronous belt is fixed on a slide block of the linear guide rail I17, the slide block of the linear guide rail I17 is rotatably connected with a connecting rod 8 through a connecting block III 18, an angle control motor 10 is fixedly arranged on the connecting mechanism shell 16, and the output end of the angle control motor is connected with a wheel shaft of the driving belt wheel I11;

furthermore, the connecting rod 15 is provided with a sliding chute which is fixedly connected with a corresponding hole in the middle of the connecting mechanism shell 16, and the first synchronous belt can be tensioned by adjusting the relative position of the sliding chute and the connecting mechanism shell 16.

Further, the connecting mechanism 2 is connected to the ultrasonic probe 1 in an outward inclined manner, so that an acute angle phi is formed between the connecting mechanism 2 and the central axis of the ultrasonic probe 1, and the puncture angle adjustment of the puncture mechanism 3 is ensured to meet the puncture requirement.

Further, the connecting mechanism 2 is connected to the ultrasonic probe 1 through a fastening piece I4 and a fastening piece II 5, the fastening piece I4 and the fastening piece II 5 are installed on the ultrasonic probe 1 from top to bottom, and the length of the fastening piece I4 is longer than that of the fastening piece II 5.

Further, the puncture mechanism 3 comprises a cylinder control motor 24, a plug control motor 19, a puncture mechanism left shell 27, a puncture mechanism right shell 26, a puncture mechanism supporting plate 21, a driving pulley II 25, a redirection pulley II 23, a driving pulley III 20, a redirection pulley III 22, a linear guide rail II 31 and a linear guide rail III 33;

the puncture mechanism comprises a puncture mechanism right shell 26, a puncture mechanism supporting plate 21, a linear guide rail II 31, a driving pulley II 25, a redirection pulley II 23, a second synchronous belt, a driving pulley II 25, a redirection pulley II 23, a needle cylinder connecting piece 30 and a needle cylinder connecting piece 30, wherein the puncture mechanism right shell 26 is connected to the puncture mechanism left shell 27, the puncture mechanism supporting plate 21 is fixedly connected into the puncture mechanism right shell 26, the linear guide rail II 31 is fixed to the puncture mechanism left shell 27, the driving pulley II 25 and the redirection pulley II 23 are arranged on the puncture mechanism left shell 27 from bottom to top, one side of the second synchronous belt is wound on the driving pulley II 25 and the redirection pulley II 23, the other side of the second synchronous belt is fixed to a sliding block of the linear guide rail II 31, the sliding block of the linear guide rail II 31 is connected with the needle cylinder connecting piece 30, and the needle cylinder of the puncture needle 29 is clamped by the needle cylinder connecting piece 30; a linear guide rail (comprising a sliding block) III 33 is fixed on a supporting plate 21 of the puncture mechanism, a driving pulley III 20 and a direction-changing pulley III 22 are arranged on a right shell 26 of the puncture mechanism from bottom to top, one side of a third synchronous belt is wound on the driving pulley III 20 and the direction-changing pulley III 22, the other side of the third synchronous belt is fixed on the sliding block of the linear guide rail III 33, a piston connecting piece 32 is connected with the sliding block of the linear guide rail III 33, and a piston of the puncture needle 29 is fixed in the piston connecting piece 32;

the cylinder control motor 24 and the plug control motor 19 are both fixedly arranged on the right shell 26 of the puncture mechanism, the output end of the cylinder control motor 24 is connected with the wheel shaft of the driving belt wheel II 25, and the output end of the plug control motor 19 is connected with the wheel shaft of the driving belt wheel III 20.

Further, the cartridge control motor 24 and the plug control motor 19 are respectively arranged on two faces of the right housing 26 of the puncture mechanism, and linear guide rails respectively matched with the two motors are also arranged in corresponding planes.

Further, the angle control motor 10, the cylinder control motor 24 and the plug control motor 19 are all electrically connected to a motor control system, encoders are mounted on the other sides of the output ends of the three motors, and are all electrically connected with the motor control system, so that the control is more accurate.

Further, a control button of a motor control system is arranged on the fastener I4, and the control button on the fastener I4 is electrically connected with the motor control system.

The invention has the beneficial effects that:

the invention controls the connecting mechanism 2 to actively restrain the puncture mechanism 3 through the motor control system, so that the puncture needle always moves in a plane of an effective range scanned by the ultrasonic probe 1, and the angle formed by the puncture needle and the skin is restrained to meet the requirement of venipuncture. In addition, the invention adopts the motor drive, thereby eliminating the human error possibly generated when the passive coplanar auxiliary puncture is operated manually. Compared with manual puncture, the invention has more accuracy and precision, and greatly improves the success rate of puncture. The invention provides three functions of multi-angle puncture, extraction and injection, integrates the functions highly, has flexible operation, small occupied space and convenient installation and disassembly, can be installed on a fixed operation platform, and can also be directly operated by holding an ultrasonic probe.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.

Drawings

For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:

FIG. 1 is a general schematic of the present invention;

FIG. 2 is a schematic structural view of the present invention;

FIG. 3 is a schematic view of the structure of the connection mechanism 1;

FIG. 4 is a schematic view of the structure of the connection mechanism 2;

FIG. 5 is a schematic view of the puncture mechanism 1;

FIG. 6 is a schematic structural view of the puncturing mechanism 2;

fig. 7 is an exploded view of the lancing mechanism.

Reference numerals: 1-ultrasonic probe, 2-connecting mechanism, 3-puncturing mechanism, 4-fastening piece I, 5-fastening piece II, 6-fastening piece III, 7-connecting piece I, 8-connecting rod, 9-connecting piece II, 10-angle control motor, 11-driving pulley I, 12-connecting mechanism supporting plate, 13-tensioning wheel, 14-redirection pulley I, 15-connecting rod, 16-connecting mechanism shell, 17-linear guide rail I (containing sliding block), 18-connecting piece III, 19-plug control motor, 20-driving pulley III, 21-puncturing mechanism supporting plate, 22-redirection pulley III, 23-redirection pulley II, 24-control cylinder motor, 25-driving pulley II, 26-puncturing mechanism right shell, 27-puncturing mechanism left shell, 28-syringe cover, 29-puncture needle, 30-syringe connecting piece, 31-linear guide rail (including slide block) II, 32-piston connecting piece and 33-linear guide rail (including slide block) III.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.

Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.

Please refer to fig. 1 to 7, which are coplanar constraint ultrasonic guided puncture device based on microcomputer control, and include an ultrasonic probe 1, a connection mechanism 2 and a puncture mechanism 3, wherein the connection mechanism 2 is obliquely connected to the ultrasonic probe 1 outward, so that an acute angle Φ is formed between the connection mechanism 2 and a central axis of the ultrasonic probe 1, and it is ensured that a puncture angle of the puncture mechanism 3 is adjusted to meet a puncture requirement, the connection mechanism 2 is connected to the ultrasonic probe 1 through a fastening piece i4 and a fastening piece ii 5, the fastening piece i4 and the fastening piece ii 5 are installed on the ultrasonic probe 1 from top to bottom, and the length of the fastening piece i4 is longer than that of the fastening piece ii 5. The bottom of the puncture mechanism 3 is hinged with a fastener 6 III on the head of the ultrasonic probe, and the middle of the puncture mechanism 3 is connected with a connecting rod 5 through a fixed connecting block II 9.

The connecting mechanism 2 comprises a connecting mechanism supporting plate 12, a connecting mechanism shell 16, a linear guide rail I17, an angle control motor 10, a driving belt wheel I11, a tensioning wheel 13, a redirection belt wheel I14, a connecting block III 18, a connecting rod 15 and a first synchronous belt;

the connecting mechanism comprises a connecting mechanism shell 16, a connecting mechanism supporting plate 12 is arranged on the connecting mechanism shell 16, a linear guide rail I17 is arranged on the connecting mechanism supporting plate 12, a driving belt wheel I11 and a redirection belt wheel I14 are installed on the connecting mechanism shell 16 at intervals from top to bottom, a tension wheel 13 is fixedly installed in the middle of the connecting mechanism shell 16 through two connecting rods 15, one side of a first synchronous belt is wound on the driving belt wheel I11, the tension wheel 13 and the redirection belt wheel I14, the other side of the first synchronous belt is fixed on a sliding block of the linear guide rail I17, the sliding block of the linear guide rail I17 is rotatably connected with a connecting rod 8 through a connecting block III 18, an angle control motor 10 is fixedly arranged on the connecting mechanism shell 16, and the output end of the angle control motor is connected with a wheel shaft of the driving belt wheel I11. The angle control motor 10 is electrically connected to a motor control system, the motor control system can drive the angle control motor 10 to drive a driving belt wheel I11 according to information fed back to the motor control system by the ultrasonic probe 1, so as to drive a direction changing belt wheel I and a first synchronous belt, the first synchronous belt drives a sliding block of a linear guide rail I17 to move, the sliding block of the linear guide rail I17 drives a connecting rod 8 to move in a plane through a connecting block III 18, and because the bottom of the puncture mechanism 3 is hinged with a fastening piece 6 on the head of the ultrasonic probe, the connecting rod 8 moves in the plane to drive the fan-shaped rotation of the puncture mechanism 3, the puncture angle of the puncture mechanism 3 is adjusted, and coplanar constraint is realized.

The puncture mechanism 3 comprises a cylinder control motor 24, a plug control motor 19, a puncture mechanism left shell 27, a puncture mechanism right shell 26, a puncture mechanism supporting plate 21, a driving belt wheel II 25, a redirection belt wheel II 23, a driving belt wheel III 20, a redirection belt wheel III 22, a linear guide rail II 31 and a linear guide rail III 33;

the puncture mechanism right shell 26 is connected to the puncture mechanism left shell 27, the puncture mechanism supporting plate 21 is fixedly connected to the puncture mechanism right shell 26, the linear guide rail II 31 is fixed to the puncture mechanism left shell 27, the driving pulley II 25 and the redirection pulley II 23 are arranged on the puncture mechanism left shell 27 from bottom to top, one side of the second synchronous belt is wound on the driving pulley II 25 and the redirection pulley II 23, the other side of the second synchronous belt is fixed to a sliding block of the linear guide rail II 31, the sliding block of the linear guide rail II 31 is connected with the needle cylinder connecting piece 30, and the needle cylinder of the puncture needle 29 is clamped by the needle cylinder connecting piece 30; a linear guide rail (comprising a sliding block) III 33 is fixed on a supporting plate 21 of the puncture mechanism, a driving pulley III 20 and a direction-changing pulley III 22 are arranged on a right shell 26 of the puncture mechanism from bottom to top, one side of a third synchronous belt is wound on the driving pulley III 20 and the direction-changing pulley III 22, the other side of the third synchronous belt is fixed on the sliding block of the linear guide rail III 33, a piston connecting piece 32 is connected with the sliding block of the linear guide rail III 33, and a piston of the puncture needle 29 is fixed in the piston connecting piece 32;

the cylinder control motor 24 and the plug control motor 19 are both fixedly arranged on the right shell 26 of the puncture mechanism, the output end of the cylinder control motor 24 is connected with the wheel shaft of the driving belt wheel II 25, and the output end of the plug control motor 19 is connected with the wheel shaft of the driving belt wheel III 20. The motor control system controls the synchronous rotation and the same rotating speed of the control cylinder motor 24 and the control plug motor 19, the second synchronous belt drives the cylinder of the puncture needle 19 to move through the cylinder connecting piece 30, the third synchronous belt drives the piston of the puncture needle 19 to move through the piston connecting piece 32, and at the moment, the cylinder and the piston of the puncture needle 19 do not move relatively to perform puncture movement. After the puncture position is reached, the rotation of the cylinder control motor 24 is stopped, the cylinder of the puncture needle 19 stops moving, only the plug control motor 19 is started, the independent movement of the piston of the puncture needle 19 is realized, the injection is carried out when the plug control motor 19 rotates forwards, and the blood drawing is carried out when the plug control motor 19 rotates backwards.

The coplanar constraint ultrasonic guided puncture device based on microcomputer control can electrically adjust the puncture angle of the puncture mechanism 3 by driving the angle control motor 10 in the connecting mechanism 2 through the motor control system, so that the puncture needle always moves in the plane of the effective range scanned by the ultrasonic probe 1, and the angle between the puncture needle and the skin is constrained to meet the vein puncture requirement. This active coplanar constraint, driven by the motor, eliminates human error that may occur when manually operating passive coplanar assisted lancing. Compared with manual puncture, the invention has more accuracy and precision, and greatly improves the puncture success rate and puncture efficiency. The multifunctional high integration of puncture, extraction and injection is realized through the synchronous rotation and asynchronous rotation of the two micro motors in the puncture mechanism 3, the operation efficiency is greatly improved, and the workload of doctors is reduced through electric control type operation.

Specifically, with particular reference to fig. 2 to 6, a fastener i4, a fastener ii 5 and a fastener iii 6 are fastened on the body of the probe 1 through screws, the connecting mechanism 2 is connected with the body of the ultrasonic probe 1 through the fastener i4 and the fastener ii 5, the fastener i4, the fastener ii 5 and the fastener iii 6 are installed on the ultrasonic probe 1 from top to bottom, the length of the connecting rod on the fastener i4 is longer than that of the fastener 5, so that the connecting mechanism 2 and the central axis of the ultrasonic probe 1 form an acute angle Φ, and the puncture angle adjustment of the puncture mechanism 3 is ensured to meet the puncture requirement, so that the puncture adjusting mechanism has more application scenes and is more convenient to use.

The connecting block I7 is used for fixing one end, close to the skin, of the right shell 27 of the puncture mechanism through a screw, the fastening piece III 6 is fixed to the head of the ultrasonic probe 1, and the fastening piece III 6 is connected with the connecting block I7 through a hinge, so that the puncture mechanism can rotate around the hinged position in a fixed axis mode. Two ends of the connecting rod 8 are hinged and connected with the connecting block II 18 and the connecting block II 9 respectively, and the plane motion of the connecting rod 8 can drive the puncture mechanism 3 to rotate around the hinged parts of the fastening piece III 6 and the connecting block I7.

The connecting mechanism supporting plate 12 is connected with the connecting mechanism shell 16 through screws, two bosses with holes corresponding to the fastening pieces 4 and the fastening pieces 5 are arranged on the connecting mechanism supporting plate 12 and are connected with the fastening pieces 4 and the fastening pieces 5 through screws and nuts, a plurality of linear threaded holes are formed in the connecting mechanism supporting plate 12, and the linear guide rail I (including a sliding block) 17 is fixed on the connecting mechanism supporting plate 12 through screws. The sliding block of the linear guide rail I17 is connected with the connecting block III 18 through a screw, and meanwhile, the first synchronous belt is fixed on the sliding block of the linear guide rail I17. A welded U-shaped groove is formed in the right side shell of the connecting mechanism shell 16, a threaded hole is formed in the U-shaped groove, one end of the angle control motor 10 is fixed through the threaded hole by a screw, and an output shaft of the angle control motor 10 is connected with a shaft of the driving belt wheel I11 through a flange. The middle part of the connecting mechanism shell 16 is provided with two connecting rods 15, the shaft of the tension pulley 13 is fixed between the two connecting rods 15, the redirection belt pulley I14 is fixedly connected with the left lower end of the connecting mechanism shell 16, and the first synchronous belt is wound on the driving belt pulley I11, the tension pulley 13 and the redirection belt pulley I14.

Further, the shaft of the tension pulley 13 is connected through two connecting rods 15, the connecting rods 15 are provided with sliding grooves, the heights of the synchronous belt pulley 13 and the connecting mechanism 2 can be adjusted by adjusting the relative positions of the sliding grooves and the connecting mechanism shell 16, the function of adjusting the tension degree of the first synchronous belt is realized, and the incompatible parts of standard components and non-standard components can be accommodated.

Specifically, referring with emphasis to fig. 5 to 7, the puncture mechanism 3 has three main structural components as a whole: a puncture mechanism right housing 26, a puncture mechanism left housing 27, and a puncture mechanism support plate 21. The right puncture mechanism housing 26, the left puncture mechanism housing 27 and the puncture mechanism support plate 21 are all provided with threaded holes and connected through screws. A linear threaded hole is formed in the bottom plate of the left shell 27 of the puncture mechanism and used for fixing a linear guide rail II (comprising a sliding block) 31, the sliding block on the linear guide rail II 31 is connected with a needle cylinder connecting piece 30 through a screw, and meanwhile, a second synchronous belt is fixed on the sliding block of the linear guide rail II 31. Two shaft holes are formed in the right shell 26 of the puncture mechanism, and are used for fixing the driving belt wheel III 20 and the redirection belt wheel III 22 from bottom to top respectively. Two shaft holes are formed in the upper portion of the left puncturing mechanism shell 27, corresponding shaft holes are formed in the corresponding positions of the right puncturing mechanism shell 26 and the puncturing mechanism supporting plate 21, and the driving pulley II 25 and the redirection pulley II 23 are fixed from top to bottom respectively. A plurality of linear threaded holes are formed in the puncture mechanism supporting plate 21 and used for fixing a linear guide rail III (including a sliding block) 33, the sliding block on the linear guide rail III 33 is connected with a piston connecting piece 32 through screws, a third synchronous belt is fixed on the sliding block of the linear guide rail III 33 through the piston connecting piece 32, and the piston connecting piece 32 is fixedly connected with a piston of a puncture needle 29. Two U-shaped grooves are respectively welded on two adjacent surfaces of a shell of a right shell 26 of the puncture mechanism, the positions of the U-shaped grooves are respectively corresponding to the positions of the shafts of a driving belt wheel II 25 and a driving belt wheel III 20 and used for fixing one ends of a cylinder control motor 24 and a plug control motor 19, the output end of the cylinder control motor 24 is connected with the shaft of the driving belt wheel II 25, the output end of the plug control motor 19 is connected with the shaft of the driving belt wheel III 20, and the output shaft of the motor is connected with the shaft of the driving belt wheel through a flange. The linear guide rail II (comprising a sliding block) 31 and the linear guide rail III (sliding block) 33 are respectively and correspondingly arranged on two different surfaces instead of the same plane, so that the arrangement aims to reduce the size of the whole structure and reduce the occupation of space through reasonable space arrangement.

Further, accuse angle motor 10, accuse section of thick bamboo motor 24 and accuse stopper motor 19 all are connected to motor control system on, the encoder is all equipped with to the opposite side of the output of three motors, and the encoder all is connected with motor control system electricity, and the encoder will gather motor speed feedback to motor control system on, form closed-loop control for motor control is more accurate.

Furthermore, the control button of the motor control system is arranged on the fastener I4, the control button on the fastener I4 is electrically connected with the motor control system, and the operation button of the motor control system is arranged on the fastener I4, so that a doctor can directly perform multi-angle puncture, extraction and injection through the control button on the ultrasonic probe 1 under the condition that the handheld device is operated conveniently, the operation is independently completed without the position limitation of the operation system, and the operation convenience is greatly improved.

The working flow of the embodiment of the coplanar constraint ultrasonic guided puncture device based on microcomputer control is as follows: according to the image detected by the ultrasonic probe 1, a doctor operates a motor control system to drive an angle control motor 10, the angle control motor 10 drives a driving belt wheel I11 to rotate, the driving belt wheel I11 drives a tension wheel 13 and a direction-changing belt wheel I14 to rotate and drives a first synchronous belt, the first synchronous belt drives a slide block of a linear guide rail I17 to move up and down, the up and down movement of the slide block of the linear guide rail I17 is converted into the rotation of a puncture mechanism 3 through a connecting rod 8, the purpose of automatically adjusting the puncture angle is achieved, coplanar constraint is achieved, and a motor, the driving belt wheel, the tension wheel, the direction-changing belt wheel, the synchronous belt, the linear slide rail and a push rod mechanism are adopted, so that a larger transmission ratio can be achieved in a transmission mode, a heavier mechanism is driven by a very small motor, and the self-locking can be kept in the adjusting process. After the puncture mechanism 3 is adjusted to a proper angle, the motor control system drives the cylinder control motor 24 and the plug control motor 19 to drive the driving pulley II 25 and the driving pulley III 20, the driving pulley II 25 drives the direction-changing pulley II 23 to rotate and drives the second synchronous belt, the second synchronous belt drives the slide block of the linear guide rail II 31 to move up and down, the slide block of the linear guide rail II 31 moves up and down through the needle cylinder connecting piece 30 to drive the needle cylinder of the puncture needle 29 to move up and down, the driving pulley III 20 drives the direction-changing pulley III 22 to rotate and drives the third synchronous belt, the third synchronous belt drives the slide block of the linear guide rail III 33 to move up and down, and the slide block of the linear guide rail III 33 moves up and down through the piston connecting piece 32 to drive the piston of the puncture needle 29 to move up and down. The motor control system controls the synchronous rotation and the same rotating speed of the control cylinder motor 24 and the control plug motor 19, the cylinder and the piston of the puncture needle 29 do not move relatively, and the puncture function is completed. The motor control system controls the synchronous rotation of the control cylinder motor 24 and the control plug motor 19 and performs puncture when the rotation speeds are the same, after the puncture position is reached, the rotation of the control cylinder motor 24 is stopped, only the control plug motor 19 is started to realize the independent motion of the piston of the puncture needle 29, the control plug motor 19 rotates reversely to extract, and the control plug motor 19 rotates normally to perform injection.

Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.

Claims (8)

1. The utility model provides a coplane restraint supersound guide piercing depth based on microcomputer control, includes ultrasonic probe (1), its characterized in that: the device also comprises a connecting mechanism (2) and a puncture mechanism (3);

the connecting mechanism (2) is connected to the ultrasonic probe (1), one end, close to the skin, of the puncture mechanism (3) is hinged to a fastener III (6) at the head of the ultrasonic probe, and the middle of the puncture mechanism (3) is connected with the middle of the connecting mechanism (2) through a connecting rod (8);

the connecting mechanism (2) comprises a connecting mechanism supporting plate (12), a connecting mechanism shell (16), a linear guide rail I (17), an angle control motor (10), a driving belt wheel I (11), a tensioning wheel (13), a redirection belt wheel I (14), a connecting block III (18), a connecting rod (15) and a first synchronous belt;

the connecting mechanism comprises a connecting mechanism shell (16), a connecting mechanism supporting plate (12) is arranged on the connecting mechanism supporting plate (12), a linear guide rail I (17) is arranged on the connecting mechanism shell (16), a driving belt wheel I (11) and a direction-changing belt wheel I (14) are installed on the connecting mechanism shell (16) from top to bottom at intervals, a tension wheel (13) is fixedly installed in the middle of the connecting mechanism shell (16) through two connecting rods (15), one side of a first synchronous belt is wound on the driving belt wheel I (11), the tension wheel (13) and the direction-changing belt wheel I (14), the other side of the first synchronous belt is fixed on a sliding block of the linear guide rail I (17), the sliding block of the linear guide rail I (17) is rotatably connected with a connecting rod (8) through a connecting block III (18), an angle control motor (10) is fixedly arranged on the connecting mechanism shell (16), and the output end of the angle control motor is connected with a wheel shaft of the driving belt wheel I (11).

2. The micro-motor control based coplanar confinement ultrasound guided puncture device according to claim 1, wherein: the connecting rod (15) is provided with a sliding chute which is fixedly connected with a corresponding connecting piece in the middle of the connecting mechanism shell (16).

3. The micro-motor control based coplanar confinement ultrasound guided puncture device according to claim 1, wherein: the connecting mechanism (2) is connected to the ultrasonic probe (1) in an outward inclined mode, so that an acute angle phi is formed between the connecting mechanism (2) and the central axis of the ultrasonic probe (1).

4. The micro-motor control based coplanar confinement ultrasound guided puncture device according to claim 3, wherein: coupling mechanism (2) are connected on ultrasonic probe (1) through fastener I (4) and fastener II (5), and install on ultrasonic probe (1) from top to bottom fastener I (4) and fastener II (5), and the length of fastener I (4) is longer than the length of fastener II (5).

5. The micro-motor control based coplanar confinement ultrasound guided puncture device according to claim 1, wherein: the puncture mechanism (3) comprises a cylinder control motor (24), a plug control motor (19), a puncture mechanism left shell (27), a puncture mechanism right shell (26), a puncture mechanism supporting plate (21), a driving pulley II (25), a redirection pulley II (23), a driving pulley III (20), a redirection pulley III (22), a linear guide rail II (31) and a linear guide rail III (33);

the puncture mechanism comprises a puncture mechanism left shell (27), a puncture mechanism support plate (21), a linear guide rail II (31), a driving pulley II (25), a redirection pulley II (23), a second synchronous belt, a needle cylinder connecting piece (30), a needle cylinder of a puncture needle (29), a needle cylinder connecting piece (30) and a needle cylinder connecting piece (30), wherein the puncture mechanism right shell (26) is connected to the puncture mechanism left shell (27), the puncture mechanism support plate (21) is fixedly connected to the puncture mechanism right shell (26), the linear guide rail II (31) is fixed to the puncture mechanism left shell (27), the driving pulley II (25) and the redirection pulley II (23) are arranged from bottom to top, one side of the second synchronous belt is wound on the driving pulley II (25) and the redirection pulley II (23), the other side of the second synchronous belt is fixed to a sliding block of the linear guide rail II (31); a linear guide rail (comprising a sliding block) III (33) is fixed on a supporting plate (21) of the puncture mechanism, a driving pulley III (20) and a redirection pulley III (22) are arranged on a right shell (26) of the puncture mechanism from bottom to top, one side of a third synchronous belt is wound on the driving pulley III (20) and the redirection pulley III (22), the other side of the third synchronous belt is fixed on the sliding block of the linear guide rail III (33), a piston connecting piece (32) is connected with the sliding block of the linear guide rail III (33), and a piston of a puncture needle (29) is fixed in the piston connecting piece (32);

the cylinder control motor (24) and the plug control motor (19) are fixedly arranged on the right shell (26) of the puncture mechanism, the output end of the cylinder control motor (24) is connected with the wheel shaft of the driving belt wheel II (25), and the output end of the plug control motor (19) is connected with the wheel shaft of the driving belt wheel III (20).

6. The micro-motor control based coplanar confinement ultrasound guided puncture device according to claim 5, wherein: the cylinder control motor (24) and the plug control motor (19) are respectively arranged on two surfaces of the right shell (26) of the puncture mechanism, and linear guide rails respectively matched with the two motors are also arranged in corresponding planes.

7. The micro-motor control based coplanar confinement ultrasound guided puncture device according to claim 5, wherein: the angle control motor (10), the cylinder control motor (24) and the plug control motor (19) are all electrically connected to a motor control system, encoders are mounted on the other sides of the output ends of the angle control motor (10), the cylinder control motor (24) and the plug control motor (19), and the encoders are all electrically connected with the motor control system.

8. The micro-motor control based coplanar confinement ultrasound guided puncture device according to claim 4, wherein: and a control button of a motor control system is arranged on the fastener I (4), and the control button on the fastener I (4) is electrically connected with the motor control system.

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