CN114052782A - Ultrasonic device, puncture device and puncture method - Google Patents

Ultrasonic device, puncture device and puncture method Download PDF

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Publication number
CN114052782A
CN114052782A CN202110022141.3A CN202110022141A CN114052782A CN 114052782 A CN114052782 A CN 114052782A CN 202110022141 A CN202110022141 A CN 202110022141A CN 114052782 A CN114052782 A CN 114052782A
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puncture
needle
path
puncturing
lancing
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Chinese (zh)
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罗锐
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Wuhan United Imaging Healthcare Co Ltd
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Wuhan United Imaging Healthcare Co Ltd
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Priority to CN202110022141.3A priority Critical patent/CN114052782A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • 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
    • A61B17/3403—Needle locating or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
    • 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
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3413—Needle locating or guiding means guided by ultrasound

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  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Pathology (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)

Abstract

The invention relates to an ultrasonic device, a puncture device and a puncture method. This piercing depth includes: the fixing mechanism is detachably arranged on the ultrasonic probe; the adjusting mechanism is fixedly arranged on the fixing mechanism, and the puncturing mechanism is arranged on the adjusting mechanism and can move along the adjusting mechanism so as to adjust the position of the puncturing mechanism; the puncture mechanism is used for clamping a puncture needle and executing needle inserting or withdrawing operation; and a control member provided in the puncture mechanism. The control component can adjust the angle of the puncture mechanism by the adjusting mechanism and control the puncture mechanism to perform puncture operation, so that the puncture needle can avoid obstacles, and can be accurately punctured into a focus position to avoid damage to a patient, and the application range is wide. Meanwhile, the puncture mechanism can drive the puncture needle to automatically perform puncture operation, and medical personnel only need to confirm the position of a focus, so that the puncture flow is simplified, the puncture efficiency is improved, and the burden of doctors and patients is reduced.

Description

Ultrasonic device, puncture device and puncture method
Technical Field
The invention relates to the technical field of puncture equipment, in particular to ultrasonic equipment, a puncture device and a puncture method.
Background
Sonophoresis is a well established and important diagnostic and therapeutic technique at present. The puncture based on ultrasonic guidance can realize real-time diagnosis and provide important clues for clinical diagnosis, such as finding and extracting living tissues for examination; it can also be used for treatment, such as suction treatment of hydrothorax and ascites, and can be treated by injecting medicine.
Generally, a doctor detects a lesion position on a patient through ultrasonic diagnosis, and then the doctor holds a puncture device carrying a needle cylinder and a puncture needle to perform operations such as puncture, needle insertion, needle stop, needle withdrawal and the like in the puncture process. The puncture device can control the rotation of the puncture cylinder and the puncture depth of the puncture needle at present, can realize automatic puncture according to the focus position and the initial position of the puncture needle, has high puncture precision and high speed, and ensures the puncture effect. However, the puncture device is relatively simple in operation, and cannot be applied to a relatively complicated puncture environment such as obstacle avoidance, which affects the use.
Disclosure of Invention
Accordingly, it is necessary to provide an ultrasound device, a puncture device, and a puncture method applicable to a complex environment, in order to solve the problem that the conventional puncture device cannot be adapted to the complex puncture environment.
A lancing device, comprising:
the fixing mechanism is detachably arranged on the ultrasonic probe;
the adjusting mechanism is fixedly arranged on the fixing mechanism;
the puncture mechanism is arranged on the adjusting mechanism and can move along the adjusting mechanism so as to adjust the position of the puncture mechanism; and
and the control part is arranged in the puncture mechanism, is electrically connected with the puncture mechanism and is also electrically connected with the adjusting mechanism.
In one embodiment, the control component is in transmission connection with an ultrasound host of the ultrasound device, and the control component can acquire obstacle information of a puncture path of the puncture needle, so as to control the adjusting mechanism to adjust the angle of the puncture needle and control the puncture mechanism to perform a puncture operation.
In one embodiment, the fixing mechanism comprises a first clamping plate and a second clamping plate which is matched with the first clamping plate, and the pair of the first clamping plate and the second clamping plate and the rear portion of the first clamping plate and the second clamping plate enclose a clamping space for clamping and installing the ultrasonic probe.
In one embodiment, the fixing mechanism further comprises a tightness adjusting part, and at least one end of the first clamping plate and at least one end of the second clamping plate are connected through the tightness adjusting part and used for adjusting the tightness of the first clamping plate and the tightness of the second clamping plate.
In one embodiment, the adjusting mechanism comprises a connecting part and an adjusting component, one end of the connecting part is connected with the fixing mechanism, the other end of the connecting part is connected with the adjusting component, and the adjusting component is used for installing the puncturing mechanism so that the puncturing mechanism slides along the adjusting component.
In one embodiment, the adjustment assembly includes a guide and a slider engaged with the guide, the slider being disposed on the puncturing mechanism, and the puncturing mechanism being slid along the guide by the slider.
In one embodiment, the guide member is provided in an arc shape.
In one embodiment, the guide member is a guide chute, the guide chute comprises a first chute and a second chute communicated with the first chute, and the sectional area of the first chute is larger than that of the second chute;
the sliding piece comprises a sliding block and a connecting shaft for connecting the sliding block and the puncture mechanism, the sliding block is movably arranged in the first sliding groove, and the connecting shaft is movably arranged in the second sliding groove.
In one embodiment, the connecting shaft is rotatably mounted to the puncture mechanism, the inner wall of the second sliding groove has a first tooth portion, and the outer wall of the connecting shaft has a second tooth portion engaged with the first tooth portion.
In one embodiment, the adjusting mechanism further comprises an adjusting power source, the adjusting power source is arranged in the puncturing mechanism, and the adjusting power source is connected with the connecting shaft and used for driving the connecting shaft to rotate.
In one embodiment, the puncture mechanism comprises a puncture cylinder and a puncture assembly arranged in the puncture cylinder, the puncture cylinder is provided with a needle hole which is arranged in a penetrating manner along the axial direction, a puncture needle passes through the needle hole and exposes the needle head of the puncture needle, and the puncture assembly is connected with the puncture needle in the puncture cylinder so as to control the puncture needle to perform needle inserting or needle withdrawing operation.
In one embodiment, the puncture cylinder comprises a first cylinder body, a second cylinder body and a third cylinder body which are connected in sequence, the first cylinder body and the second cylinder body are in a trapezoidal body shape, the third cylinder body is in a partial spherical shape, and the puncture cylinder can rotate around the third cylinder body.
In one embodiment, the puncture assembly comprises a puncture power source and a transmission set, the puncture power source is connected with the transmission set and drives the transmission set to rotate, the transmission set is used for clamping the puncture needle, and the transmission set can drive the puncture needle to perform needle inserting or needle withdrawing operation when rotating.
In one embodiment, the transmission set comprises a first roller and a second roller, the first roller and the second roller are respectively connected with the puncture power source, the rotation directions of the first roller and the second roller are opposite, the first roller and the second roller can clamp the puncture needle, and the first roller and the second roller can drive the puncture needle to perform needle insertion or needle withdrawal operation when rotating.
In one embodiment, the puncture assembly further comprises a clip connecting the first roller and the second roller for bringing the first roller and the second roller closer to each other to clamp the puncture needle.
A puncture method applied to the puncture device according to any one of the above technical features; the puncturing method comprises the following steps:
mounting a puncture mechanism on an ultrasonic probe through an adjusting mechanism and a fixing mechanism, and determining the initial position of the puncture mechanism;
determining the position of the focus and feeding back to the puncture mechanism;
calculating a puncture path according to the focus position;
controlling the puncture mechanism to drive a puncture needle to automatically puncture according to the puncture path;
after puncture, the puncture mechanism drives the puncture needle to execute needle withdrawing operation according to the puncture path.
In one embodiment, the step of controlling the puncture mechanism to drive a puncture needle to automatically puncture according to the puncture path comprises the following steps:
confirming whether an obstacle exists at the puncture path;
if the puncture path is not obstructed, controlling the puncture mechanism to drive a puncture needle to execute puncture operation along the puncture path;
if the puncture path meets an obstacle, an obstacle avoidance path is set, the angle of the puncture mechanism is adjusted, after the puncture needle is controlled to move to a target position along the obstacle avoidance path, the angle of the puncture mechanism is controlled to be adjusted by the adjusting mechanism, the puncture mechanism is made to recover to the puncture path, and the puncture needle is controlled to move to the focus position along the puncture path.
An ultrasonic device comprises an ultrasonic host, an ultrasonic probe connected with the ultrasonic host and a puncture device according to any one of the technical characteristics;
the ultrasonic host is in transmission connection with the puncture device, the puncture device is arranged on the ultrasonic probe, the puncture needle is arranged in the puncture device, and the puncture device controls the puncture needle to perform needle inserting or needle withdrawing operation;
and the ultrasonic host calculates the puncture path of the puncture needle, or the puncture device calculates the puncture path of the puncture needle.
After the technical scheme is adopted, the invention at least has the following technical effects:
the invention relates to an ultrasonic device, a puncture device and a puncture method.A fixing mechanism is clamped at the end part of an ultrasonic probe, an adjusting mechanism is arranged on the fixing device, a puncture mechanism is arranged on the adjusting mechanism and can move along the adjusting mechanism, and after the puncture mechanism is provided with a puncture needle, the puncture mechanism drives the puncture needle to execute needle inserting or needle withdrawing operation; moreover, the control component is arranged in the puncture mechanism, the control component can adjust the angle of the puncture mechanism by the adjusting mechanism and control the puncture mechanism to execute the puncture operation, the problem that the existing puncture device cannot adapt to a complex puncture environment is effectively solved, the puncture needle can avoid obstacles, the lesion position can be accurately punctured, the damage to a patient is avoided, and the application range is wide. Meanwhile, the puncture mechanism can drive the puncture needle to automatically perform puncture operation, and medical personnel only need to confirm the position of a focus, so that the puncture flow is simplified, the puncture efficiency is improved, and the burden of doctors and patients is reduced.
Drawings
FIG. 1 is a schematic view of a lancing device mounted to an ultrasonic probe in accordance with one embodiment of the present invention;
FIG. 2 is a schematic view of an adjustment mechanism in the lancing device shown in FIG. 1;
FIG. 3 is a schematic external view of the lancing mechanism in the lancing device shown in FIG. 1;
FIG. 4 is an internal schematic view of a lancing mechanism in the lancing device shown in FIG. 1;
FIG. 5 is an enlarged view of the connection shaft of the puncturing device shown in FIG. 1, illustrating the engagement of the second groove;
FIG. 6 is a schematic view of the engagement of the clamping piece with the first roller and the second roller in the lancing mechanism of FIG. 4;
FIG. 7 is a schematic view of the first roller and the second roller shown in FIG. 6 driving the puncture needle to descend;
FIG. 8 is a control flow chart of the puncture device shown in FIG. 1;
FIG. 9 is a schematic view of a puncture path;
fig. 10 is a schematic view showing an obstacle in a puncture path.
Wherein: 100. a puncture device; 110. a fixing mechanism; 111. a first splint; 112. a slack adjuster; 120. an adjustment mechanism; 121. a connecting member; 122. an adjustment assembly; 1221. a guide member; 12211. a first chute; 12212. a second chute; 122121, a first tooth; 1222. a slider; 12221. a connecting shaft; 122211, a second tooth; 12222. a slider; 1223. mounting the main body; 123. adjusting a power source; 130. a puncture mechanism; 131. a puncture cylinder; 1311. a pinhole; 1312. a first barrel; 1313. a second barrel; 1314. a third barrel body; 132. a puncture assembly; 1321. a puncture power source; 1322. a transmission set; 13221. a first roller; 13222. a second roller; 1323. a clip; 1324. a control component; 1325. a power supply; 200. an ultrasonic probe; 300. a puncture needle.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, 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 at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Referring to fig. 1-4, the present invention provides a lancing device 100. The puncture device 100 is applied to an ultrasonic device, and real-time diagnosis and treatment can be realized by guiding the puncture device 100 to perform puncture operation through the ultrasonic device. It is understood that the puncturing device 100 can be applied to other imaging apparatuses to realize real-time imaging guided puncturing. The present invention will be described by way of example only with respect to the application of the puncture device 100 to an ultrasonic apparatus.
The existing puncture device can realize automatic puncture according to the focus position and the initial position of the puncture needle, so that the puncture effect is ensured, but the existing puncture device cannot realize automatic obstacle avoidance and influences use. Therefore, the invention provides a novel puncture device 100, the puncture device 100 can avoid obstacles, can be suitable for diagnosis scenes with different complexity, simplifies the puncture operation process and improves the puncture efficiency. The specific structure of the puncture device 100 will be described in detail below.
Referring to fig. 1-4, in one embodiment, lancing device 100 includes a securing mechanism 110, an adjustment mechanism 120, and a lancing mechanism 130. The fixing mechanism 110 is detachably mounted to the ultrasonic probe 200. The adjusting mechanism 120 is fixedly mounted to the fixing mechanism 110. The puncture mechanism 130 is arranged on the adjusting mechanism 120 and can move along the adjusting mechanism 120 to adjust the position of the puncture mechanism 130; the puncture mechanism 130 is used to hold the puncture needle 300 and perform a needle insertion or needle withdrawal operation.
The fixing mechanism 110 is a mounting body 1223 of the puncture device 100 for fixing the puncture device 100 to the ultrasonic probe 200. Meanwhile, the fixing mechanism 110 can also realize that the puncture device 100 is reliably fixed on the ultrasonic probe 200, and the position of the puncture device 100 on the ultrasonic probe 200 is prevented from moving, so that the puncture device 100 is fixed in position, and the later-stage puncture operation is facilitated.
Optionally, the securing mechanism 110 is removably connected to the ultrasound probe 200. The fixing mechanism 110 may be directly attached to the outer wall of the ultrasound probe 200 when used, and the fixing mechanism 110 may be detached from the ultrasound probe 200 after use. When the ultrasonic probe 200 does not perform the puncture operation, the fixing device is detached from the ultrasonic probe 200 without affecting the usability of the ultrasonic probe 200. Furthermore, the fixing mechanism 110 can be fixed to the outer wall of any type of ultrasonic probe 200 for convenience in use.
One end of the adjusting mechanism 120 is connected to the fixing mechanism 110, and the other end of the adjusting mechanism 120 is provided with the puncturing mechanism 130. The adjusting mechanism 120 is an adjusting body of the ultrasonic probe 200, and after the puncturing mechanism 130 is installed on the adjusting mechanism 120, the puncturing mechanism 130 can move along the adjusting mechanism 120 to adjust the angle of the puncturing mechanism 130, so that the puncturing mechanism 130 avoids obstacles, and the puncturing mechanism 130 can drive the puncturing needle 300 to align to the focus position.
The puncture mechanism 130 is a puncture main body of the puncture device 100, and is configured to drive the needle insertion and needle withdrawal operations of the puncture needle 300. The puncture needle 300 is installed in the puncture mechanism 130, and during puncture, the puncture mechanism 130 drives the puncture needle 300 to move, so that the puncture needle 300 can be punctured into the focus position of a patient according to a preset puncture path, and the purpose of puncture examination and treatment is achieved. After the puncture is completed, the puncture mechanism 130 can drive the puncture needle 300 to exit along the puncture path.
After the puncture operation is completed, the puncture needle 300 is detached from the puncture mechanism 130, the puncture mechanism 130 is detached from the adjustment mechanism 120, and the puncture mechanism 130 is sterilized and cleaned. The puncture mechanism 130 can then be fitted with a new puncture needle 300 to facilitate the next puncture procedure.
When the puncture device 100 of the present invention is used to perform a puncture operation, the fixing mechanism 110 is fixed to the ultrasonic probe 200, and the adjustment mechanism 120 is fixedly attached to the fixing mechanism 110. The puncture needle 300 is then installed in the puncture mechanism 130 such that the end of the puncture needle 300 is exposed out of the puncture mechanism 130, and the puncture mechanism 130 is installed in the adjustment mechanism 120, and the angle of the puncture mechanism 130 at the adjustment mechanism 120 is adjusted such that the puncture mechanism 130 is disposed along the puncture path and aligned with the lesion site of the patient. In the puncture operation, the puncture mechanism 130 controls the puncture needle 300 to extend to perform a needle inserting operation, and the puncture needle 300 moves along a puncture path to puncture a lesion site of a patient. After the puncturing operation is completed, the puncturing mechanism 130 controls the puncturing needle 300 to exit the patient along the puncturing path. The puncturing operation is completed.
The puncturing device 100 of the above embodiment moves along the adjusting mechanism 120 through the puncturing mechanism 130, so as to effectively solve the problem that the existing puncturing device cannot adapt to a complex puncturing environment, so that the puncturing needle 300 can avoid obstacles, and can accurately puncture a focus position, thereby avoiding damage to a patient, and having a wide application range. Meanwhile, the puncture mechanism 130 can drive the puncture needle 300 to automatically perform puncture operation, and medical staff only need to confirm the focus position, so that the puncture flow is simplified, the puncture efficiency is improved, and the burden of doctors and patients is reduced.
It should be noted that, after the puncture device 100 is mounted on the ultrasound probe 200 through the fixing mechanism 110, the positions of the fixing mechanism 110 and the puncture mechanism 130 need to be properly adjusted, so that the top of the puncture mechanism 130 and the central vertex of the ultrasound probe 200 are at the same horizontal position, which is convenient for determining the starting position of the puncture needle 300 in the later period, and further, planning the puncture path of the puncture needle 300 is convenient, and ensuring that the puncture needle 300 can accurately move to the lesion site.
It is understood that the specific structure of the fixing mechanism 110 is not limited in principle as long as the fixing of the puncture device 100 to the ultrasonic probe 200 can be achieved. Alternatively, the fixing mechanism 110 may be mounted on the ultrasonic probe 200 by a clamping manner, a snap-fitting manner, a flange-connecting manner, an interference-fitting manner, or the like.
Referring to fig. 1 and 2, in an embodiment, the fixing mechanism 110 includes a first clamping plate 111 and a second clamping plate opposite to the first clamping plate 111, and the first clamping plate 111 and the second clamping plate are paired and surrounded to form a clamping space for clamping and installing the ultrasonic probe 200. The middle parts of the first clamping plate 111 and the second clamping plate are cavities, the cavities of the first clamping plate 111 and the second clamping plate are combined to form a clamping space, and the ultrasonic probe 200 can be at least partially located in the clamping space.
Moreover, the edges of the first clamping plate 111 and the second clamping plate are provided with fixing edges, and after the first connecting plate and the second connecting plate are closed, the fixing edges of the first connecting plate and the second connecting plate are connected, so that the ultrasonic probe 200 can be reliably clamped by the first clamping plate 111 and the second clamping plate.
In other embodiments of the present invention, the fixing mechanism 110 may also be clamped to the ultrasound probe 200 by clamping jaws. Of course, the ultrasonic probe 200 may be provided with a snap component, and the fixing mechanism 110 includes a fixing plate and a matching component matching with the snap component, so as to fix the fixing mechanism 110 on the ultrasonic probe 200.
Optionally, the fixing mechanism 110 is detachably connected to the adjusting mechanism 120. This allows different fastening structures to be provided for different types of ultrasound probes 200, so that the puncturing device 100 can be adapted to different types of ultrasound probes 200.
In an embodiment, the fixing mechanism 110 further includes a tightness adjusting member 112, and at least one end of the first clamping plate 111 and the second clamping plate is connected by the tightness adjusting member 112 for adjusting tightness of the first clamping plate 111 and the second clamping plate. The fixed limit of first splint 111 and second splint is connected to elasticity adjusting part 112, adjusts the distance between the fixed plate of first splint 111 and the fixed limit of second splint through the screwing up or the unscrewing of elasticity adjusting part 112, adjusts the elasticity of first splint 111 and second splint centre gripping ultrasonic probe 200, guarantees that fixed establishment 110 reliably fixes on ultrasonic probe 200.
Optionally, after the first clamping plate 111 and the second clamping plate clamp the ultrasound probe 200, a certain distance exists between the fixed edge of the first clamping plate 111 and the fixed edge of the second clamping plate. That is, the cavities of the first clamping plate 111 and the second clamping plate can only contact part of the surface of the ultrasonic probe 200, and accommodate part of the ultrasonic probe 200. Like this, first splint 111 and second splint cooperation back can be applicable to the ultrasonic probe 200 of different size models to realize first splint 111 and the elasticity regulation of second splint centre gripping ultrasonic probe 200 through elasticity adjusting part 112, guarantee that first splint 111 and second splint centre gripping are reliable.
Alternatively, the slack adjuster 112 is a hand screw or other device that facilitates loosening and tightening.
Optionally, the first splint 111 and the second splint are made of a ductile hard material. Therefore, the fixing mechanism 110 can be reliably connected with the adjusting mechanism 120, the position of the puncturing mechanism 130 is ensured to be accurate, and the position is prevented from shifting. Meanwhile, the first clamping plate 111 and the second clamping plate can be tightly attached to the ultrasonic probe 200, and the fixing mechanism 110 can be reliably fixed on the ultrasonic probe 200.
Illustratively, one end of the first clamping plate 111 is connected with one end of the second clamping plate through a tightness adjusting member 112, and the other end of the first clamping plate 111 is rotatably connected with the other end of the second clamping plate. In other embodiments of the present invention, the other ends of the first clamping plate 111 and the second clamping plate may also pass through the slack adjuster 112, and of course, the other ends of the first clamping plate 111 and the second clamping plate may also be directly and fixedly connected through a connecting plate, that is, the first clamping plate 111 and the second clamping plate are an integral structure.
Referring to fig. 1 and 2, in one embodiment, the adjustment mechanism 120 includes a connecting member 121 and an adjustment assembly 122, one end of the connecting member 121 is connected to the fixing mechanism 110, the other end of the connecting member 121 is connected to the adjustment assembly 122, and the adjustment assembly 122 is used for installing the puncturing mechanism 130 such that the puncturing mechanism 130 slides along the adjustment assembly 122.
The connecting member 121 serves as a connecting member for connecting the adjusting assembly 122 such that a certain space exists between the adjusting assembly 122 and the fixing mechanism 110. It is understood that the shape of the connecting member 121 is not limited in principle as long as it can support the adjusting assembly 122. Illustratively, the connection member 121 is a connection plate. Alternatively, the connecting member 121 is fixed to the end of the adjusting mechanism 120 by a screw or the like.
The adjustment assembly 122 is used to effect adjustment of the angle of the lancing mechanism 130. After the adjusting assembly 122 is connected to the puncturing mechanism 130, the puncturing mechanism 130 can move along the adjusting mechanism 120 to adjust the angle of the puncturing mechanism 130, and further adjust the puncturing path of the puncturing needle 300, so that the puncturing needle 300 can avoid obstacles in the body of the patient, and the patient is prevented from being damaged.
Optionally, the connecting member 121 and the adjusting assembly 122 are integrally formed. Of course, in other embodiments of the present invention, the connecting part 121 and the adjusting assembly 122 may also be fixedly connected by welding, snap-fit connection, or screw connection.
In one embodiment, the adjustment assembly 122 further includes a mounting body 1223, and the guide member 1221 is disposed on the mounting body 1223. One end of the mounting body 1223 is connected to the connection member 121, and the other end of the mounting body 1223 is suspended. The guide 1221, slider 1222, and piercing mechanism 130 are carried by the mounting body 1223.
In one embodiment, the adjustment assembly 122 includes a guide 1221 and a slider 1222 coupled to the guide 1221, the slider 1222 is disposed on the puncturing mechanism 130, and the puncturing mechanism 130 slides along the guide 1221 via the slider 1222. The guide 1221 serves as a guide for guiding the slide 1222 to slide along the guide 1221. Slider 1222 is connected to piercing mechanism 130, and slider 1222 is also engaged with guide 1221. The puncture mechanism 130 can slide along the guide 1221 via the slider 1222 to adjust the angle of the puncture mechanism 130, so as to adjust the puncture path of the puncture needle 300, so that the puncture needle 300 can avoid obstacles in the body of the patient, and avoid damage to the patient.
In one embodiment, the guide 1221 is arcuate in shape. That is, the puncture mechanism 130 can move in an arc along the guide 1221, and the angle of the puncture mechanism 130 can be adjusted, so that the puncture needle 300 can avoid an obstacle. Of course, in other embodiments of the present invention, the guiding element 1221 may be other structures capable of rotating the puncturing mechanism 130 around a fixed point. Alternatively, the extending direction of the guide 1221 is the same as the extending direction of the mounting body 1223. That is, the mounting body 1223 is also arc-shaped.
In one embodiment, the guide 1221 is a guide runner. The guiding member 1221 is a guiding sliding slot opened in the mounting body 1223, and the sliding member 1222 is movably mounted in the guiding member 1221 and can move along the guiding member 1221 to adjust the angle of the puncturing mechanism 130.
Referring to fig. 1 and 2, further, the guide chute includes a first chute 12211 and a second chute 12212 communicating with the first chute 12211, and a sectional area of the first chute 12211 is larger than a sectional area of the second chute 12212. Also, the first chute 12211 is located at the bottom of the second chute 12212. The slider 1222 includes a slider 12222 and a connecting shaft 12221 connecting the slider 12222 and the puncturing mechanism 130, the slider 12222 is movably disposed in the first sliding slot 12211, and the connecting shaft 12221 is movably disposed in the second sliding slot 12212.
That is, the guide runner is provided in a T-shape in cross section. The slider 1222 has a cross-sectional shape that conforms to the cross-sectional shape of the guide runner. The slider 12222 is installed in the first spout 12211, and the connecting axle 12221 is installed in the second spout 12212, carries out spacing to slider 12222 through the step between first spout 12211 and the second spout 12212, avoids slider 12222 to break away from first spout 12211, guarantees that slider 12222 can lean on and move in first spout 12211.
Of course, in other embodiments of the present invention, the guiding element 1221 and the sliding element 1222 may also be a sliding track and a sliding block, or a sliding track and a sliding slot provided in the puncturing mechanism 130.
Referring to fig. 1, 2, 3 and 5, in an embodiment, the connecting shaft 12221 is rotatably mounted to the puncturing mechanism 130, an inner wall of the second sliding slot 12212 has a first tooth portion 122121, and an outer wall of the connecting shaft 12221 has a second tooth portion 122211 engaged with the first tooth portion 122121. That is, a gear-rack engagement structure is formed between the connecting shaft 12221 and the guide 1221, the connecting shaft 12221 corresponds to a gear, and the second sliding groove 12212 of the guide 1221 corresponds to a rack.
The puncturing mechanism 130 is provided with a through hole for the connecting shaft 12221 to extend out, and the puncturing mechanism 130 cannot be driven to rotate when the connecting shaft 12221 rotates. Meanwhile, when the connecting shaft 12221 rotates, the connecting shaft 12221 can be driven to move in the second sliding slot 12212 by the meshing action of the first tooth portion 122121 and the second tooth portion 122211, so that the angle of the puncturing mechanism 130 can be adjusted. After the puncture mechanism 130 is adjusted to a desired position, the connecting shaft 12221 stops rotating, and at this time, the engagement between the first tooth portion 122121 and the second tooth portion 122211 can lock the position of the connecting shaft 12221, so as to prevent the position of the connecting shaft 12221 from shifting, further realize the position locking of the puncture mechanism 130, and ensure that the puncture mechanism 130 aligns with the lesion position of the patient.
When the connecting shaft 12221 rotates, the connecting shaft 12221 drives the sliding block 12222 to rotate, and when the connecting shaft 12221 moves along the second sliding slot 12212 through the first tooth portion 122121 and the second tooth portion 122211, the sliding block 12222 can move along the first sliding slot 12211 while rotating. Optionally, the slider 12222 is circular in cross-section. Therefore, the interference between the sliding block 12222 and the first sliding groove 12211 can be avoided, the sliding block 12222 can move stably, and the stable angle adjustment of the puncture mechanism 130 can be further ensured.
In one embodiment, at least one side of the inner wall of the second sliding slot 12212 has a first tooth 122121. Alternatively, one side inner wall of the second sliding slot 12212 has a first size. Of course, in other embodiments of the present invention, the second sliding grooves 12212 have the first teeth 122121 on both inner walls, so that the connecting shaft 12221 can be rotated smoothly.
Referring to fig. 1 and 4, in an embodiment, the adjusting mechanism 120 further includes an adjusting power source 123, the adjusting power source 123 is disposed in the puncturing mechanism 130, and the adjusting power source 123 is connected to the connecting shaft 12221 for driving the connecting shaft 12221 to rotate. The output end of the adjusting power source 123 is connected with the connecting shaft 12221, and the adjusting power source 123 can drive the connecting shaft 12221 to rotate when rotating, so that the angle of the puncture mechanism 130 can be adjusted. Alternatively, the adjustment power source 123 is a micro motor. Of course, in other embodiments of the present invention, the adjustment power source 123 may also be other miniature power components capable of outputting power.
Referring to fig. 1, 3 and 4, in an embodiment, the puncture mechanism 130 includes a puncture cylinder 131 and a puncture assembly 132 disposed in the puncture cylinder 131, the puncture cylinder 131 has a needle hole 1311 disposed therethrough in an axial direction, the needle hole 1311 is used for the puncture needle 300 to pass through and expose a needle head of the puncture needle 300, and the puncture assembly 132 is connected to the puncture needle 300 in the puncture cylinder 131 to control the puncture needle 300 to perform a needle inserting or withdrawing operation.
The puncture cartridge 131 is a housing of the puncture mechanism 130, and is used for mounting various components of the puncture mechanism 130. And, the slider 1222 of the adjusting mechanism 120 is installed on the outer wall of the puncture barrel 131, the adjusting power source 123 is installed in the puncture barrel 131, the puncture barrel 131 has a through hole, one end of the connecting shaft 12221 is rotatably installed in the through hole and extends into the puncture barrel 131 to connect the adjusting power source 123, and the other end of the connecting shaft 12221 is connected to the slider 12222.
The needle hole 1311 is provided through the puncture cylinder 131, the puncture needle 300 may be mounted in the puncture cylinder 131, and the puncture needle 300 may be exposed from the distal end of the puncture cylinder 131. After the puncture is completed, the puncture needle 300 can be removed from the needle hole 1311, and the puncture mechanism 130 can be sterilized and cleaned, and then the next puncture needle 300 can be mounted. It is to be understood that the tip of the puncture cartridge 131 refers to the end of the puncture cartridge 131 near the patient. The lancing assembly 132 is the main structure of the lancing mechanism 130 that performs the lancing operation. The puncture assembly 132 is disposed inside the puncture barrel 131, and the puncture assembly 132 can contact the puncture needle 300 and drive the puncture needle 300 to move, so that the puncture needle 300 performs a needle inserting or needle withdrawing operation.
It will be appreciated that the shape of the puncture cartridge 131 is in principle not limited as long as it can carry the components of the puncture mechanism 130. In one embodiment, piercing cartridge 131 comprises first barrel 1312, second barrel 1313 and third barrel 1314 connected in series, first barrel 1312 and second barrel 1313 are trapezoidal, third barrel 1314 is partially spherical, and piercing cartridge 131 is capable of rotating about third barrel 1314.
One end of second barrel 1313 is connected to first barrel 1312, and the other end of second barrel 1313 is connected to third barrel 1314, and third barrel 1314 is the top of puncture mechanism 130, and can contact with the body surface of the patient. When the angle of the puncture mechanism 130 is adjusted, the puncture cylinder 131 is abutted to the body surface of the patient through the third cylinder body 1314, and when the connecting shaft 12221 drives the puncture mechanism 130 to rotate along the guide 1221, the puncture cylinder 131 can rotate relative to the body surface by taking the third cylinder body 1314 as a rotating vertex, so as to adjust the angle of the puncture cylinder 131.
First barrel 1312 and second barrel 1313 are each a trapezoidal body, and the cross-sectional areas of first barrel 1312 and second barrel 1313 gradually decrease from the distal end distant from puncture tube 131 to the distal end close to puncture tube 131. Third barrel 1314 is part-spherical to facilitate rotation of lancing cartridge 131 and reduce rotational resistance.
In one embodiment, the puncturing assembly 132 includes a puncturing power source 1321 and a transmission set 1322, the puncturing power source 1321 is connected to the transmission set 1322 and drives the transmission set 1322 to rotate, the transmission set 1322 is used for holding the puncturing needle 300, and the transmission set 1322 can drive the puncturing needle 300 to perform a needle inserting or needle withdrawing operation when rotating.
The puncture power source 1321 is a driving means for the puncture needle 300 to perform needle insertion and needle withdrawal. The output end of the puncture power source 1321 is connected with the transmission set 1322, the transmission set 1322 can clamp the puncture person, and the needle inserting and withdrawing operations of the puncture needle 300 are realized through the transmission set 1322. Specifically, when the puncturing power source 1321 drives the transmission set 1322 to rotate, the transmission set 1322 can drive the puncturing needle 300 to penetrate into the lesion site of the patient along the puncturing path. After the puncture is completed, the puncture power source 1321 drives the transmission set 1322 to rotate, and the transmission set 1322 can drive the puncture needle 300 to exit from the patient body along the puncture path.
Referring to fig. 3, 4, 6 and 7, in an embodiment, the transmission set 1322 includes a first roller 13221 and a second roller 13222, the first roller 13221 and the second roller 13222 are respectively connected to the puncture power source 1321, and the first roller 13221 and the second roller 13222 rotate in opposite directions, the first roller 13221 and the second roller 13222 can clamp the puncture needle 300, and the first roller 13221 and the second roller 13222 can drive the puncture needle 300 to perform a needle inserting or needle withdrawing operation when rotating.
A gap is formed between the first roller 13221 and the second roller 13222, the gap is used for the puncture needle 300 to pass through, and the outer surface of the first roller 13221 and the outer surface of the second roller 13222 can contact with the outer wall of the puncture needle 300, so that the clamping operation of the puncture needle 300 is realized. Moreover, when the first roller 13221 and the second roller 13222 rotate, the puncture needle 300 is driven to move synchronously, so that the puncture needle 300 performs needle inserting or needle withdrawing operation.
The first roller 13221 and the second roller 13222 are respectively connected to the puncturing power source 1321, and the puncturing power source 1321 drives the first roller 13221 and the second roller 13222 to rotate in opposite directions, so that the first roller 13221 and the second roller 13222 can synchronously drive the puncturing needle 300 to ascend or descend to realize needle inserting or withdrawing operation. Alternatively, the first and second rollers 13221, 13222 may be driven by the same power source, but in other embodiments of the invention, the first and second rollers 13221, 13222 may be driven by two power sources. Optionally, the piercing power source 1321 is a micro-motor; of course, in other embodiments of the present invention, the lancing power source 1321 can also be other micro-driving components capable of outputting power.
The lancing mechanism 130 controls the movement of the lancet 300 through the first roller 13221 and the second roller 13222. When the first and second rollers 13221 and 13222 rotate in different directions at the same speed, the needle insertion and withdrawal operations of the puncture needle 300 can be performed. The needle 300 stops when the first 13221 and second 13222 rollers stop.
Referring to fig. 7, when the puncturing operation is performed, the puncturing power source 1321 drives the first roller 13221 to rotate clockwise, and the second roller 13222 rotates counterclockwise, so that the first roller 13221 and the second roller 13222 drive the puncture needle 300 to descend, so that the puncture needle 300 punctures into the lesion site of the patient along the puncturing path. When the puncture needle 300 is inserted into the focal position, the puncture power source 1321 stops operating, that is, the first roller 13221 and the second roller 13222 stop rotating, and the puncture needle 300 stops. After the puncturing operation is completed, the puncturing power source 1321 drives the first roller 13221 to rotate counterclockwise and the second roller 13222 to rotate clockwise, so that the first roller 13221 and the second roller 13222 drive the puncturing needle 300 to ascend, and the puncturing needle 300 moves out of the patient along the puncturing path, thereby completing the puncturing operation.
Optionally, the piercing cartridge 131 is a removable structure to facilitate cleaning and sterilization of the piercing mechanism 130. The puncture mechanism 130 is sealed except for the first roller 13221 and the second roller 13222, and the puncture needle 300. The first roller 13221, the second roller 13222 and the puncture needle 300 are combined, and the first roller 13221 and the second roller 13222 with different models are selected according to the different diameters of the puncture needle 300, so that after each puncture is finished, only the combination of the first roller 13221, the second roller 13222 and the puncture needle 300 needs to be replaced, and the cleaning and the disinfection in the puncture cylinder 131 are finished simultaneously.
Of course, in other embodiments of the present invention, all or a portion of the components of the puncturing device 100 may be constructed as a disposable device, reducing sterilization and cleaning efforts and avoiding cross-contamination due to inadequate sterilization and cleaning, if technically and economically warranted.
Referring to fig. 3, 4, 6 and 7, in one embodiment, the spike assembly 132 further includes a clip 1323, the clip 1323 connecting the first and second rollers 13221, 13222 for bringing the first and second rollers 13221, 13222 into proximity with each other to grip the spike 300. The clamping piece 1323 can connect the installation shaft positions of the first roller 13221 and the second roller 13222, and the clamping piece 1323 can adjust the distance between the first roller 13221 and the second roller 13222, so that the first roller 13221 and the second roller 13222 can clamp the puncture needle 300, the puncture needle 300 is prevented from falling off, and the accuracy of the puncture process is ensured.
Moreover, after the first roller 13221 and the second roller 13222 clamp the puncture needle 300, the clamping piece 1323 can ensure that the resistance is overcome when the puncture needle 300 is inserted into or withdrawn from the body of a patient, so that the puncture needle 300 cannot be inserted into or withdrawn from a lesion position, and the accuracy of the puncture operation is ensured. Optionally, the clip 1323 is made of a resilient metal material.
In addition, after the clamping piece 1323 adjusts the distance between the first roller 13221 and the second roller 13222, the first roller 13221 and the second roller 13222 can clamp puncture needles 300 of any type, so that the use requirements of different working conditions are met. Optionally, the clip 1323 is in a V-shaped arrangement. Of course, in other embodiments of the present invention, the clip 1323 may also be other components that enable the distance between the first roller 13221 and the second roller 13222 to be adjusted.
It is understood that the positions of the puncture mechanism 130 and the ultrasound probe 200 are not limited in principle, and may be arranged side by side or may be arranged in a staggered manner as long as the ultrasound-guided puncture operation can be realized. In one embodiment, after the fixing mechanism 110 clamps the ultrasonic probe 200 by the first clamping plate 111 and the second clamping plate, the fixing mechanism 110 can enable the puncture cylinder 131 of the puncture mechanism 130 to be arranged side by side with the ultrasonic probe 200. Thus, the operation can be simplified, and the ultrasonic guided puncture is convenient to realize. Of course, in other embodiments of the present invention, the puncture cylinder 131 of the puncture mechanism 130 and the ultrasonic probe 200 may be disposed in a staggered manner.
It is to be understood that the positional relationship of the end of the ultrasonic probe 200 and the puncture needle 300 is not limited in principle as long as the ultrasonic-guided puncture operation can be achieved. In one embodiment, the end of the ultrasound probe 200 is at the same level as the tip of the needle 300. Of course, in other embodiments of the present invention, the ends of the ultrasound probe 200 may be offset.
In one embodiment, the puncturing device 100 further includes a control component 1324, the control component 1324 is disposed in the puncturing barrel 131 of the puncturing mechanism 130, the control component 1324 is electrically connected to the puncturing mechanism 130, the control component 1324 is further electrically connected to the adjusting mechanism 120, and the control component 1324 can acquire whether an obstacle is encountered on the puncturing path of the puncturing needle 300, so as to control the adjusting mechanism 120 to adjust the puncturing angle of the puncturing needle 300 and control the puncturing mechanism 130 to perform the puncturing operation. The control component 1324 is used for being in transmission connection with an ultrasonic host and receiving puncture information, the control component 1324 controls the puncture cylinder 131 to move along the adjusting mechanism 120, and the control component 1324 also controls the puncture needle 300 to move.
Control component 1324 enables automatic control of adjustment mechanism 120 and lancing mechanism 130. The control unit 1324 is electrically connected to the puncture power source 1321, and can automatically control the needle insertion and withdrawal operations of the puncture power source 1321. The control component 1324 can also be electrically connected with the adjusting power source 123 to realize the automatic adjustment of the angle of the puncture needle 300. The control component 1324 can also perform information interaction with the ultrasound host of the ultrasound device, and receive information of the ultrasound main body through the control component 1324 so as to control the piercing power source 1321 and the adjusting power source 123. It will be appreciated that the type of control component 1324 is not limited as long as it meets the functional requirements and minimizes the volume and mass of the piercing cartridge 131.
Optionally, the control component 1324 is a control chip or other component capable of implementing automatic control of the puncturing device 100, such as a PLC controller or the like. Alternatively, the control component 1324 may calculate the puncture path of the puncture needle 300 after receiving the lesion position information fed back by the ultrasound host, and the control component 1324 controls the puncture needle 300 to perform the puncture operation according to the calculated puncture path. This reduces the dependency of the lancing device 100 on the ultrasound host. Of course, in other embodiments of the present invention, the calculation of the puncture path may be performed in the ultrasound host and fed back to the control unit 1324, and the control unit 1324 may control the puncture needle 300 to perform the puncture operation according to the received puncture path.
After the control component 1324 is packaged in the puncture cartridge 131 in the puncture device 100 of the present invention, the whole puncture device 100 is more independent and can be applied to different types of ultrasonic apparatuses. Meanwhile, because the movement of the puncture mechanism 130 is simple, the data volume for information interaction between the ultrasound main body and the puncture mechanism 130 is low, the calculation amount in the control component 1324 is small, the circuit structure in the puncture cylinder 131 is reduced, and the production and control of the puncture mechanism 130 are facilitated.
Optionally, the lancing device 100 further includes a power supply 1325, the power supply 1325 providing power to the circuitry of the lancing device 100. The power supply 1325 has an interface to be connected to an external power supply, and charges the power supply 1325. Of course, the puncture device 100 of the present invention is not limited to the rechargeable type. In other embodiments of the present invention, the power supply 1325 may also be a built-in power supply, such as a button cell, which may improve the sealing of the puncturing device 100.
Referring to fig. 1 to 7, when the puncture device 100 of the present invention is used, the first clamping plate 111 and the second clamping plate clamp the ultrasonic probe 200, the first clamping plate 111 and the second clamping plate are connected by the tightness adjusting member 112, and the tightness of the first clamping plate 111 and the second clamping plate is adjusted, so that the ultrasonic probe 200 is reliably clamped by the first clamping plate 111 and the second clamping plate.
Then, the control component 1324 can control the puncturing power source 1321 to move, and the puncturing power source 1321 drives the puncturing needle 300 to puncture the lesion site of the patient along the puncturing path through the first roller 13221 and the second roller 13222. When the puncture needle 300 moves to the lesion site, the control part 1324 controls the puncture power source 1321 to stop moving. After the puncture is completed, the controller controls the puncture power source 1321 to move, so that the puncture power source 1321 drives the puncture needle 300 to exit the patient along the puncture path through the first roller 13221 and the second roller 13222.
When encountering obstacles in the puncture process, the medical personnel can manually set an obstacle avoidance path. Although the puncture needle 300 cannot move to the lesion position along the obstacle avoidance path, the control component 1324 controls the puncture needle 300 to move to the target position along the obstacle avoidance path, and then the control component 1324 controls the rotation angle of the puncture cylinder 131, so that the puncture needle 300 returns to the puncture path, and the control component 1324 continues to control the puncture needle 300 to move to the lesion position along the puncture path, thereby completing the puncture operation.
When the control unit 1324 adjusts the angle of the puncture cylinder 131, the control unit 1324 drives the adjustment power source 123 to drive the connecting shaft 12221 to slide along the guide 1221 by the engagement of the first tooth portion 122121 and the second tooth portion 122211, thereby rotating the puncture cylinder 131 on the guide 1221. When the puncture cylinder 131 is rotated to the right position, the rotation of the adjustment power source 123 is stopped, and the rotation of the puncture cylinder 131 is restricted by locking the connecting shaft 12221 by the engagement of the first tooth portion 122121 and the second tooth portion 122211.
The puncture device 100 disclosed by the invention controls the movement of the puncture needle 300 in a mechanical mode, compared with the traditional free-hand puncture, the control is more accurate, the movement precision of the puncture needle 300 is higher, and the clinical requirements can be better met; moreover, the automatic puncture scheme is suitable for a simpler puncture scene, and a doctor only needs to determine the position of a focus through ultrasonic detection, so that the traditional puncture process is simplified, the puncture time is reduced, the puncture efficiency is improved, and the burden of a patient and medical staff is reduced; meanwhile, the automatic puncture can also process a slight and complex scene, can realize simple fine adjustment and obstacle avoidance, and saves the time of medical personnel for ultrasonic examination. In addition, the puncture device 100 of the present invention is flexible in use, suitable for various scenes of clinical diagnosis and treatment, and has a wide application range.
Referring to fig. 1 and 8, the present invention further provides a puncturing method applied to the puncturing device 100 of any of the above embodiments; the puncturing method comprises the following steps:
mounting the puncture mechanism 130 on the ultrasonic probe 200 through the fixing mechanism 110, and determining an initial position of the puncture mechanism 130;
determining the lesion position and feeding back to the puncture mechanism 130;
calculating the puncture path according to the focus position;
controlling the puncture mechanism 130 to drive the puncture needle 300 to automatically puncture according to the puncture path;
after the puncture, the puncture mechanism 130 drives the puncture needle 300 to perform the needle withdrawing operation according to the puncture path.
When the puncture device 100 of the present invention is used, the fixing mechanism 110 is fixed to the ultrasonic probe 200, and the adjustment mechanism 120 is fixedly attached to the fixing mechanism 110. The puncture needle 300 is then installed in the puncture mechanism 130 such that the end of the puncture needle 300 is exposed out of the puncture mechanism 130, and the puncture mechanism 130 is installed in the adjustment mechanism 120, and the angle of the puncture mechanism 130 at the adjustment mechanism 120 is adjusted such that the puncture mechanism 130 is disposed along the puncture path and aligned with the lesion site of the patient. In the puncture operation, the puncture mechanism 130 controls the puncture needle 300 to extend to perform a needle inserting operation, and the puncture needle 300 moves along a puncture path to puncture a lesion site of a patient. After the puncturing operation is completed, the puncturing mechanism 130 controls the puncturing needle 300 to exit the patient along the puncturing path. The puncturing operation is completed.
The puncture device 100 is mounted on the ultrasonic probe 200, and the position of the fixing mechanism 110 is appropriately adjusted so that the top of the puncture cylinder 131 and the center vertex of the ultrasonic probe 200 are at the same horizontal position, and the starting position of the vertex of the puncture needle 300 is determined according to the size of the ultrasonic probe 200 and the size of the hardware of the puncture device 100. Moreover, the puncture device 100 and the ultrasonic host are connected through wifi or bluetooth, so that information transmission is realized. The ultrasound host may display the remaining power of the auxiliary device to facilitate monitoring of the power of the puncturing device 100.
When the lesion position is determined, the doctor sets examination items and examination modes, and transmits examination item information to the puncture device 100, and then the doctor starts performing an ultrasonic examination. After the examination by the doctor is completed, the focus is automatically detected by the depth learning to determine the puncture range, or the doctor manually outlines the puncture range on the display result and transmits the position information of the puncture range in the coordinate system having the center vertex of the ultrasonic probe 200 as the origin of coordinates to the control unit 1324 of the puncture apparatus 100. It is to be understood that the present embodiment is described by taking the example in which the control unit 1324 calculates the puncture path.
When the control unit 1324 calculates the puncture path, the control unit 1324 can calculate the puncture path and determine the puncture angle of the puncture needle 300, knowing the apex position and the puncture range of the puncture needle 300. Then, the control unit 1324 of the puncture device 100 transmits the calculated information of the puncture path to the ultrasound host, and waits for confirmation by the doctor.
Referring to fig. 8 and 9, the specific calculation process of the puncture path is as follows:
first, the center of the puncture range is calculated and is marked as T, and the coordinate thereof is (T)x,Ty) When the apex position of the puncture needle 300 is O and the target tissue position is T, the angle θ at which the puncture cylinder 131 needs to be rotated is determined as
Figure BDA0002888979280000191
The puncture speed v is determined by the examination term and the puncture path length OT is
Figure BDA0002888979280000192
The puncture needs to have information such as puncture distance, puncture angle and puncture speed, and puncture distance and puncture angle can be followed the puncture route and obtained, and puncture speed has different gears, can be set by medical personnel by oneself, and specific speed then adjusts according to the tissue density of waiting to puncture, and tissue density information can estimate through inspection item information. When the various information is acquired, the control part 1324 controls the adjustment power source 123 to adjust the angle of the puncture cylinder 131 in accordance with the puncture angle so that the puncture needle 300 is aligned with the lesion site. Then, the control unit 1324 controls the puncture power source 1321 to drive the puncture needle 300 to move along the puncture path by the first roller 13221 and the second roller 13222, so that the puncture needle 300 starts the automatic puncture. After the puncturing operation is completed, the puncturing device 100 performs a needle withdrawing operation in a procedure completely reverse to the previous puncturing procedure.
Referring to fig. 8 and 10, in an embodiment, the controlling the puncturing mechanism 130 to drive the puncturing needle 300 to automatically puncture according to the puncturing path includes the following steps:
confirming whether an obstacle exists at the puncture path;
if the puncture path is not obstructed, controlling the puncture mechanism 130 to drive the puncture needle 300 to perform puncture operation along the puncture path;
if the puncture path meets an obstacle, an obstacle avoidance path is set, the angle of the puncture mechanism 130 is adjusted, after the puncture needle 300 is controlled to move to a target position along the obstacle avoidance path, the angle of the puncture mechanism 130 is controlled to be adjusted by the adjusting mechanism 120, the puncture mechanism 130 is restored to the puncture path, and the puncture needle 300 is controlled to move to the focus position along the puncture path.
When the puncture condition is complex, for example, when the tissue needing to be avoided exists on the puncture path, namely the obstacle needs to be avoided, the obstacle avoidance path can be manually set by a doctor for fine adjustment. Assuming that T is a lesion, O is a vertex of the puncture needle 300, and B is an obstacle on the puncture path, it is necessary to select an obstacle avoidance path avoiding the obstacle tissue in order to puncture in the current situation.
The doctor can manually set the obstacle avoidance path OA, and although the target tissue cannot be reached by puncturing along the obstacle avoidance path OA, the doctor can avoid the obstacle tissue, the puncture needle 300 performs puncturing according to the obstacle avoidance path first, and when the end point of the target position is reached, the control component 1324 controls the puncture cylinder 131 to automatically adjust the angle, performs puncturing according to the original puncture path OT, and continues puncturing to reach the lesion position. The ultrasound host then sends the adjusted protocol to the control component 1324 in preparation for lancing.
It should be noted that the fine adjustment during obstacle avoidance is only suitable for the puncture needle 300 rotating by a small angle, and when the rotation angle is too large, the patient may be injured.
Referring to fig. 8 and 10, the puncture path is specifically calculated as follows:
when the apex position of the puncture needle 300 is O, the lesion position is T, and the end point of the obstacle avoidance path is A, the puncture needle 300 first punctures according to the obstacle avoidance path OA, and the control unit 1324 controls the angle θ of rotation of the puncture cylinder 1311Is composed of
Figure BDA0002888979280000201
A puncture speed v and a puncture path OA having a length of
Figure BDA0002888979280000202
After the OA obstacle avoidance path puncture is finished, the puncture needle 300 is adjusted back to the original puncture path from the apex of the puncture needle 300 to the lesion position, and the angle theta of the puncture cylinder 131 required to rotate2Is composed of
Figure BDA0002888979280000203
The puncture path AT has a length of
Figure BDA0002888979280000211
After the obstacle avoidance path and the puncture path are determined, the control unit 1324 controls the puncture needle 300 to perform the automatic needle insertion operation. The operation of the control component 1324 for controlling the needle insertion and needle withdrawal of the puncture needle 300 has been mentioned above and is not described herein.
Referring to fig. 1, the present invention further provides an ultrasound apparatus, which includes an ultrasound host, an ultrasound probe 200 connected to the ultrasound host, and the puncturing device 100 in any of the above embodiments. The ultrasonic main machine is connected with the puncture device 100 in a transmission way, the puncture device 100 is arranged on the ultrasonic probe 200, the puncture needle 300 is arranged in the puncture device 100, and the puncture device 100 controls the puncture needle 300 to execute needle inserting or needle withdrawing operation. After the ultrasonic equipment adopts the puncture device 100 of the embodiment, the ultrasonic equipment can be suitable for diagnosis scenes with different complexity, the puncture process is simplified, the puncture efficiency is improved, and the burden of patients and medical staff is reduced.
Moreover, the puncture device 100 is independent of the ultrasonic main machine, the puncture device 100 is arranged on the ultrasonic probe 200 during use, and the puncture device 100 is detached from the ultrasonic main machine after use, so that the use performance of the ultrasonic equipment is not affected. In addition, the puncture device 100 only needs to receive corresponding setting information and measurement information from the ultrasound host, is suitable for ultrasound hosts and ultrasound probes 200 with different signals, and has high practicability and wide application range.
In one embodiment, the ultrasound host calculates the puncture path of the puncture needle 300, or alternatively, the puncture device 100 calculates the puncture path of the puncture needle 300. Alternatively, the control component 1324 may calculate the puncture path of the puncture needle 300 after receiving the lesion position information fed back by the ultrasound host, and the control component 1324 controls the puncture needle 300 to perform the puncture operation according to the calculated puncture path. This reduces the dependency of the lancing device 100 on the ultrasound host. Of course, in other embodiments of the present invention, the calculation of the puncture path may be performed in the ultrasound host and fed back to the control unit 1324, and the control unit 1324 may control the puncture needle 300 to perform the puncture operation according to the received puncture path.
Referring to fig. 1, the present invention further provides an ultrasound apparatus, which includes an ultrasound host, an ultrasound probe 200 connected to the ultrasound host, a puncture mechanism 130, an adjustment mechanism 120, a display component, and a control component 1324. The ultrasonic probe 200 is connected with the ultrasonic host through a cable, the ultrasonic host is in transmission connection with the puncture device 100, and the ultrasonic probe 200 of the puncture device 100 is combined together. The puncture mechanism 130 includes a puncture barrel 131 and a puncture needle 300 provided in the puncture barrel 131. The adjusting mechanism 120 is connected with the puncture cylinder 131 of the puncture mechanism 130 or/and the ultrasonic probe 200, and is used for adjusting the position of the puncture needle 300 in the puncture cylinder 131. The control component 1324 is disposed in the puncture tube 131, and the control component 1324 is electrically connected to the puncture mechanism 130, the adjustment mechanism 120, and the ultrasound host, respectively. The display part is electrically connected with the ultrasonic host and is used for displaying the ultrasonic image and the puncture path of the puncture needle 300.
It should be noted that the specific structures of the puncturing mechanism 130, the adjusting mechanism 120 and the control component 1324 have been mentioned above, and are not described herein again. After the puncture mechanism 130, the adjusting mechanism 120, the control component 1324 and the display component are matched with each other, the ultrasonic device can display the ultrasonic image and the puncture path of the puncture needle 300 in real time, and the accuracy of the puncture process is ensured. Moreover, the ultrasonic equipment provided by the invention can be suitable for diagnosis scenes with different complexity, so that the puncture process is simplified, the puncture efficiency is improved, and the burden of patients and medical staff is reduced.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A lancing device, comprising:
the fixing mechanism is detachably arranged on the ultrasonic probe;
the adjusting mechanism is fixedly arranged on the fixing mechanism;
the puncture mechanism is arranged on the adjusting mechanism and can move along the adjusting mechanism so as to adjust the position of the puncture mechanism; and
and the control part is arranged in the puncture mechanism, is electrically connected with the puncture mechanism and is also electrically connected with the adjusting mechanism.
2. The puncture device according to claim 1, wherein the control unit is in transmission connection with an ultrasound host of the ultrasound apparatus, and the control unit is capable of acquiring obstacle information of a puncture path of the puncture needle, controlling the adjustment mechanism to adjust an angle of the puncture needle, and controlling the puncture mechanism to perform a puncture operation.
3. The lancing device of claim 1, wherein the securing mechanism comprises a first clamping plate and a second clamping plate juxtaposed with the first clamping plate, the first clamping plate and the second clamping plate subtend and enclose a clamping space for clamping mounting the ultrasound probe.
4. The lancing device of claim 1, wherein the adjustment mechanism includes a coupling member having one end coupled to the securing mechanism and an opposite end coupled to the adjustment assembly, and an adjustment assembly for mounting the lancing mechanism such that the lancing mechanism slides along the adjustment assembly.
5. The lancing device of claim 4, wherein the adjustment assembly includes a guide and a slider engaged with the guide, the slider being disposed on the lancing mechanism, the lancing mechanism being slid along the guide by the slider.
6. The lancing device of claim 5, wherein the guide is a guide chute comprising a first chute and a second chute in communication with the first chute, the first chute having a cross-sectional area greater than a cross-sectional area of the second chute;
the sliding piece comprises a sliding block and a connecting shaft for connecting the sliding block and the puncture mechanism, the sliding block is movably arranged in the first sliding groove, and the connecting shaft is movably arranged in the second sliding groove.
7. The puncture device according to claim 1, wherein the puncture mechanism comprises a puncture barrel and a puncture assembly arranged in the puncture barrel, the puncture barrel is provided with a needle hole which is arranged in a penetrating manner along an axial direction, the needle hole is used for a puncture needle to penetrate through and expose a needle head of the puncture needle, and the puncture assembly is connected with the puncture needle in the puncture barrel so as to control the puncture needle to perform needle inserting or needle withdrawing operation.
8. A puncture method characterized by being applied to the puncture device according to any one of claims 1 to 7; the puncturing method comprises the following steps:
mounting a puncture mechanism on an ultrasonic probe through an adjusting mechanism and a fixing mechanism, and determining the initial position of the puncture mechanism;
determining the position of the focus and feeding back to the puncture mechanism;
calculating a puncture path according to the focus position;
controlling the puncture mechanism to drive a puncture needle to automatically puncture according to the puncture path;
after puncture, the puncture mechanism drives the puncture needle to execute needle withdrawing operation according to the puncture path.
9. The lancing method according to claim 8, wherein the controlling the lancing mechanism to drive the lancing needle to automatically lance according to the lancing path comprises the steps of:
confirming whether an obstacle exists at the puncture path;
if the puncture path is not obstructed, controlling the puncture mechanism to drive a puncture needle to execute puncture operation along the puncture path;
if the puncture path meets an obstacle, an obstacle avoidance path is set, the angle of the puncture mechanism is adjusted, after the puncture needle is controlled to move to a target position along the obstacle avoidance path, the angle of the puncture mechanism is controlled to be adjusted by the adjusting mechanism, the puncture mechanism is made to recover to the puncture path, and the puncture needle is controlled to move to the focus position along the puncture path.
10. An ultrasonic apparatus, comprising an ultrasonic main unit, an ultrasonic probe connected to the ultrasonic main unit, and the puncture device according to any one of claims 1 to 7;
the ultrasonic host is in transmission connection with the puncture device, the puncture device is arranged on the ultrasonic probe, the puncture needle is arranged in the puncture device, and the puncture device controls the puncture needle to perform needle inserting or needle withdrawing operation;
and the ultrasonic host calculates the puncture path of the puncture needle, or the puncture device calculates the puncture path of the puncture needle.
CN202110022141.3A 2021-01-08 2021-01-08 Ultrasonic device, puncture device and puncture method Pending CN114052782A (en)

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CN202110022141.3A CN114052782A (en) 2021-01-08 2021-01-08 Ultrasonic device, puncture device and puncture method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110022141.3A CN114052782A (en) 2021-01-08 2021-01-08 Ultrasonic device, puncture device and puncture method

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Publication Number Publication Date
CN114052782A true CN114052782A (en) 2022-02-18

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