CN115607199A - Rotary-cut mammary gland biopsy system - Google Patents

Rotary-cut mammary gland biopsy system Download PDF

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Publication number
CN115607199A
CN115607199A CN202211303089.XA CN202211303089A CN115607199A CN 115607199 A CN115607199 A CN 115607199A CN 202211303089 A CN202211303089 A CN 202211303089A CN 115607199 A CN115607199 A CN 115607199A
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CN
China
Prior art keywords
unit
control unit
main control
negative pressure
motor
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Pending
Application number
CN202211303089.XA
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Chinese (zh)
Inventor
何成东
石鸿恺
唐毅
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Jiangsu Bonss Medical Technology Co ltd
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Jiangsu Bonss Medical Technology Co ltd
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Priority to CN202211303089.XA priority Critical patent/CN115607199A/en
Publication of CN115607199A publication Critical patent/CN115607199A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/0233—Pointed or sharp biopsy instruments
    • A61B10/0283—Pointed or sharp biopsy instruments with vacuum aspiration, e.g. caused by retractable plunger or by connected syringe
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/0233—Pointed or sharp biopsy instruments
    • A61B10/0266—Pointed or sharp biopsy instruments means for severing sample
    • A61B10/0275—Pointed or sharp biopsy instruments means for severing sample with sample notch, e.g. on the side of inner stylet
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B17/3205—Excision instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B2010/0208—Biopsy devices with actuators, e.g. with triggered spring mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B2017/320052—Guides for cutting instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B2017/320064—Surgical cutting instruments with tissue or sample retaining means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2072—Reference field transducer attached to an instrument or patient

Abstract

The invention discloses a rotary-cut mammary gland biopsy system, which comprises: the device comprises a main control unit, a display control unit, a motor driving unit, a puncture rotary-cut unit, a start-stop control unit and a vacuum negative pressure unit; the display control unit is in communication connection with the main control unit and used for manually inputting data and displaying the working information of the main control unit. According to the invention, the main control unit drives the motor driving unit to further control the puncture rotary-cut unit to carry out rotary-cut sampling, the puncture rotary-cut unit can be rotated through the motor driving unit under ultrasound, the sampling angle is adjusted, the accurate positioning of a tissue to be sampled is realized, the problem that the tissue to be sampled cannot be accurately positioned through manual adjustment is avoided, and the start-stop control unit realizes intelligent control when the vacuum negative pressure unit sucks and collects diseased tissues.

Description

Rotary-cut mammary gland biopsy system
Technical Field
The invention relates to the technical field of medical instruments, in particular to a rotary-cut breast biopsy system.
Background
The description of the background of the invention pertaining to the related art to which this invention pertains is given for the purpose of illustration and understanding only of the summary of the invention and is not to be construed as an admission that the applicant is explicitly or implicitly admitted to be prior art to the date of filing this application as first filed with this invention.
Breast biopsy is a method for determining a diagnosis by collecting pathological tissues from a living body of a patient by surgical methods such as local excision, clamping, puncture needle aspiration, scratching, and excision, and is called breast biopsy for short. The operation biopsy has the advantages of mature method, sufficient tissue and accurate result, and has the defects of large operation incision of 3-5cm, obvious scar after healing, aesthetic influence, and great loss to patients including psychological influence if the pathological result is a benign disease without operation.
Mainstream mammary gland biopsy rotary-cut equipment in the market at present is applicable to and uses under the supersound, and its theory of operation is as follows: the rotary cutting biopsy device for mammary gland generally comprises a main machine, a handle and a biopsy needle, wherein the biopsy needle is arranged on the handle, under the ultrasonic guidance, the biopsy needle is inserted into the abnormal breast tissue, the main machine generates negative pressure to suck the abnormal breast tissue into a sampling groove, a cutter head in the biopsy needle rotates and advances to cut the tissue in the sampling groove, the negative pressure sucks the cut tissue out of the body, but when the rotary cutting sampling is carried out through the biopsy needle, a doctor needs to manually adjust the angle of the sampling groove on the biopsy needle to cut the focus tissues at different angles and different positions, and the sampling needle is manually controlled and adjusted.
Disclosure of Invention
The invention aims to provide a rotary-cut mammary gland biopsy system, which solves the problem that a biopsy needle of the conventional rotary-cut mammary gland system cannot accurately position tissues to be sampled for rotary cutting.
The technical scheme for solving the technical problems is as follows:
an atherectomy biopsy system comprising: the device comprises a main control unit, a display control unit, a motor driving unit, a puncture rotary-cut unit, a start-stop control unit and a vacuum negative pressure unit;
the display control unit is in communication connection with the main control unit and is used for manually inputting data and displaying the working information of the main control unit;
the motor driving unit is in communication connection with the main control unit and is used for receiving the data information processed by the main control unit and controlling the puncture rotary-cut unit to adjust the sampling angle to carry out rotary-cut sampling;
the puncture rotary-cut unit is connected with the vacuum negative pressure unit and is used for sucking and collecting tissues after rotary-cut sampling of the puncture rotary-cut unit;
the main control unit is respectively in communication connection with the start-stop control unit and the vacuum negative pressure unit, and is used for receiving data of the start-stop control unit, performing data connection and controlling the start and stop of the suction action of the vacuum negative pressure unit.
According to the invention, the main control unit drives the motor driving unit to further control the puncture rotary-cut unit to carry out rotary-cut sampling, the puncture rotary-cut unit can be rotated through the motor driving unit under ultrasound, the sampling angle is adjusted, the accurate positioning of a tissue to be sampled is realized, the problem that the tissue to be sampled cannot be accurately positioned through manual adjustment is avoided, and the start-stop control unit realizes intelligent control when the vacuum negative pressure unit sucks and collects diseased tissues.
Further, the rotary puncture cutting unit comprises a biopsy needle assembly and a driven unit which is matched and connected with the biopsy needle assembly;
the motor driving unit is connected with the driven unit in a matched mode, and the motor driving unit controls the driven unit to rotate according to instructions of the main control unit and adjusts the sampling angle of the biopsy needle assembly.
Furthermore, the biopsy needle assembly comprises a needle head, an outer needle tube connected with the needle head, and an inner needle tube positioned in the outer needle tube, wherein one end of the inner needle tube close to the needle head is provided with a suction port, and the other end of the inner needle tube is connected with the vacuum negative pressure unit.
Furthermore, the motor driving unit comprises a driving motor and a driving handle, the driving motor comprises a motor I, a motor II and a motor III which are arranged in the driving handle, the driving handle is provided with keys for respectively controlling the start and stop of the motor I, the motor II and the motor III, and the keys are in communication connection with the main control unit;
the driven unit comprises a first driven gear, a second driven gear and a third driven gear;
the driven gear I is meshed with a transmission gear of the motor I and is connected with an outer needle tube through the driven gear I to adjust the angle of a sampling port on the needle head;
the driven gear II is meshed with a transmission gear of the motor II, is connected with the inner needle tube through the driven gear II and controls the rotation of the inner needle tube;
the third driven gear is meshed with a transmission gear of the third motor, and is connected with the inner needle tube through the third driven gear and controls the inner needle tube to advance and retreat in the outer needle tube.
The invention sends a control instruction to the main control unit by operating a key on the driving handle, the main control unit controls the motor drive and the motor I, the motor II and the motor III to realize the corresponding functions, the motor I drives the driven gear I to rotate by rotating the motor I so as to drive the outer needle tube to rotate, the rotation of the needle head is realized and the position of a sampling opening on the needle head is adjusted, the rotation of the motor II drives the driven gear II to rotate, so that the driven gear II rotates around the circumferential direction and the swing of the outer needle tube, the rotation of the motor III drives the driven gear III to rotate, the axial linear motion of the inner needle tube along the outer needle tube is realized, the forward and the backward of the inner needle tube are realized, and the operation is more intelligent.
Further, the start-stop control unit comprises a foot switch, an electromagnet drive and an electromagnet which are connected in sequence;
the foot switch is in communication connection with the main control unit and is used for driving the electromagnet to drive and control the electromagnet to work and controlling the circuit of the vacuum negative pressure unit to be opened and closed through the electromagnet.
Further, the vacuum negative pressure unit comprises a relay, a vacuum pump, an electromagnetic valve, a negative pressure suction bottle and a negative pressure sensor;
the negative pressure suction bottle is connected with the inner needle tube through a suction pipeline, and the negative pressure sensor is positioned on the negative pressure suction bottle;
the main control unit is respectively in communication connection with the relay, the electromagnetic valve and the negative pressure sensor and is used for receiving a negative pressure value in the negative pressure suction bottle monitored by the negative pressure sensor and controlling the on-off of the vacuum pump and the electromagnetic valve through controlling the relay.
Furthermore, a control key for controlling the opening and closing of the relay is further arranged on the driving handle, and the control key is in communication connection with the main control unit.
The monitoring unit is in communication connection with the main control unit and is used for detecting signals of the main control unit.
Furthermore, the puncture rotary-cut device also comprises a sensing unit which is in communication connection with the main control unit and used for detecting the insertion positions of the vacuum negative pressure unit and the puncture rotary-cut unit.
Furthermore, a first infrared light absorption black block and two second infrared light absorption black blocks are circumferentially arranged on a rotating shaft of the puncture rotary-cut unit;
the motor driving unit is provided with an infrared sensor;
the infrared sensor is in communication connection with the main control unit and used for identifying the positions of the first infrared light absorption black block and the second infrared light absorption black block and transmitting the positions to the main control unit, and the main control unit controls the motor driving unit to drive the puncture rotary-cut unit to rotate and position.
According to the invention, the positions of the first infrared light absorption black block and the second infrared light absorption black block are identified by the infrared sensor and are transmitted to the main control unit, the main control unit controls the motor driving unit to rotate and position the puncture rotary-cut unit, and finally the optimal sampling position is reached.
Compared with the prior art, the invention has the following beneficial effects:
the rotary-cut breast biopsy system can perform biopsy sampling on breast lesion tissues under ultrasound, the rotary biopsy needle assembly is controlled to advance and retreat and rotate by the motor driving unit to perform rotary-cut on the tissues, the position of the sampling port on the biopsy needle assembly is adjusted by the motor driving unit, the rotary-cut tissues are sampled by controlling the vacuum negative pressure unit, and an operator can realize tissue sampling operation by remotely operating the foot switch and the control key of the driving handle, so that the rotary-cut breast biopsy system is convenient and safe and has wide application.
Drawings
FIG. 1 is a schematic diagram of an overall module control structure of a rotary breast biopsy system;
FIG. 2 is a schematic structural view of a biopsy needle assembly;
fig. 3 is a schematic view of a motor drive unit.
In the figure: 1-biopsy needle assembly, 11-needle head, 12-outer needle tube, 121-big infrared light absorption black block, 122-small infrared light absorption black block, 13-inner needle tube, 2-driven unit, 21-driven gear I, 22-driven gear II, 23-driven gear III, 31-motor I, 32-motor II, 33-motor III and 4-driving handle.
Detailed Description
The technical solutions of the present invention will be described below clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1 and 2, a rotational atherectomy biopsy system of the present invention comprises: the device comprises a main control unit, a display control unit, a motor driving unit, a puncture rotary-cut unit, a start-stop control unit and a vacuum negative pressure unit; the main control unit adopts an MCU main control unit and an embedded control algorithm, is used for transmitting instructions and controlling the operation of the whole equipment, and can adopt the model of a chip as follows: stm32F407IGT6.
The display control unit is in communication connection with the main control unit and is used for manually inputting data and displaying the working information of the main control unit; the display control unit comprises a display and an operation key, the operation key is a touch key on the display, the display is electrically connected with the main control unit through serial port communication RX and serial port communication TX, the operation key is used for manually inputting instructions, and the display is used for displaying working information and data of the main control unit.
The motor driving unit is in communication connection with the main control unit and is used for receiving the data information processed by the main control unit and controlling the puncture rotary-cut unit to adjust the sampling angle to carry out rotary-cut sampling;
the puncture rotary-cut unit is connected with the vacuum negative pressure unit and is used for sucking and collecting the tissues after rotary-cut sampling of the puncture rotary-cut unit;
the main control unit is respectively in communication connection with the start-stop control unit and the vacuum negative pressure unit, and is used for receiving data of the start-stop control unit, performing data connection and controlling the start and stop of the suction action of the vacuum negative pressure unit.
The puncture rotary-cut unit comprises a biopsy needle assembly 1 and a driven unit 2 which is matched and connected with the biopsy needle assembly 1;
as shown in fig. 2 and 3, the motor driving unit is cooperatively connected with the driven unit 2, and the motor driving unit controls the driven unit 2 to rotate and adjust the sampling angle of the biopsy needle assembly 1 according to the instruction of the main control unit.
The biopsy needle assembly 1 comprises a needle 11, an outer needle tube 12 connected with the needle 11, and an inner needle tube 13 positioned in the outer needle tube 12, wherein one end of the inner needle tube 22 close to the needle 1 is provided with a suction port, and the other end of the inner needle tube 22 is connected with a vacuum negative pressure unit.
The motor driving unit comprises a driving motor and a driving handle 4, the driving motor comprises a first motor 31, a second motor 32 and a third motor 33 which are arranged in the driving handle 4, keys for respectively controlling the first motor 31, the second motor 32 and the third motor 33 to start and stop are arranged on the driving handle 4, and the keys are in communication connection with the main control unit; the first motor 31, the second motor 32 and the third motor 33 adopt direct current motors with encoders, and meanwhile adopt motor driving chips with the model number of L298N. The driving voltage signals of the first motor 31, the second motor 32 and the third motor 33 pass through the filter circuit, then pass through the isolation amplifying circuit, and then pass through the voltage regulation, the signals can enter an IO port of ADC sampling on the main control unit, the main control unit reads the voltage signals and judges the identified voltage value, and when the voltage value exceeds the warning value for a certain time, the main control unit stops the work of the first motor 31, the second motor 32 and the third motor 33 and sends a prompt on the display control unit.
The driven unit 2 comprises a first driven gear 21, a second driven gear 22 and a third driven gear 23;
the driven gear I21 is meshed with a transmission gear of the motor I31 and is connected with the outer needle tube 12 through the driven gear I21 to adjust the angle of a sampling port on the needle head 11;
the second driven gear 22 is meshed with a transmission gear of the second motor 32, is connected with the inner needle tube 12 through the second driven gear 22 and controls the rotation of the inner needle tube 12;
the third driven gear 23 is meshed with a transmission gear of the third motor 33, is connected with the inner needle tube 12 through the third driven gear 23 and controls the inner needle tube 12 to move forwards and backwards in the outer needle tube 11.
In the motor driving operation process, the main control unit controls the driving voltage output by the motor driving by controlling the output pwm square wave signal, and meanwhile, the main control unit collects and processes the encoder signals and the motor voltage signals on the first motor 31, the second motor 32 and the third motor 33, and the motor voltage signal processing is used for processing the real-time voltage signal, voltage division, impedance matching and filtering of the direct current motor; the motor current signal processing is used for processing a real-time current signal of the direct current motor, and carrying out proportional amplification, impedance matching and filtering; the motor coding signal processing is used for filtering and level conversion of signals output by the motor coder.
The encoder can output two-phase square wave signals when the motor rotates, the two-phase square wave signals can pass through the filter protection circuit firstly, then pass through primary optical coupling isolation, two groups of 3.3V square waves are obtained and input into an IO port of the main control unit, the main control unit can judge the rotating directions of the first motor 31, the second motor 32 and the third motor 33 by comparing the collected two-phase square wave signals, meanwhile, the rotating speeds and the positions of the first motor 31, the second motor 32 and the third motor 33 can be calculated by counting the two-phase descending edges, the main control unit can correspondingly adjust the PWM square wave signals of the first motor 31, the second motor 32 and the third motor 33 through the calculated data, and therefore closed-loop control is achieved.
The start-stop control unit comprises a foot switch, an electromagnet drive and an electromagnet which are sequentially connected;
the foot switch is in communication connection with the main control unit and used for driving the electromagnet to drive and control the electromagnet to work and controlling the circuit of the vacuum negative pressure unit to be switched on and switched off through the electromagnet. The main control unit controls the electromagnet to drive and control the electromagnet to work, and the electromagnet controls the on-off of a circuit of the vacuum negative pressure unit; therefore, the start and stop of the negative pressure suction action of the rotary mammary gland cutting system during the tissue biopsy are realized.
The vacuum negative pressure unit comprises a relay, a vacuum pump, an electromagnetic valve, a negative pressure suction bottle and a negative pressure sensor; the negative pressure suction bottle is connected with the inner needle tube 22 through a suction pipeline, and the negative pressure sensor is positioned on the negative pressure suction bottle; the vacuum aspiration vial is used to aspirate the tissue sample that has been spun off by the needle cannula 22.
The main control unit is respectively in communication connection with the relay, the electromagnetic valve and the negative pressure sensor, and is used for receiving a negative pressure value in the negative pressure suction bottle monitored by the negative pressure sensor and controlling the opening and closing of the vacuum pump and the electromagnetic valve through controlling the relay; the driving handle 4 is also provided with a control key for controlling the on-off of the relay, and the control key is in communication connection with the main control unit. The opening and closing of the relay can be controlled by driving a control key on the handle 4, so that the purpose of controlling the opening and closing of the vacuum negative pressure unit is achieved.
The negative pressure sensor is responsible for detecting the negative pressure value in the negative pressure suction bottle, and transmits the measured negative pressure value to the main control unit in real time, when the system receives an instruction and starts initialization, the main control unit can open the electromagnetic valve and the vacuum pump through the relay, so that the vacuum pump continuously extracts gas in the negative pressure suction bottle, and the electromagnetic valve and the vacuum pump can be closed through the relay until the main control unit reads that the negative pressure value of the negative pressure sensor is greater than 90 kpa. The negative pressure sensor transmits a monitored negative pressure value in the negative pressure suction bottle to the main control unit, the main control unit performs data processing on the received negative pressure value and judges a negative pressure value result, and when the negative pressure value of the negative pressure sensor is greater than 90kpa, the main control unit drives the vacuum pump and the electromagnetic valve to be closed through the relay; then press the control key and order main control unit to the relay and send out the instruction, main control unit control relay orders solenoid valve and vacuum pump to open, when loosening the control key, and when main control unit read negative pressure value that negative pressure sensor was greater than 90kpa, main control unit ordered solenoid valve and vacuum pump through the relay and closed.
Preferably, the monitoring system further comprises a monitoring unit, wherein the monitoring unit is in communication connection with the main control unit and is used for detecting signals of the main control unit. The main control unit's signal includes electric current, voltage signal, the liquid level signal in annex connection condition and the vacuum aspiration bottle, and electric current, voltage are used for monitoring motor one 31, motor two 32, the running state of motor three 33, and the annex is connected and is used for monitoring the connection status who orders about handle and foot switch, and the liquid level is through setting up level sensor in the vacuum aspiration bottle and gathers liquid level information to on transmitting the main control unit with the liquid level information who gathers, prevent that the vacuum aspiration bottle from interior the liquid of attraction from spilling over.
Preferably, the puncture rotary-cut device further comprises a sensing unit, wherein the sensing unit is in communication connection with the main control unit and is used for detecting the insertion positions of the vacuum negative pressure unit and the puncture rotary-cut unit. The sensing unit adopts a photoelectric sensor, a negative pressure suction bottle in the vacuum negative pressure unit is inserted into the rear end of an inner needle tube 22 of the puncture rotary-cut unit through a vacuum pipeline, the photoelectric sensor is positioned at the connecting position of the vacuum pipeline and the inner needle tube 22, one end of the photoelectric sensor can emit light, the other end of the photoelectric sensor can receive the light, the photoelectric sensor can output a level signal when receiving the light, the level signal can be isolated by a primary optical coupler and converted into a 3.3V level signal to be input into an IO port of the main control unit, when the vacuum pipeline is inserted in place, the light can be blocked, the level signal can disappear at the moment, the IO port of the main control unit can identify a low level signal at the moment, the vacuum pipeline is proved to be inserted in place at the moment, and the condition of leakage when the tissue after the rotary-cut is sucked by using the vacuum negative pressure unit at the later is avoided.
As shown in fig. 2, a first infrared light-absorbing black block 121 and two second infrared light-absorbing black blocks 122 are circumferentially arranged on the rotating shaft of the piercing rotary-cutting unit; specifically, the first infrared absorption black block 121 has a cross-sectional area larger than that of the second infrared absorption black block 122, and both the first infrared absorption black block 121 and the second infrared absorption black block 122 are circumferentially distributed on the rotation shaft of the outer needle tube 12.
The motor driving unit is provided with an infrared sensor; specifically, a groove corresponding to the position of the rotating shaft of the outer needle tube 12 is formed in the driving handle, and the two infrared sensors are positioned on two sides of the groove in the driving handle;
the infrared sensor is in communication connection with the main control unit and is used for identifying the positions of the first infrared light absorption black block 121 and the second infrared light absorption black block 122 and transmitting the positions to the main control unit, and the main control unit controls the motor driving unit to drive the puncture rotary cutting unit to rotate and adjust the position.
When the rotating shaft of the outer needle tube 12 rotates under the driving of the motor driving unit, the first infrared absorption black block 121 and the second infrared absorption black block 122 are sequentially exposed in the groove of the driving handle, a voltage signal output by each infrared sensor is input into two voltage comparison circuits, one of the comparison voltages is 2.7V, the other is 3.3V, then the outputs of the two voltage comparison circuits are input into an IO port of the main control unit, when the infrared sensor identifies the first infrared absorption black block 121, the two comparison circuits both output high levels, and when the second infrared absorption black block 122 is identified, only the circuit with the comparison voltage of 2.7V outputs high levels.
The rotation positioning comprises coarse rotation and fine rotation, the coarse rotation angle is 170-190 degrees, and the fine rotation angle is 0-5 degrees. When two infrared sensor all discerned first infrared absorption black piece 121, can rotate 170 to 190 fixed angle, fixed angle sets up to 180 in this embodiment, can set up according to actual conditions, and the blank in the middle of two infrared absorption black pieces 122 is rotated into the recess, and the main control unit can carry out the rotation of finely tuning left or right through infrared sensor data this moment, and the rotation angle of finely tuning is 0 to 5, and the angle of finely tuning is set up to 2 in this embodiment. For example, when the second infrared absorption black block 122 is detected on the left, the rotation is finely adjusted by 2 ° to the left until the second infrared absorption black block 122 is not detected at the groove, which indicates that the calibration is completed and the optimal sampling position is finally reached.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (10)

1. An atherectomy biopsy system, comprising: the device comprises a main control unit, a display control unit, a motor driving unit, a puncture rotary-cut unit, a start-stop control unit and a vacuum negative pressure unit;
the display control unit is in communication connection with the main control unit and is used for manually inputting data and displaying the working information of the main control unit;
the motor driving unit is in communication connection with the main control unit and is used for receiving the data information processed by the main control unit and controlling the puncture rotary-cut unit to adjust the sampling angle to carry out rotary-cut sampling;
the puncture rotary-cut unit is connected with the vacuum negative pressure unit and is used for sucking and collecting tissues after rotary-cut sampling of the puncture rotary-cut unit;
the main control unit is respectively in communication connection with the start-stop control unit and the vacuum negative pressure unit, and is used for receiving data of the start-stop control unit, performing data connection, and simultaneously controlling the start and stop of the suction action of the vacuum negative pressure unit.
2. The rotational atherectomy biopsy system of claim 1, wherein the rotational atherectomy unit comprises a biopsy needle assembly (1) and a driven unit (2) cooperatively connected with the biopsy needle assembly (1);
the motor driving unit is connected with the driven unit (2) in a matched mode, and the motor driving unit controls the driven unit (2) to rotate and adjusts the sampling angle of the biopsy needle assembly (1) according to the instruction of the main control unit.
3. The rotational atherectomy biopsy system of claim 2, wherein the biopsy needle assembly (1) comprises a needle (11), an outer needle tube (12) connected to the needle (11), and an inner needle tube (13) located inside the outer needle tube (12), wherein a suction port is opened at one end of the inner needle tube (22) close to the needle (1), and the other end of the inner needle tube (22) is connected to the vacuum negative pressure unit.
4. The rotary breast biopsy system according to claim 3, wherein the motor driving unit comprises a driving motor and a driving handle (4), the driving motor comprises a first motor (31), a second motor (32) and a third motor (33) which are arranged in the driving handle (4), a key for respectively controlling the first motor (31), the second motor (32) and the third motor (33) to start and stop is arranged on the driving handle (4), and the key is in communication connection with the main control unit;
the driven unit (2) comprises a first driven gear (21), a second driven gear (22) and a third driven gear (23);
the driven gear I (21) is meshed with a transmission gear of the motor I (31) and is connected with the outer needle tube (12) through the driven gear I (21) to adjust the angle of a sampling port on the needle head (11);
the driven gear II (22) is meshed with a transmission gear of the motor II (32), and is connected with the inner needle tube (12) through the driven gear II (22) and controls the rotation of the inner needle tube (12);
the third driven gear (23) is meshed with a transmission gear of the third motor (33), is connected with the inner needle tube (12) through the third driven gear (23) and controls the inner needle tube (12) to advance and retreat in the outer needle tube (11).
5. The rotational atherectomy biopsy system of claim 1, wherein the start-stop control unit comprises a foot switch, an electromagnet drive and an electromagnet which are connected in sequence;
the foot switch is in communication connection with the main control unit and is used for driving the electromagnet to drive and control the electromagnet to work and controlling the circuit of the vacuum negative pressure unit to be opened and closed through the electromagnet.
6. The rotational atherectomy biopsy system of claim 4, wherein the vacuum negative pressure unit comprises a relay, a vacuum pump, a solenoid valve, a negative suction bottle, and a negative pressure sensor;
the negative pressure suction bottle is connected with the inner needle tube (22) through a suction pipeline, and the negative pressure sensor is positioned on the negative pressure suction bottle;
the main control unit is respectively in communication connection with the relay, the electromagnetic valve and the negative pressure sensor and is used for receiving the negative pressure value in the negative pressure suction bottle monitored by the negative pressure sensor and controlling the vacuum pump and the electromagnetic valve to be opened and closed by controlling the relay.
7. The rotary breast biopsy system according to claim 6, wherein the driving handle (4) is further provided with a control key for controlling the on/off of the relay, and the control key is in communication connection with the main control unit.
8. The rotational atherectomy biopsy system of claim 1, further comprising a monitoring unit in communication with the master control unit for detecting signals from the master control unit.
9. The rotational atherectomy biopsy system of claim 1, further comprising a sensing unit in communication with the main control unit for detecting insertion positions of the vacuum negative pressure unit and the rotational atherectomy unit.
10. The rotational atherectomy biopsy system of any one of claims 1 to 9, wherein the rotating shaft of the rotational atherectomy unit is circumferentially provided with a first infrared absorbing black block (121) and two second infrared absorbing black blocks (122);
the motor driving unit is provided with an infrared sensor;
the infrared sensor is in communication connection with the main control unit and used for identifying the positions of the first infrared light absorption black block (121) and the second infrared light absorption black block (122) and transmitting the positions to the main control unit, and the main control unit controls the motor driving unit to drive the puncture rotary cutting unit to rotate and position.
CN202211303089.XA 2022-10-24 2022-10-24 Rotary-cut mammary gland biopsy system Pending CN115607199A (en)

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Application Number Priority Date Filing Date Title
CN202211303089.XA CN115607199A (en) 2022-10-24 2022-10-24 Rotary-cut mammary gland biopsy system

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Application Number Priority Date Filing Date Title
CN202211303089.XA CN115607199A (en) 2022-10-24 2022-10-24 Rotary-cut mammary gland biopsy system

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CN115607199A true CN115607199A (en) 2023-01-17

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CN202211303089.XA Pending CN115607199A (en) 2022-10-24 2022-10-24 Rotary-cut mammary gland biopsy system

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Citations (7)

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CN104188693A (en) * 2014-07-04 2014-12-10 杭州通达控制系统有限公司 Portable circumferential friction spiral cutting biopsy and operation device controlled by microcomputer
CN105796135A (en) * 2016-03-03 2016-07-27 上海导向医疗系统有限公司 Vacuum-assisted mammary gland sample biopsy and rotary cutting system
CN108852424A (en) * 2018-06-07 2018-11-23 德迈特医学技术（北京）有限公司 A kind of vacuum aided mammary gland biopsy system and its application method
CN210990421U (en) * 2019-06-27 2020-07-14 施爱德（厦门）医疗器材有限公司 Breast rotary cutting puncture needle
CN211270873U (en) * 2019-12-12 2020-08-18 李献亮 Negative pressure suction positive soft tissue rotary cutting sampling needle
CN114343736A (en) * 2022-01-19 2022-04-15 深圳成川医疗有限公司 Vacuum-assisted breast biopsy rotary cutting system
CN114711838A (en) * 2022-04-12 2022-07-08 浙江伽奈维医疗科技有限公司 Rotary-cut mammary gland biopsy equipment and method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104188693A (en) * 2014-07-04 2014-12-10 杭州通达控制系统有限公司 Portable circumferential friction spiral cutting biopsy and operation device controlled by microcomputer
CN105796135A (en) * 2016-03-03 2016-07-27 上海导向医疗系统有限公司 Vacuum-assisted mammary gland sample biopsy and rotary cutting system
CN108852424A (en) * 2018-06-07 2018-11-23 德迈特医学技术（北京）有限公司 A kind of vacuum aided mammary gland biopsy system and its application method
CN210990421U (en) * 2019-06-27 2020-07-14 施爱德（厦门）医疗器材有限公司 Breast rotary cutting puncture needle
CN211270873U (en) * 2019-12-12 2020-08-18 李献亮 Negative pressure suction positive soft tissue rotary cutting sampling needle
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