CN117398171A - High-efficient cryoablation needle and intelligent control low temperature biopsy device - Google Patents

High-efficient cryoablation needle and intelligent control low temperature biopsy device Download PDF

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Publication number
CN117398171A
CN117398171A CN202310065803.4A CN202310065803A CN117398171A CN 117398171 A CN117398171 A CN 117398171A CN 202310065803 A CN202310065803 A CN 202310065803A CN 117398171 A CN117398171 A CN 117398171A
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CN
China
Prior art keywords
valve
needle
biopsy
biopsy device
refrigerant
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Pending
Application number
CN202310065803.4A
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Chinese (zh)
Inventor
李晨光
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Saien Medical Technology Lianyungang Co ltd
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Saien Medical Technology Lianyungang Co ltd
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Priority to CN202310065803.4A priority Critical patent/CN117398171A/en
Publication of CN117398171A publication Critical patent/CN117398171A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/02—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
    • 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
    • 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
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00053—Mechanical features of the instrument of device
    • A61B2018/00214—Expandable means emitting energy, e.g. by elements carried thereon
    • A61B2018/0022—Balloons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00577—Ablation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00696—Controlled or regulated parameters
    • A61B2018/00714—Temperature
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/02—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
    • A61B2018/0212—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques using an instrument inserted into a body lumen, e.g. catheter
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/02—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
    • A61B2018/0231—Characteristics of handpieces or probes
    • A61B2018/0262—Characteristics of handpieces or probes using a circulating cryogenic fluid
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/02—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
    • A61B2018/0293—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques using an instrument interstitially inserted into the body, e.g. needle

Abstract

The utility model relates to a high-efficient cryoablation needle and intelligent control low temperature biopsy device through on the intelligent control low temperature biopsy device that provides, adopts the coil pipe cryoablation needle that this design used to replace its adhesion probe, and the refrigerant can be directly from the inside coil pipe of needle tubing to freeze the terminal freezing bag of coil pipe, can last freezing the syringe needle through timely freezing bag, makes this syringe needle can form low temperature environment immediately for cryoablation, no longer need precooling. The refrigerant is frozen at low temperature through the balloon structure at the tail end of the coil pipe, the surface layer of the balloon structure can quickly refrigerate, basically, the refrigerant enters from the refrigerant inlet pipeline, and exits from the refrigerant outlet pipeline, and the refrigerant is immediately refrigerated and can not exceed 0.05 s. When the intelligent control low-temperature biopsy device is used, the refrigerant of the intelligent control low-temperature biopsy device enters the coil after passing through the valve bank of the intelligent control low-temperature biopsy device, and is refrigerated through the elliptical balloon structure of the coil, so that the intelligent control low-temperature biopsy device can be immediately used for ablation without waiting.

Description

High-efficient cryoablation needle and intelligent control low temperature biopsy device
Technical Field
The application relates to the technical field of intelligent medical instruments, in particular to a high-efficiency cryoablation needle and an intelligent control low-temperature biopsy device.
Background
The cryobiopsy needle may be used as a cryoablation needle in ablation procedures because the surgical stages performed are about the same, both with cryobiopsy and cryoablation, and require post-freezing reprocessing of the targeted cells with a cryogenic probe.
In the existing biopsy technology, a low-temperature biopsy needle mode is adopted to carry out biopsy sampling on focus tissues, so that the technology is popular. In existing cryoablation needles, such as in application number 2022100415555, applicants have provided an intelligent control cryogenic biopsy device in which a biopsy instrument is mounted to a housing by integrating the needle as a single consumable, through a mounting cavity in the housing; the biopsy needle head can be conveniently replaced, when biopsy sampling is required to be carried out on a plurality of focus tissues, the shell, the assembly probe and the cutting sleeve are not required to be disassembled and assembled back and forth, the time is saved for biopsy, and the operation of medical staff is facilitated.
In the above patent, referring to the drawings, the cutting cannula and the high-efficiency cryoablation needle of the biopsy device in the technology can be withdrawn to perform biopsy after being frozen, that is, the high-efficiency cryoablation needle needs to be pre-cooled at low temperature in the biopsy device for a period of time before being used, and the valve group starts to push the high-efficiency cryoablation needle out of the biopsy device part to pierce subcutaneous tissue for biopsy.
And cryoablation does not need to be pre-cooled for too long, and under the condition of proper refrigerant medium selection, the gas path can be directly opened to perform puncture and ablation operations without waiting for pre-cooling. Therefore, if the intelligent control low temperature biopsy device is used for cryoablation, the speed of ablation is affected.
Disclosure of Invention
In view of this, this application provides a high-efficient cryoablation needle and intelligent control low temperature biopsy device, through designing a quick response's low temperature ablation syringe needle, on changing original intelligent control low temperature biopsy device's functional structure in step, directly carries out the refrigerant circulation and cools down the syringe needle, is used for the ablation operation immediately, improves the ablation speed.
The application proposes a high-efficient cryoablation needle, including:
a needle tube;
the coil pipe is arranged in the needle tube;
the tail end of the coil pipe is provided with a freezing bag, and the freezing bag is close to the needle head of the needle tube;
the coil pipe comprises a refrigerant inlet pipeline and a refrigerant outlet pipeline, and the refrigerant is discharged from the refrigerant outlet pipeline after entering from the refrigerant inlet pipeline and passing through the freezing bag; the needle head of the needle tube is frozen by the freezing bag, and then the needle tube can enter cryoablation.
The application also provides an intelligent control low-temperature biopsy device, which comprises a shell, a valve group, a tank and a compressed gas tank, wherein the compressed gas tank is matched in the tank, the tank and the valve group are fixedly arranged on the shell and are connected through an air flow channel, and the valve group comprises a main valve, an advancing valve and a retracting valve; further comprises:
the mounting cavity is arranged on the shell;
a biopsy device which is matched and fixed in the mounting cavity and is internally provided with a matched cutting sleeve and a high-efficiency cryoablation needle;
the valve is arranged on the shell, and the low-temperature compressed gas is guided into the valve group through the valve;
the intelligent robot is arranged on one side of the shell, the shell is held by a mechanical hand, and automatic biopsy sampling is realized under the control of the computer control system.
As an optional embodiment of the present application, optionally, further comprising:
the air inlet end is arranged at the right end of the shell and is communicated with a piston cylinder body of the biopsy instrument through a pipeline to provide aerodynamic force for driving the movement of the cutting sleeve;
an air inlet hole which is arranged on the biopsy instrument and guides the cooling liquid output by the cooling agent supply pipeline system into the high-efficiency cryoablation needle through a pipeline;
the first air inlet pipe is connected between the valve and the air inlet in parallel;
and the second air inlet pipe is connected between the valve and the air inlet end in parallel.
As an optional embodiment of the present application, optionally, further comprising:
the airflow cavity is arranged in the valve group and is communicated with the tank;
the air pipe is connected between the outlet of the airflow cavity and the valve, and when the outlet of the airflow cavity is opened, the cooling gas is guided to the valve;
and the pneumatic system is arranged in the valve group, supplies air through a valve, and guides the low-temperature compressed air to the main valve, the advancing valve, the retracting valve and the high-efficiency cryoablation needle respectively.
As an optional embodiment of the present application, optionally, further comprising a valve opening and closing mechanism, including:
the spring is matched in the airflow cavity;
the thread pair is matched in the valve group at one side of the airflow cavity;
the valve screw rod is limited in the airflow cavity through the spring;
and the motor driving system is fixedly arranged on the shell, and the valve screw is driven by the motor driving system.
As an alternative embodiment of the present application, optionally, the valve screw includes:
the valve block is limited at the right end of the interior of the airflow cavity through the spring, and the outlet of the airflow cavity is closed;
the right end of the transmission screw rod passes through the thread pair in a matching way and extends out of the valve group to be connected with the output end of the motor driving system;
and the motor driving system drives the transmission screw to move so as to push the valve block open or close the outlet of the airflow cavity.
As an optional embodiment of the present application, optionally, further comprising:
the tank body end socket is matched with the top of the tank cylinder and elastically limits the compressed gas tank;
a piercing pin connector disposed within the gas flow passage, a gas outlet of the compressed gas tank being fitted over the piercing pin connector;
when the compressed gas tank is matched in the tank cylinder, the gas outlet of the compressed gas tank is pierced through the piercing pin connector, and compressed gas is released into the gas flow cavity of the valve group through the gas flow channel.
As an optional embodiment of the present application, optionally, further comprising:
and the air outlet hole is arranged on the biopsy instrument and is used for sending the air flow of the piston cylinder body of the biopsy instrument to the air circulation system for circulation through a pipeline.
As an optional embodiment of the present application, optionally, further comprising:
the tissue marker is arranged at the focus position and is used for marking the focus position;
a delivery needle for delivering the tissue marker to the lesion site and withdrawing the tissue marker after biopsy is completed.
As an optional embodiment of the present application, optionally, further comprising:
the imaging system is arranged at one side of the intelligent robot, and is used for imaging the marked focus tissues, acquiring focus position images in real time and sending the focus position images to the computer control system;
the display is arranged at one side of the intelligent robot and is used for receiving and displaying the contrast image;
the contrast system and the display are respectively and electrically connected with the computer control system.
As an optional embodiment of the present application, optionally, further comprising:
the cutting tool bit is arranged at the tail end of the cutting sleeve and is used for rotary cutting and sampling; the cutting bit comprises at least three rotary cutting blades.
The technical effects of this application:
according to the scheme, on the intelligent control low-temperature biopsy device, the coil cryoablation needle used by the design is adopted to replace the attached probe, a refrigerant can directly pass through the coil inside the needle tube and freeze the freezing bag at the tail end of the coil, and the needle head can be continuously frozen through the freezing bag which is frozen in time, so that the needle head can immediately form a low-temperature environment for low-temperature ablation, and precooling is not needed. The refrigerant is frozen at low temperature through the balloon structure at the tail end of the coil pipe, the surface layer of the balloon structure can quickly refrigerate, basically, the refrigerant enters from the refrigerant inlet pipeline, and exits from the refrigerant outlet pipeline, and the refrigerant is immediately refrigerated and can not exceed 0.05 s. The surface of the elliptic saccule structure is larger, the low-temperature freezing area can be enlarged, and the elliptic structure is mainly convenient for penetrating into the needle tube. When the intelligent control low-temperature biopsy device is used, the refrigerant of the intelligent control low-temperature biopsy device enters the coil after passing through the valve bank of the intelligent control low-temperature biopsy device, and is refrigerated through the elliptical balloon structure of the coil, so that the intelligent control low-temperature biopsy device can be immediately used for ablation surgery without waiting.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features and aspects of the present application and together with the description, serve to explain the principles of the present application.
FIG. 1 shows a schematic cross-sectional structural view of the present application when a biopsy instrument is installed as a separate consumable;
FIG. 2 shows a schematic cross-sectional structural view of the present application without a biopsy instrument mounted as a separate consumable;
FIG. 3 shows a schematic three-dimensional structure of FIG. 2 of the present application;
FIG. 4 shows a schematic elevational structural view of a biopsy instrument of the present application as a separate consumable;
FIG. 5 shows a schematic diagram of the constituent systems of the intelligent control cryogenic biopsy device of the present application;
FIG. 6 shows a schematic diagram of the tissue markers of the present application;
FIG. 7 shows a schematic structural view of a high-efficiency cryoablation needle of the present application;
fig. 8 shows a schematic cross-sectional structure of the freezing bag of the present application.
Detailed Description
Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers indicate identical or functionally similar elements. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
It should be understood, however, that the terms "center," "longitudinal," "transverse," "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counter-clockwise," "axial," "radial," "circumferential," and the like indicate or are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of describing the invention or simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
In addition, numerous specific details are set forth in the following detailed description in order to provide a better understanding of the present application. It will be understood by those skilled in the art that the present application may be practiced without some of these specific details. In some instances, methods, means, elements, and circuits have not been described in detail as not to unnecessarily obscure the present application.
As shown in fig. 7, a high efficiency cryoablation needle comprising:
a needle tube 100;
a coil 200 provided in the needle tube 100;
a freezing bag is arranged at the tail end of the coil pipe 200 and is close to the needle head of the needle tube 100;
the coil 200 includes a refrigerant inlet line 300 and a refrigerant outlet line 400, and the refrigerant is discharged from the refrigerant outlet line 400 after entering through the freezing bag from the refrigerant inlet line 300; the needle of the needle tube 100 is frozen through the freezing bag, and then cryoablation can be performed.
This application is on the intelligent control low temperature biopsy device that application number 2022100415555 provided, adopts the coil pipe cryoablation needle that this design used to replace its adhesion probe, and the refrigerant can be directly from the inside coil pipe 200 of needle tubing 100 to freeze the terminal freezing bag of coil pipe 200, can last freezing the syringe needle through timely freezing bag, makes this syringe needle can form low temperature environment immediately for cryoablation, no longer need precooling.
The coil pipe 200 is a miniature stainless steel low-temperature resistant pipe, and part of the pipe is coiled, so that the refrigerating effect can be improved, and the refrigerant circulates in the needle tube 100 for a long time; as shown in fig. 7, the end of the coil 200 is provided with a freezing chamber which can increase the freezing area, and the end of the coil 200 can be integrally formed or a freezing chamber structure can be separately installed.
Note that the cryoballoon herein is not an open cell structure, but rather a hollow balloon structure. As shown in fig. 8, the present embodiment adopts an elliptical balloon structure having a void therein, and a refrigerant inlet line 300 and a refrigerant outlet line 400, which are divided into an air inlet and an air outlet connected to the elliptical balloon structure.
In the installation, the oval balloon structure is inserted from the tail of the needle tube 100.
The refrigerant passes through the balloon structure at the tail end of the coil 200, the freezing balloon is frozen at low temperature, the surface layer of the balloon structure can quickly refrigerate, basically, the refrigerant enters from the refrigerant inlet pipeline 300, exits from the refrigerant outlet pipeline 400, and refrigerates immediately, and the time does not exceed 0.05 s.
The oval balloon structure has a larger surface, can enlarge the low-temperature freezing area, and is mainly convenient for penetrating into the needle tube 100.
When the intelligent control low-temperature biopsy device is used, the refrigerant of the intelligent control low-temperature biopsy device enters the coil 200 after passing through the valve group of the intelligent control low-temperature biopsy device, and is refrigerated through the elliptical balloon structure of the coil 200, so that the intelligent control low-temperature biopsy device can be immediately used for ablation surgery without waiting.
The following is a description of the use of the high-efficiency cryoablation needle of the present design on the intelligent control low-temperature biopsy device of application number 2022100415555, and the disclosure thereof is not repeated in this embodiment.
As shown in fig. 1, the present application proposes an intelligent control low-temperature biopsy device according to an embodiment of the present application, including a housing 1, a valve block 15, a canister 5, and a compressed air tank 18, wherein the compressed air tank 18 is matched in the canister 5, the canister and the valve block 15 are both fixedly arranged on the housing and connected through an air flow channel, and the valve block 15 includes a main valve, an advancing valve, and a retracting valve;
in this embodiment, the housing in which the canister 5 is located and the valve block 15 are integrally formed as a housing, and are communicated with each other, and a piercing pin connector 4 is installed at the bottom of the canister 5, so that when the compressed gas tank 18 is fitted in the canister 5, the gas outlet of the compressed gas tank is pierced by the piercing pin connector 4, and compressed gas is released into the gas flow chamber 11 of the valve block 15 through the gas flow channel. When the valve screw rod sealing the outlet of the airflow cavity is driven to be opened by the motor driving system, the low-temperature compressed gas is reserved on the valve and then flows to different control valve bodies respectively. The valve block 15 includes a main valve, an advancing valve and a retracting valve, and its specific structure and corresponding pneumatic system are described with reference to the patent embodiment of publication number CN100571649C, and will not be described in detail herein.
As an optional embodiment of the present application, optionally, further comprising:
the tank body end socket is matched with the top of the tank cylinder and elastically limits the compressed gas tank; the tank closure is used to tighten the compressed gas tank 18 in the tank 5 by screwing when the compressed gas tank 18 is fitted in the tank 5, so that the piercing pin connector 4 pierces the gas outlet of the compressed gas tank.
In this embodiment, the biopsy needle is separately used as a consumable and is installed on the housing, compared with the prior art, the technology does not need to disassemble the housing for assembly and replacement of the cutting sleeve and the high-efficiency cryoablation needle, but directly uses a biopsy device to be screwed on the installation position on the outer side, so that the biopsy device can be communicated with the air channel for working sampling.
As shown in fig. 2 and 3, further comprising:
the mounting cavity is arranged on the shell 1;
as shown in fig. 2, the casing 1 of the sampling device of the present application has an opening at the left end and is a cylinder with a lumen structure, and the right end of the cylinder is gradually closed; the valve block 15 is fixed on the upper outer side of the housing and integrally connected with the canister 5. The outside is provided with a mounting cavity with an opening at the left end, and the inner side surface of the left end is provided with external threads 2 for screwing the biopsy instrument.
A biopsy instrument 16 cooperatively fixed within the mounting cavity and having a mating cutting cannula 17 and a high efficiency cryoablation needle disposed therein; the biopsy instrument as shown in fig. 4 as an independent consumable, wherein the body is matched with the mounting cavity, the head is a conical connector, and the head is provided with internal threads for being matched and connected with the external threads 2 on the outer side surface of the left end of the mounting cavity. After the installation is finished, part of cooling gas stretches into the pipe 3 and then is connected to a piston cylinder body in the biopsy instrument through an air inlet end of the biopsy instrument to provide aerodynamic force for driving the movement of the cutting sleeve; and through an air inlet hole which is formed in the biopsy instrument in a matching way, the cooling liquid output by the cooling agent supply pipeline system is guided into the high-efficiency cryoablation needle, and finally, the air is discharged through an air outlet hole in the biopsy instrument.
The valve 6 is arranged on the shell, is particularly fixedly arranged on the outer side surface of the top of the valve bank 15, and guides low-temperature compressed gas into the valve bank from the airflow cavity through the valve, firstly enters the main valve, and secondly, respectively controls the advancing valve and the retracting valve under the driving of a cam of the motor driving system; after being output in the airflow cavity of the valve block 15, the compressed air is guided to the valve through a pipeline, safety control is performed through the valve, the low-temperature cooling air is guided to the main valve under automatic control and then distributed, and the cooling compressed air circulates in the advancing valve and the retracting valve respectively according to the air path arrangement, which is described in the above patent embodiments.
As shown in fig. 5, in addition to the low-temperature biopsy device configured by the above-described individual components, in this embodiment, an intelligent robot is used instead of a human hand, and the housing 1 of the low-temperature biopsy device is held by a manipulator of the intelligent robot, so that the motion of the above-described low-temperature biopsy device can be controlled by the manipulator to realize accurate motion to perform a biopsy.
The intelligent robot is arranged on one side of the shell, the shell is held by a mechanical hand, and automatic biopsy sampling is realized under the control of the computer control system. The model and style of the intelligent robot are not limited, the intelligent robot can only hold or clamp the shell by the manipulator of the intelligent robot, then the biopsy device clamped by the intelligent robot is positioned and driven to move by computer control, the probe can puncture near focus tissues, the specific programming and the spatial position are realized, the comprehensive calculation is realized by the system data of the radiography system and the robot, and the intelligent robot is not limited and described in detail.
In order to further optimize the system, the focus tissue is imaged by an imaging system such as a color Doppler ultrasound system, the position of the focus tissue to be biopsied and sampled can be calculated and obtained, and specific position coordinates can be obtained after conversion. The display can display the biopsy process on the focus position in real time, so that the biopsy process can be directly watched.
As an optional embodiment of the present application, optionally, further comprising:
the air inlet end is arranged at the right end of the shell and is communicated with a piston cylinder body of the biopsy instrument through a pipeline to provide aerodynamic force for driving the movement of the cutting sleeve;
an air inlet hole which is arranged on the biopsy instrument and guides the cooling liquid output by the cooling agent supply pipeline system into the high-efficiency cryoablation needle through a pipeline;
the first air inlet pipe is connected between the valve and the air inlet in parallel;
and the second air inlet pipe is connected between the valve and the air inlet end in parallel.
As shown in fig. 1-3, an air inlet end 10 is arranged at the right end of the shell 1 and is communicated with a piston cylinder body of the biopsy instrument 16 through a pipeline to provide aerodynamic force for driving the motion of the high-efficiency cryoablation needle; the air inlet is converted into the movement force of the screw rod through the piston cylinder body, so that the screw rod air enters the piston cylinder body 2 through the air inlet end 10 to drive the screw rod to move. Through air circulation, the reciprocating motion of the screw rod can be realized. And will not be described in detail herein.
An air intake hole 12 provided in the biopsy instrument 16, for guiding the coolant outputted from the coolant supply pipe system to the probe inside the biopsy instrument 16 through a pipe;
the valve 6 is arranged on the valve bank 15, and a first air inlet pipe 3 and a second air inlet pipe 7 are connected in parallel on the valve bank; wherein, the air outlet end of the first air inlet pipe 3 is connected into the shell 1 and is communicated with the air inlet 12 to provide cooling air for the high-efficiency cryoablation needle 17; the second air inlet pipe 7 is connected with the air inlet end 10 and is used for providing pneumatic air for the efficient cryoablation needle 17; the outlet of the valve group 15 is opened and closed by a screw driven by a motor, after the valve group is opened, gas reaches the valve 6 through the gas pipe 8 and is distributed to the first gas inlet pipe 3 and the second gas inlet pipe 7, and then the respective gas circulation systems are used for cooling and guiding, and the gas outlet end of the first gas inlet pipe 3 is connected into the shell 1 and is communicated with the gas inlet 12 to provide cooling gas of the high-efficiency cryoablation needle 17; the second air inlet pipe 7 is connected with the air inlet end 10 and provides pneumatic air for the efficient cryoablation needle 17.
As an optional embodiment of the present application, optionally, further comprising:
an airflow cavity 11, which is arranged in the valve group 15 and is communicated with the tank 5;
a gas pipe 8 connected between the outlet of the gas flow chamber and the valve, and guiding cooling gas to the valve when the outlet of the gas flow chamber is opened;
and the pneumatic system is arranged in the valve group, supplies air through a valve, and guides the low-temperature compressed air to the main valve, the advancing valve, the retracting valve and the high-efficiency cryoablation needle respectively.
As shown in fig. 1, when the compressed gas tank 18 is fitted into the tank 5, the gas outlet of the compressed gas tank 18 is pierced by the piercing pin connector 4, and compressed gas is released into the gas flow chamber 11 of the valve group 15.
After the valve opening and closing mechanism is opened, the low-temperature compressed gas flows from the airflow cavity 11 to the valve 6 through the air pipe 8, and then is guided to the main valve, the advancing valve, the retracting valve and the high-efficiency cryoablation needle through the pneumatic system. The pneumatic system is specifically based on the technical principles described in the embodiments of the prior patent.
As an optional embodiment of the present application, optionally, further comprising a valve opening and closing mechanism, including:
the spring is matched in the airflow cavity;
the thread pair 21 is matched in the valve group at one side of the airflow cavity;
the valve screw rod is limited in the airflow cavity through the spring;
and the motor driving system is fixedly arranged on the shell, and the valve screw is driven by the motor driving system.
The application is provided with valve opening and closing mechanism between air current chamber 11 and valves 15, and the screw rod system that drives through the electric drive carries out the valve and opens and close, as shown in fig. 1 and 2, sets up a valve screw rod in the air current intracavity portion for open and close the gas outlet of air current chamber right-hand member. The valve screw is formed by connecting a valve block 14 and a drive screw 13, as described below.
In order to enable the valve screw rod to tightly prop and seal the air outlet, a spring matched with the air flow cavity is adopted to prop against the left end face of the valve screw rod, so that the valve block 14 of the valve screw rod is propped against the air outlet. In order to disengage the valve block 14 of the valve screw and open the air outlet, a drive screw 13 driven by a servo pneumatic system is used to eject the valve block 14 of the valve screw. The right end of the valve screw is a horizontally arranged driving screw 13, and the driving screw 13 is connected with the output end 9 of the pneumatic system. The rotation of the output end 9 is converted into linear motion through the nut pair, a mounting cavity corresponding to the airflow cavity is arranged in the valve group 15 on the right side of the air outlet of the valve group 15, a massive thread pair 21 is fixed in the mounting cavity in a matched mode, and the driving screw 13 passes through the thread pair 21 in a matched mode and extends out of the valve group 15 and is connected with the output end 9 of the pneumatic system. After the engine is started, the pneumatic system is started, so that the output end 9 drives the transmission screw 13 to drive, the transmission screw 13 drives the valve block 14 to move through the transformation of the thread pair 21, the valve block 14 is opened and closed to release cooling gas or liquid to flow out, and the gas is conveyed to the valve 6 for diversion through the gas pipe 8.
As an optional implementation manner of the present application, optionally, the pneumatic system is a servo driving system, and includes a computer control system, a battery, a motor and a gear box, where the battery is electrically connected to the computer control system and the motor respectively, the motor is connected to the gear box, and the output end 9 is disposed on the gear box and keeps constant rotation.
As an alternative embodiment of the present application, optionally, the valve screw includes:
the valve block is limited at the right end of the interior of the airflow cavity through the spring, and the outlet of the airflow cavity is closed;
the right end of the transmission screw rod passes through the thread pair in a matching way and extends out of the valve group to be connected with the output end of the motor driving system;
and the motor driving system drives the transmission screw to move so as to push the valve block open or close the outlet of the airflow cavity.
As shown in fig. 3, the valve block 14 has a flexible cylindrical structure, and can seal the air outlet through a spring, and can be opened under the drive of the drive screw 13. The transmission screw 13 passes through the thread pair 21 in a matching way, the left end and the right end of the transmission screw can be respectively connected with the corresponding valve block 14 and the output end 9 of the motor driving system in a threaded connection or welding or integrated forming way, and the transmission screw is driven to move by the motor driving system so as to push away the valve block to open or close the outlet of the airflow cavity.
As an optional embodiment of the present application, optionally, further comprising:
and the air outlet hole 12 is arranged on the biopsy instrument, and sends the air flow of the piston cylinder body of the biopsy instrument to the air circulation system for circulation through a pipeline. After the rocket appliance 16 is assembled in the mounting cavity, the air outlet hole 12 is connected with the air outlet end of the first air inlet pipe 3, or the air outlet end is matched with the air outlet end through a pipeline, so that the cooling air of the efficient cryoablation needle 17 is provided.
According to the method, in order to facilitate positioning and marking of focus tissues and provide cloud top target position point data for the intelligent robot, a tissue marker is input into focus tissues through the conveying needle under a contrast environment and used for spatially marking focus tissue positions.
As shown in fig. 6, as an alternative embodiment of the present application, optionally, further includes:
the tissue marker is arranged at the focus position and is used for marking the focus position; a tissue marker for marking a lesion location; the tissue marker may be metallic Ti, which is easily detected by the imaging system to facilitate imaging, thereby indicating the specific location of the focal tissue. Lesion repositioning during post-treatment may be avoided by placement of tissue markers, where marker locations may be detected by imaging systems such as ultrasound, magnetic Resonance Imaging (MRI) or x-rays, and biopsies may be located. The columnar tissue marker 101 with the hooked thorns on the outer surface is placed in the focus 103 through a delivery needle 102. The specific shape of the tissue marker in this example is not limited herein.
A delivery needle for delivering the tissue marker to the lesion site and withdrawing the tissue marker after biopsy is completed. A delivery needle 102 for delivering a tissue marker 101 in the biopsy data visualization system to the lesion 103 tissue site with the aid of the biopsy data visualization system; and after the biopsy is finished, removing the tissue marker in the biopsy data visualization system from the focus tissue position to the outside of the body surface with the assistance of the biopsy data visualization system. The particular type of delivery needle 102 is not limited herein.
The material of the conveying needle or the needle point part of the conveying needle is a material which is visualized under the irradiation of a contrast system of the biopsy data visualization system. Ti is preferred.
As an optional embodiment of the present application, optionally, further comprising:
the imaging system is arranged at one side of the intelligent robot, and is used for imaging the marked focus tissues, acquiring focus position images in real time and sending the focus position images to the computer control system; the contrast system is used for carrying out contrast on focus tissues, acquiring focus position images and biopsy sample image data in real time, and sending the focus position images and the biopsy sample image data to the computer control system; the contrast system is mainly used for developing tissue markers of focus tissues, and the developed images are sent to a display for real-time display after being processed by a computer control system, so that doctors can know the positions of focus tissues in real time. In addition, the imaging system can also image the steps in the multi-piece process, and can carry out real-time imaging on the rubbing of the delivery needle on the tissue marker and on the cutting cannula, the probe and the like of the biopsy. Accordingly, it is desirable to employ a special contrast identifiable material for the tip of the cutting cannula and the tip of the penetrating segment of the high efficiency cryoablation needle. In this embodiment, metallic titanium is preferable. Therefore, a contrast system can be used for contrast of the front and rear phases of biopsy, visual biopsy operation is realized, doctors can conveniently identify positions, and biopsy is accurate.
The display is arranged at one side of the intelligent robot and is used for receiving and displaying the contrast image;
the contrast system and the display are respectively and electrically connected with the computer control system. The display is used for receiving and displaying the images processed by the computer control system and displaying the biopsy process in real time.
As an optional embodiment of the present application, optionally, further comprising:
the cutting tool bit is arranged at the tail end of the cutting sleeve and is used for rotary cutting and sampling; the cutting bit comprises at least three rotary cutting blades.
As shown in the enlarged end structure schematic diagram of the cutter head shown in fig. 4, the cutter head is provided with a plurality of rotary cutting blades for advancing and rotary cutting under the drive of the valve body, rotary cutting sampling is performed on focal tissues fixed by the probe through the rotary cutting blades of the head, and the samples are recovered after sampling. Three rotary cutting blades with central symmetry are preferred for rotary cutting sampling.
The present embodiment is an example of sampling focal tissue, but may be applied to sampling other parts and even non-focal tissue, and only the sampling environment and the corresponding parameters need to be replaced.
The embodiments of the present application have been described above, the foregoing description is exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (10)

1. A high efficiency cryoablation needle comprising:
a needle tube;
the coil pipe is arranged in the needle tube;
the tail end of the coil pipe is provided with a freezing bag, and the freezing bag is close to the needle head of the needle tube;
the coil pipe comprises a refrigerant inlet pipeline and a refrigerant outlet pipeline, and the refrigerant is discharged from the refrigerant outlet pipeline after entering from the refrigerant inlet pipeline and passing through the freezing bag; the needle head of the needle tube is frozen by the freezing bag, and then the needle tube can enter cryoablation.
2. The utility model provides an intelligent control low temperature biopsy device for cryoablation, including shell, valves, jar section of thick bamboo and compressed gas jar, compressed gas jar cooperation in the jar section of thick bamboo, jar section of thick bamboo and valves all set firmly in on the shell and connect through air flow channel between the two, the valves includes main valve, advancing valve and withdrawal valve, its characterized in that still includes:
the high efficiency cryoablation needle of claim 1;
the mounting cavity is arranged on the shell;
a biopsy device which is matched and fixed in the mounting cavity and is internally provided with a matched cutting sleeve and a high-efficiency cryoablation needle;
the valve is arranged on the shell, and the low-temperature compressed gas is guided into the valve group through the valve;
the intelligent robot is arranged on one side of the shell, the shell is held by a mechanical hand, and automatic biopsy sampling is realized under the control of the computer control system;
the air inlet end is arranged at the right end of the shell and is communicated with a piston cylinder body of the biopsy instrument through a pipeline to provide aerodynamic force for driving the movement of the cutting sleeve;
an air inlet hole which is arranged on the biopsy instrument and guides the cooling liquid output by the cooling agent supply pipeline system into the high-efficiency cryoablation needle through a pipeline;
the first air inlet pipe is connected between the valve and the air inlet in parallel;
and the second air inlet pipe is connected between the valve and the air inlet end in parallel.
3. The intelligently controlled cryogenic biopsy device of claim 2, further comprising:
the airflow cavity is arranged in the valve group and is communicated with the tank;
the air pipe is connected between the outlet of the airflow cavity and the valve, and when the outlet of the airflow cavity is opened, the cooling gas is guided to the valve;
and the pneumatic system is arranged in the valve group, supplies air through a valve, and guides the low-temperature compressed air to the main valve, the advancing valve, the retracting valve and the high-efficiency cryoablation needle respectively.
4. The intelligent controlled cryogenic biopsy apparatus of claim 3, further comprising a valve opening and closing mechanism comprising:
the spring is matched in the airflow cavity;
the thread pair is matched in the valve group at one side of the airflow cavity;
the valve screw rod is limited in the airflow cavity through the spring;
and the motor driving system is fixedly arranged on the shell, and the valve screw is driven by the motor driving system.
5. The intelligent control low temperature biopsy device of claim 4, wherein the valve screw comprises:
the valve block is limited at the right end of the interior of the airflow cavity through the spring, and the outlet of the airflow cavity is closed;
the right end of the transmission screw rod passes through the thread pair in a matching way and extends out of the valve group to be connected with the output end of the motor driving system;
and the motor driving system drives the transmission screw to move so as to push the valve block open or close the outlet of the airflow cavity.
6. The intelligently controlled cryogenic biopsy device of claim 4 or 5, further comprising:
the tank body end socket is matched with the top of the tank cylinder and elastically limits the compressed gas tank;
a piercing pin connector disposed within the gas flow passage, a gas outlet of the compressed gas tank being fitted over the piercing pin connector;
when the compressed gas tank is matched in the tank cylinder, the gas outlet of the compressed gas tank is pierced through the piercing pin connector, and compressed gas is released into the gas flow cavity of the valve group through the gas flow channel.
7. The intelligently controlled cryogenic biopsy device of claim 2, further comprising:
and the air outlet hole is arranged on the biopsy instrument and is used for sending the air flow of the piston cylinder body of the biopsy instrument to the air circulation system for circulation through a pipeline.
8. The intelligent controlled cryogenic biopsy apparatus of any one of claims 2-7, further comprising:
the tissue marker is arranged at the focus position and is used for marking the focus position;
a delivery needle for delivering the tissue marker to the lesion site and withdrawing the tissue marker after biopsy is completed.
9. The intelligent controlled cryogenic biopsy apparatus of claim 8, further comprising:
the imaging system is arranged at one side of the intelligent robot, and is used for imaging the marked focus tissues, acquiring focus position images in real time and sending the focus position images to the computer control system;
the display is arranged at one side of the intelligent robot and is used for receiving and displaying the contrast image;
the contrast system and the display are respectively and electrically connected with the computer control system.
10. The intelligently controlled cryogenic biopsy device of claim 2 or 9, further comprising:
the cutting tool bit is arranged at the tail end of the cutting sleeve and is used for rotary cutting and sampling; the cutting bit comprises at least three rotary cutting blades.
CN202310065803.4A 2023-01-18 2023-01-18 High-efficient cryoablation needle and intelligent control low temperature biopsy device Pending CN117398171A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310065803.4A CN117398171A (en) 2023-01-18 2023-01-18 High-efficient cryoablation needle and intelligent control low temperature biopsy device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310065803.4A CN117398171A (en) 2023-01-18 2023-01-18 High-efficient cryoablation needle and intelligent control low temperature biopsy device

Publications (1)

Publication Number Publication Date
CN117398171A true CN117398171A (en) 2024-01-16

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Application Number Title Priority Date Filing Date
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Country Link
CN (1) CN117398171A (en)

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