CN210644142U - Puncture navigation system and puncture frame are intervene to supersound - Google Patents
Puncture navigation system and puncture frame are intervene to supersound Download PDFInfo
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- CN210644142U CN210644142U CN201920827079.3U CN201920827079U CN210644142U CN 210644142 U CN210644142 U CN 210644142U CN 201920827079 U CN201920827079 U CN 201920827079U CN 210644142 U CN210644142 U CN 210644142U
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Abstract
The utility model discloses a can be used for supersound to intervene puncture frame of puncture, this puncture frame can be connected with ultrasonic transducer, ultrasonic transducer has the formation of image surface that contacts, can pass through ultrasonic signal with the organism surface, puncture frame includes: the puncture needle fixing part is used for detecting a puncture angle of the puncture needle relative to the imaging surface in real time, and the connecting piece is connected with the angle detection unit. The connecting piece is rotatably connected with the puncture needle fixing piece, so that the puncture needle fixing piece can continuously adjust the puncture angle. The puncture frame solves the problems that the puncture angle of the puncture frame cannot be continuously adjusted and the puncture path cannot be changed in real time.
Description
Technical Field
The invention belongs to the technical field of medical ultrasound, and particularly relates to an ultrasound interventional puncture navigation system.
Background
The existing ultrasonic puncture frame is used for connecting and fixing an ultrasonic probe and a puncture needle, limiting the space angle of the puncture needle in the process of ultrasonic guided puncture, ensuring that the space angle is always parallel to an imaging plane of the ultrasonic probe (in-plane mode) or perpendicular to 90 degrees (out-of-plane mode), storing the space angle of the puncture needle in an ultrasonic imaging system, calculating a puncture path of the needle by the system, displaying a puncture auxiliary guide line in ultrasonic imaging, and enabling the puncture path to be visualized in advance so as to better control the puncture process. The puncture frame avoids the problems of deviation of the needle inserting direction of the puncture needle, unstable holding of the puncture needle and the like when a doctor punctures by bare hands, provides auxiliary fixation for the puncture needle to reach a target area according to a planned path, and offsets bare-handed operation errors. However, the angle of the puncture needle is relatively fixed relative to the ultrasonic probe by the puncture frame, and a plurality of continuously-changed puncture paths cannot be provided, so that if a doctor finds that the puncture path needs to be changed in the puncture process, the doctor has to select all the needle withdrawing devices and then uses the ultrasonic probe to swing the puncture needle to the target puncture point again, and therefore the puncture efficiency is reduced, and the risk of infection of the user is increased.
In addition, the existing ultrasonic puncture guide line needs to be close to a target on a puncture path by adjusting the position of the probe, and for a doctor, fine adjustment cannot be achieved due to the problems of volume, weight and the like of the ultrasonic probe, so that the puncture experience is influenced.
In addition, other factors cause low puncture precision and influence puncture experience.
Disclosure of Invention
In order to improve the puncture experience, the invention provides a puncture rack capable of being used for ultrasonic interventional puncture, the puncture rack is capable of being connected with an ultrasonic transducer, the ultrasonic transducer is provided with an imaging surface which is contacted with the surface of a living organism and is capable of passing an ultrasonic signal, the puncture rack comprises: a puncture needle holder for guiding the puncture needle so that the puncture needle reaches a target region of puncture along a predetermined path; an angle detection unit for detecting a puncture angle of the puncture needle with respect to the imaging surface in real time; and a connector rotatably connected to the puncture needle holder so that the puncture needle holder can continuously adjust the puncture angle; the angle detection unit comprises a magnetic part arranged on one of the puncture needle fixing part and the connecting part and a magnetic encoder arranged on the other of the puncture needle fixing part and the connecting part, and the magnetic part and the magnetic encoder are arranged at intervals relatively.
The connecting piece of puncture frame is connected with pjncture needle mounting is rotatable for the puncture angle of pjncture needle can change in succession, accomplishes meticulous fine setting, even the doctor finds to need to change the puncture route at the puncture in-process, also need not all to withdraw from the pjncture needle, only need through ultrasonic transducer confirm the target spot again, and with the puncture needle pendulum put guide puncture route on can, not only improved puncture efficiency through this kind of mode, still reduced the risk of user infection.
The angle detection unit composed of the magnetic part and the magnetic encoder solves the problem of real-time detection of the angle of the puncture needle and provides necessary conditions for continuous adjustment of the puncture angle, namely, the arrangement of the angle detection unit enables the puncture navigation system to acquire the angle information of the puncture needle in real time and plan the puncture path of the puncture needle in real time, so that the puncture efficiency is improved, and the accuracy and the convenience of puncture are ensured. On the other hand, the device is also miniaturized and simple in structure, and the function is increased while excessive changes of the volume structure are not brought.
Preferably, the needle mount and the connector are removably connected. Because the puncture needle fixing piece is taken as an aseptic consumption product and belongs to a disposable part, and the puncture needle fixing piece is detachably connected with the disposable part, the connecting piece can be repeatedly sterilized and used, and the cost is reduced while the sanitation and the safety are ensured.
Preferably, the puncture needle fixing piece and the connecting piece are provided with limiting pieces which are matched with each other so as to limit the rotating range of the puncture needle fixing piece. The setting of locating part has avoided the consequence that the pjncture needle skew normal puncture route that the maloperation caused, has improved the puncture security.
Preferably, the puncture needle fixing part is provided with a retaining part for retaining the puncture needle to move along the predetermined path, and the retaining part and the limiting part on the puncture needle fixing part are arranged on the side wall of the end part of the puncture needle fixing part far away from the connecting piece in an opposite way.
Preferably, the limiting member of the puncture needle fixing member is a protruding member, the limiting member of the connecting member is a stopping wall, and the stopping wall is located on a rotating path of the protruding member to limit a rotating range of the puncture needle fixing member.
Preferably, there are at least two of the stop walls, the protruding member moves between the two stop walls, and the two stop walls are connected by a reinforcing member. The arrangement of the reinforcing piece prevents the stop wall from deforming caused by overlarge force applied to the stop wall by the puncture needle fixing piece, so that the precision of the puncture angle at the boundary is ensured.
Preferably, the magnetic part is a permanent magnet or a magnetized puncture needle.
Preferably, the deflection distance of the central axis of the magnetic member with respect to the center of the magnetic encoder is 0.5mm or less. Still more preferably, the deflection distance is 0.25mm or less. Further preferably, the center of the magnetic encoder is located on the central axis of the magnetic member.
Preferably, one of the puncture needle holder and the connector is provided with a rotation shaft, and the other of the puncture needle holder and the connector is provided with a hole matching the rotation shaft, and the puncture needle holder and the connector are rotatably coupled by inserting the rotation shaft into the hole. Preferably, one of the magnetic member and the magnetic encoder is provided at an end of the rotary shaft near the coupling member.
Preferably, the magnetic member is spaced from the magnetic encoder by a distance in the range of 0.5mm to 2.5 mm.
Preferably, the connecting member is rotatably connected to the ultrasonic transducer. The relative position of the puncture needle and the ultrasonic transducer can be adjusted to obtain an ideal ultrasonic composite image.
Preferably, the puncture frame further comprises a force detection unit for detecting the acting force of the organism tissue on the puncture needle body; preferably, the force detection unit is provided on a holding member of the puncture needle holder for holding the puncture needle moving along the predetermined path. The deflection angle of the needle body of the puncture needle under the action of the organism tissue can be obtained based on the force detected by the force detection unit, so that the puncture guide path in the ultrasonic synthetic image is calibrated, and the possibility of mistaken puncture is reduced.
In a second aspect, the present invention provides an ultrasound interventional puncture navigation system, which includes: the puncture frame; an ultrasound transducer for acquiring ultrasound image information in real time within a body of a living body; a data acquisition unit for acquiring information of the puncture angle detected by the angle detection unit; the data processing and transmitting unit is used for processing the information acquired by the data acquisition unit and transmitting the processed information to the image processing unit; the image processing unit receives and processes the ultrasonic image information and the information transmitted by the data processing and transmitting unit in real time to generate a real-time ultrasonic composite image representing the inside of the living body with a puncture guide line; an image display unit that displays the real-time ultrasound synthetic image in real time.
Preferably, the data processing and transmitting unit judges whether the puncture angle is within a predetermined range; and if the puncture angle is not in the preset range, the data processing and transmitting unit generates a prompt signal. By judging the puncture angle, the system safety can be further improved, and the puncture misoperation can be avoided.
Preferably, the data acquisition unit further acquires a deflection angle of the puncture needle in the living body.
Preferably, the deflection angle is fed back by the force of the biological tissue on the puncture needle body detected by the force detection unit arranged on the puncture frame.
Preferably, the deflection angle is used to calibrate the puncture guide wire.
In a third aspect, the present invention provides a puncture outfit for ultrasound interventional puncture, the puncture outfit being connectable to an ultrasound transducer having an imaging surface in contact with a surface of a living body and capable of passing an ultrasound signal, the puncture outfit comprising: a puncture needle holder for guiding the puncture needle so that the puncture needle reaches a target region of puncture along a predetermined path at a predetermined puncture angle; a force detection unit for detecting an acting force acting on a puncture needle body to deviate a puncture angle of the puncture needle from a predetermined puncture angle in real time; the acting force is used for feeding back the deflection angle of the puncture needle deviating from the preset puncture angle so as to calibrate the puncture guide line in the ultrasonic synthetic image.
In a fourth aspect, the present invention provides an ultrasound interventional puncture navigation system, which includes: the puncture frame; an ultrasound transducer for acquiring ultrasound image information in real time within a body of a living body; the data acquisition unit is used for acquiring the acting force information detected by the force detection unit; the data processing and transmitting unit is used for processing the information acquired by the data acquisition unit and transmitting the processed information to the image processing unit; the image processing unit receives and processes the ultrasonic image information and the information transmitted by the data processing and transmitting unit in real time to generate a real-time ultrasonic composite image representing the inside of the living body with a puncture guide line; an image display unit that displays the real-time ultrasound synthetic image in real time.
The deflection angle of the needle body of the puncture needle under the action of the organism tissue can be obtained based on the force detected by the force detection unit, so that the puncture guide path in the ultrasonic synthetic image is calibrated, the possibility of mistaken puncture is reduced, and the puncture experience is improved.
Compared with the prior art, the puncture frame and the puncture navigation system have the advantages of simple structure and convenience in operation, and the problems that the puncture frame cannot continuously adjust the puncture angle and cannot change the puncture path in real time are solved. In addition, the safety and the puncture precision of puncture operation are improved by arranging the puncture calibration mechanism, and the puncture experience is improved on the whole.
Drawings
Fig. 1 is a schematic view of a probe tip device according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a puncture needle ultrasound navigation system.
Fig. 3 is a schematic view of an ultrasound synthesized image in which the puncture guide wire and the ultrasound image are synthesized.
Fig. 4 is a schematic structural view of the puncture rack.
Fig. 5 is a partial cross-sectional view of the puncture rack.
FIG. 6 is a schematic diagram of the position relationship between the magnetic member and the magnetic encoder.
Fig. 7 is a schematic view of the force detection unit arrangement.
Fig. 8 is a schematic view of the calculation of the deflection angle.
Fig. 9 is a schematic view of calculation of the puncture guide line.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to these embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention.
Fig. 1-2 show a puncture needle ultrasound navigation system, which includes a medical ultrasound transducer 1, a puncture frame 2 and an imaging component, wherein the ultrasound transducer 1 is connected with the puncture frame 2, and preferably, the ultrasound transducer 1 is detachably connected with the puncture frame 2, such as by being fastened. The ultrasonic transducer 1 is used for confirming a target point and acquiring an ultrasonic signal of organism tissues in real time. The puncture frame 2 is provided with a puncture needle fixing piece 21, and the puncture needle 3 is arranged on the puncture needle fixing piece 21, so that the puncture needle 3 and the ultrasonic transducer 1 keep an inherent space geometric relationship, and the specific position of the puncture needle is calculated conveniently. Preferably, the puncture frame 2 is further provided with an ultrasonic transducer fixing member 20 to mount the ultrasonic transducer 1 without affecting the transmission and acquisition of ultrasonic signals; conversely, the ultrasonic transducer 1 may also be provided with a fixing member for installing the puncture rack 2. The imaging part comprises an image processing unit and an image display unit, when in use, the imaging surface 10 of the ultrasonic transducer 1 is in contact with the surface B of the living body, the image processing unit receives the ultrasonic image information transmitted by the ultrasonic transducer 1 and the angle information theta of the axis 30 of the puncture needle 3 relative to the imaging surface 10 in real time and generates a real-time ultrasonic composite image representing the inside of the living body with a puncture guide line 31, and the real-time ultrasonic composite image can be displayed in real time by the image display unit, particularly the ultrasonic composite image shown in fig. 3. The algorithm for generating a real-time ultrasound composite image representative of the inside of a living being with a puncture guide wire 31 is well known in the art and will not be described further herein. The image processing unit is preferably an ultrasound machine. The image processing unit may be a combination of an ultrasound apparatus and a computer, and the computer receives the ultrasound image information transmitted from the ultrasound apparatus and the angle information of the puncture needle 3 to perform image fusion processing, and generates a real-time ultrasound synthetic image representing the inside of the living body with the puncture guide line 31. The puncture guide line can be a thin solid line or a broken line or a plurality of broken solid lines and is used for predicting the needle inserting track of the puncture needle.
The puncture frame 2 can be provided with a puncture detection unit for collecting puncture information in real time, preferably, the puncture detection unit comprises an angle detection unit for detecting the angle of the puncture needle 3 in real time, and the angle information can be acquired by collecting and processing an angle signal collected by the angle detection unit through a data collector. Specifically, a data acquisition unit of a data acquisition unit acquires angle information of an angle detection unit, the angle information is processed by a data processing and transmission unit of the data acquisition unit and then transmitted to an image processing unit of an imaging component, and the image processing unit performs image fusion processing on the received ultrasonic image information and the angle information to generate a real-time ultrasonic synthetic image which has a puncture guide line and represents the inside of a living body. Further, the angle information may be input by the user in advance.
Fig. 4 shows a puncture rack 2, the puncture rack 2 has a connecting member 22, and the connecting member 22 is fixedly connected with the ultrasound transducer fixing member 20, and the fixed connection may be an integral connection, a detachable connection, or a non-detachable connection, and the fixed connection is not particularly limited. The connecting member 22 is also connected to the puncture needle holder 21 of the puncture frame 2, and preferably, the puncture needle holder 21 is rotatably connected to the connecting member 22 so that the puncture needle 3 can be rotated about the rotation axis to continuously adjust the puncture angle θ, thereby adjusting the puncture angle θ to an arbitrary desired angle. Preferably, the needle mount 21 is rotatably coupled to the coupling 22 by inserting the shaft 214 into a bore 223 in the coupling 22 that mates with the shaft 214, as shown in particular in FIG. 5. On the other hand, the rotating shaft of the connecting piece can be inserted into the hole of the puncture needle fixing piece matched with the rotating shaft and can be rotatably connected with the puncture needle fixing piece. Preferably, the rotating shaft and the hole may be axially detachably fixed by friction force, and may also be axially detachably fixed by a snap, and the detachable fixation is not particularly limited. Since the puncture needle holder is a sterile consumable, the detachable connection of the connector 22 to the puncture needle holder 21 facilitates the sterile sterilization of the connector 22 so that it can be reused, reducing costs while ensuring hygienic safety. Preferably, in order to adjust the relative position of the puncture needle 3 and the ultrasonic transducer 1, the connecting member 22 can be rotatably connected with the ultrasonic transducer holder 20 at a rotation axis perpendicular to the rotation axis 214 to obtain a preferable ultrasonic composite image.
In order to prevent the puncture angle θ from being adjusted unreasonably, a stopper may be provided on the puncture needle holder 21 and the connector 22 to limit the rotation range of the puncture needle holder 21, so that the puncture angle θ can be adjusted within a reasonable range. If the projection 213 is provided on the outer surface of the puncture needle holder 21, the connecting member 22 is provided with the stopper wall 222 on the path of rotation of the projection 213 about the rotation axis 214, and preferably, the stopper walls 222 are two, and the projection 213 moves in the space defined by the two stopper walls. In order to prevent the stopper walls 222 from being deformed by force, the two stopper walls 222 are connected by a reinforcing member 221, and preferably, the reinforcing member 221 is an arc-shaped wall which can be connected to the side wall of the connecting member 22. The puncture needle holder 21 is provided with a holder 211 for holding the puncture needle 3 moving along the guide wire 31, and the holder 211 has an axial passage through which the shaft of the puncture needle 3 can pass, the axial passage serving to ensure the puncture needle 3 advancing along the guide wire 31 at the time of needle feeding. Preferably, the retaining member 211 is disposed on the side wall of the end of the rotating shaft 214 remote from the connecting member 22 opposite to the stopper on the needle holder 21.
The puncture rack 2 can also be provided with an angle detection unit to detect the puncture angle of the puncture needle in real time, see fig. 5 in particular. The angle detection unit has a magnetic member 215 and a magnetic encoder 224. The magnetic element 215 is preferably a permanent magnet, and may be a magnetized needle. When the S, N pole of the magnetic member 215 is parallel to the front of the magnetic encoder and keeps a certain distance, the magnetic encoder 224 detects the magnetic field change information caused by the rotation of the magnetic member 215 in real time as the rotation of the puncture rack 2 controls the change of the puncture angle, and the magnetic field change information is converted into angle information through analog-to-digital conversion and digital signal processing so as to detect the puncture angle of the puncture needle in real time. The angle information is transmitted to an image processing unit of the imaging part by the data acquisition device, and the image processing unit carries out image fusion processing on the angle information and the ultrasonic image information to generate a real-time ultrasonic synthetic image which is provided with a puncture guide line and represents the inside of a living body. The specific algorithm for converting the magnetic field change information into the angle information is common knowledge in the technical field, and is not described herein again. Preferably, the data processing and transmitting unit of the data collector judges whether the puncture angle of the puncture needle is within a predetermined range, and if not, sends a prompt signal to inform a user of a puncture operation error. Preferably, the magnetic member 215 is disposed at an end of the rotation shaft 214 near the connection member 22; a magnetic encoder 224 is disposed on the attachment member 22 in spaced relation to the magnetic member 215, see fig. 5 in particular. To obtain a better linear relationship between the magnetic field variation and the angle, the central axis of the magnetic element 215 is deflected by a distance of less than 0.5mm, preferably less than 0.25mm, with respect to the center of the magnetic encoder 224, and more preferably, the center of the magnetic encoder 224 is located on the central axis of the magnetic element 215. For better detection of the magnetic field change, the distance L between the magnetic member 215 and the front surface of the magnetic encoder 224 is preferably in the range of 0.5mm to 2.5mm, see FIG. 6 in particular.
In use, the ultrasound transducer 1 is fixed to the puncture stand 2, and the imaging surface 10 of the ultrasound transducer 1 is pressed against the biological body surface B to find a puncture target, see fig. 1; then the puncture needle 3 is slowly fed into 1-2cm along the axial channel of the holder 211, and the puncture needle fixing member 21 is rotated along the rotating shaft 214 by observing the real-time puncture guide line 31 provided by the image display unit, and the puncture guide line 31 is aimed at the target puncture region by slowly changing the puncture angle θ between the axis 30 of the puncture needle 3 and the imaging surface 10 of the ultrasonic transducer 1. The puncture guide wire 31 aimed at the target puncture region is then kept unchanged and the puncture needle 3 is fed in while the whole puncture process is observed by the image display unit until the puncture needle 3 reaches the target puncture position.
Since the body tissue will exert a laterally pushing force on the puncture needle body when the needle body enters the body tissue during the puncture process, which causes the needle body to bend away from the puncture guide path that cannot be planned along the angle sensor, but to deflect at a deflection angle α from the planned path, as shown in fig. 7. in order to obtain a more accurate puncture guide path, the puncture sensing unit further comprises a force sensor 216 for sensing the force F exerted on the puncture needle body in real time to obtain a deflection angle α, thereby calibrating the puncture guide path based on the deflection angle α and the puncture angle θ. the force sensor 216 is preferably provided on the needle holder 211 of the puncture needle holder 21 to sense the force F exerted on the puncture needle holder 21. the specific algorithm for obtaining the deflection angle α based on the force F is as follows:
the puncture needle body is regarded as a beam, under the action of external force, the axis of the puncture needle body is changed into a smooth and continuous bending line from a straight line, as shown in fig. 8, and a dotted line represents the deflection of the puncture needle body under the action of organism tissues. Wherein the force F detected by the force sensor 216 is qL; q is the uniform load on the needle body of the puncture needle positioned in the tissue, and L is the distance from the needle entering point P to the needle point o. L can be obtained through detection and calculation, and the length of the needle body of the puncture needle can also be determined to be L, and the L is known data.
Wherein, the bending moment equation of the needle body section at the position x away from the needle point o is as the following formula (1):
wherein x is more than or equal to 0 and less than or equal to L.
Approximating a differential equation according to a flexible line, as shown in the following equation (2),
wherein, y is the displacement of the centroid of the cross section of the puncture needle body in the direction vertical to the axis of the puncture needle body, E is the tensile and compressive elastic modulus of the puncture needle, and I is the polar moment of inertia of the puncture needle; both E and I are known data.
In the case of a needle body with negligible displacement in its axial direction, the deflection angle α of the needle body of the puncture needle can be calculated from equations (1), (2), (3), the measured force F, and known boundary conditions.
After the deflection angle is obtained, the planned puncture guide path can be compensated to obtain an accurate puncture needle guide wire, and the following method is only one embodiment and is not limited to the following method when determining the puncture needle guide wire.
As shown in fig. 9, the puncture needle holder 21 is rotated along the rotation point Z, the angle between the puncture needle 3 and the imaging surface 10 of the ultrasonic transducer is theta, the puncture needle 3 is inserted into the living tissue from the needle insertion point P, the puncture needle deflection angle α is obtained based on the force F detected by the force sensor 216, in the case where the upper left corner of the ultrasonic image is the origin, the puncture trajectory of the puncture needle intersects the border of the ultrasonic image at two points (x1, y1), (x2, y2), see the dotted line in fig. 9, the height H of the image according to the transmission of the ultrasound is HIAnd width WIHeight H of ultrasonic regionSAnd width WSThe ultrasound image display size ratio, etc. to calculate the coordinates of the puncture guide wire on the ultrasound image (x1,y1), (x2, y2), in particular:
x1＝Ws，WSis a known value;
y2＝Hs，HSis a known value;
y1 is k × tan (θ - α), k is the distance between the needle insertion point P and the edge of the ultrasonic region close to the needle insertion point P, and is obtained by the mechanical structure size of the puncture frame and is a known value;
and then drawing a line segment between the two points (x1, y1) and (x2, y2) in real time through software to generate a puncture guide line. When the angle and the ultrasonic parameters are changed, the puncture guide line can be updated in real time according to a certain frequency. The two points of start and end can be set at the edge of the ultrasound display area.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the principles of the invention, and these should be considered to fall within the scope of the invention.
Claims (15)
1. A puncture stand usable for ultrasound interventional puncture, the puncture stand being connectable to an ultrasound transducer having an imaging surface in contact with a surface of a living being, the imaging surface being capable of passing ultrasound signals, the puncture stand comprising:
a puncture needle holder for guiding the puncture needle so that the puncture needle reaches a target region of puncture along a predetermined path;
an angle detection unit for detecting a puncture angle of the puncture needle with respect to the imaging surface in real time; and
a connector rotatably connected to the puncture needle holder so that the puncture needle holder can continuously adjust the puncture angle;
the angle detection unit comprises a magnetic part arranged on one of the puncture needle fixing part and the connecting part and a magnetic encoder arranged on the other of the puncture needle fixing part and the connecting part, and the magnetic part and the magnetic encoder are arranged at intervals relatively.
2. The puncture carrier of claim 1, wherein the puncture needle holder and the coupling member are detachably coupled.
3. The puncture carrier of claim 1, wherein the puncture needle holder and the connecting member are provided with stoppers fitted to each other to limit a rotation range of the puncture needle holder.
4. The puncture carrier of claim 3, wherein the needle mount is provided with a retainer for retaining the needle along the predetermined path, the retainer being disposed on an end side wall of the needle mount remote from the connector opposite the stop on the needle mount.
5. The lancing frame of claim 3, wherein the stopper of the lancet holder is a projection, and the stopper of the connector is a stop wall positioned in the path of rotation of the projection to limit the range of rotation of the lancet holder.
6. The lancing rack of claim 5, wherein there are at least two of the stop walls and the projection member moves between the two stop walls.
7. The lancing rack of claim 6, wherein two of the stop walls are connected by a stiffener.
8. The lancing frame of claim 1, wherein the magnetic element is a permanent magnet or a magnetized lancet.
9. The puncture carrier according to claim 1, wherein one of the puncture needle holder and the connecting member is provided with a rotation shaft, and the other of the puncture needle holder and the connecting member is provided with a hole matching the rotation shaft, the puncture needle holder and the connecting member being rotatably coupled by inserting the rotation shaft into the hole;
one of the magnetic member and the magnetic encoder is provided at an end of the rotary shaft near the connecting member.
10. The lancing rack of any one of claims 1-9, wherein the connector is rotatably connected to the ultrasound transducer.
11. The lancing rack of any one of claims 1-9, further comprising a force detection unit for detecting a force of a biological tissue against the lancet body.
12. The puncture rack of claim 11, wherein the force detecting unit is provided on a holding member of the puncture needle holder for holding the puncture needle moving along the predetermined path.
13. An ultrasound intervention puncture navigation system, characterized in that it comprises:
the puncture rack of any one of claims 1-12;
an ultrasound transducer for acquiring ultrasound image information in real time within a body of a living body;
a data acquisition unit for acquiring information of the puncture angle detected by the angle detection unit;
the data processing and transmitting unit is used for processing the information acquired by the data acquisition unit and transmitting the processed information to the image processing unit;
the image processing unit receives and processes the ultrasonic image information and the information transmitted by the data processing and transmitting unit in real time to generate a real-time ultrasonic composite image representing the inside of the living body with a puncture guide line;
an image display unit that displays the real-time ultrasound synthetic image in real time.
14. The ultrasound interventional puncture navigation system of claim 13, wherein the data acquisition unit further acquires a deflection angle of the puncture needle within the living body.
15. The ultrasound interventional puncture navigation system of claim 14, wherein the deflection angle is fed back by the force of the biological tissue on the puncture needle body detected by the force detecting unit disposed on the puncture frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201920827079.3U CN210644142U (en) | 2019-06-03 | 2019-06-03 | Puncture navigation system and puncture frame are intervene to supersound |
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| CN201920827079.3U CN210644142U (en) | 2019-06-03 | 2019-06-03 | Puncture navigation system and puncture frame are intervene to supersound |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110101439A (en) * | 2019-06-03 | 2019-08-09 | 无锡华飞杰希科技有限公司 | A kind of Ultrasound intervention punctures navigation system and puncture supporter |
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2019
- 2019-06-03 CN CN201920827079.3U patent/CN210644142U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110101439A (en) * | 2019-06-03 | 2019-08-09 | 无锡华飞杰希科技有限公司 | A kind of Ultrasound intervention punctures navigation system and puncture supporter |
| CN110101439B (en) * | 2019-06-03 | 2024-04-05 | 北京奥达智声医疗科技有限公司 | Ultrasonic intervention puncture navigation system and puncture frame |
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