CN217907843U

CN217907843U - Intelligent control low-temperature biopsy device

Info

Publication number: CN217907843U
Application number: CN202220102764.1U
Authority: CN
Inventors: 李晨光
Original assignee: Shanghai Lisheng Medical Technology Co ltd
Current assignee: Saien Medical Technology Lianyungang Co ltd
Priority date: 2022-01-14
Filing date: 2022-01-14
Publication date: 2022-11-29
Anticipated expiration: 2032-01-14

Abstract

The application relates to an intelligent control low-temperature biopsy device, which integrates a sampling needle as an independent consumable, and a cutting biopsy instrument is arranged on a shell through an installation cavity on the shell; the biopsy needle can be conveniently replaced, when biopsy sampling is carried out on a plurality of lesion tissues, the shell, the probe and the cutting sleeve do not need to be dismounted and mounted back and forth, time is saved for biopsy, and operation of medical personnel is facilitated. In addition, the technology replaces manual operation with the intelligent manipulator, biopsy sampling can be carried out through the precise control of the robot, technical requirements on the work of people are not required, the intelligent robot cannot shake to cause inaccurate sampling of lesion tissues, the hand is perfectly replaced for biopsy puncture, and the sampling efficiency is improved; the low-temperature biopsy sampling is completed by replacing hands of people with intelligent manipulators, the precision is improved, and the labor intensity is reduced.

Description

Intelligent control low-temperature biopsy device

Technical Field

The application relates to the technical field of intelligent medical instruments, in particular to an intelligent control low-temperature biopsy device.

Background

Biopsy or biopsy is an important tool for diagnosing cancer masses, preliminary exacerbation conditions, and other diseases and disorders in patients. In the conventional biopsy technology, a technical means of performing biopsy sampling on lesion tissues by adopting a low-temperature biopsy needle is popular. Generally, a rotary core biopsy is performed by using an adhesion probe having a liquid refrigerant, and as disclosed in patent publication No. CN100571649C, a rotary core biopsy device having a liquid refrigerant adhesion probe is provided.

The device has the following technical problems:

1. the device comprises a shell, wherein a pot is arranged on the shell, and an adhesion probe and a cutting sleeve for biopsy are integrally arranged in the shell. After the needle tool is used, the housing is disassembled, the cutting cannula and the probe inside are taken out, and a new cutting assembly is assembled inside the housing of the device after replacement or sterilization. When a plurality of focus tissues need to be subjected to biopsy sampling, the shell is repeatedly disassembled and assembled, the probe is assembled and the sleeve is cut, so that the time is extremely consumed;

2. when the device is used, the device is used for puncturing and sampling by medical personnel holding the shell of the device in a traditional manual biopsy sampling mode. The sampled tissue position has small area and high technical requirement on manual sampling, and the extremely small jitter is likely to cause inaccurate sampling of lesion tissues; the physical strength is extremely high. The existing robot can perfectly replace a human hand to carry out biopsy puncture.

SUMMERY OF THE UTILITY MODEL

In view of this, the application provides an intelligently controlled low-temperature biopsy device, which can be replaced at one time and used quickly by using a needle as a consumable material, so that the sampling efficiency is improved; the low-temperature biopsy sampling is completed by replacing a human hand with the intelligent manipulator, so that the precision is improved, and the labor intensity is reduced.

The application provides an intelligent control low-temperature biopsy device, which comprises a shell, a valve group, a canister and a compressed gas tank, wherein the compressed gas tank is matched in the canister, the canister 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 comprising:

the mounting cavity is arranged on the shell;

the biopsy instrument is fixed in the mounting cavity in a matching way, and a matched cutting sleeve and an attached probe are arranged in the biopsy instrument;

the valve is arranged on the shell, and low-temperature compressed gas is guided into the valve group through the valve;

and the intelligent robot is arranged on one side of the shell, holds the shell through a manipulator, and realizes automatic biopsy sampling under the control of a computer control system.

As an optional embodiment of the present application, optionally, the method further includes:

the air inlet end is arranged at the right end of the shell, is communicated with the piston cylinder body of the biopsy instrument through a pipeline and provides aerodynamic force for driving the cutting sleeve to move;

the air inlet is arranged on the biopsy instrument and guides the cooling liquid output by the cooling agent supply pipeline system into the adhesion probe through a pipeline;

the first air inlet pipe is connected between the valve and the air inlet hole in parallel;

and the second air inlet pipe is connected between the valve and the air inlet end in parallel.

the air flow cavity is arranged in the valve group and is communicated with the tank;

an air pipe connected between the outlet of the airflow chamber and the valve, and guiding the cooling gas to the valve when the outlet of the airflow chamber is opened;

and the pneumatic system is arranged in the valve group, supplies air through the valve, and guides low-temperature compressed gas to the main valve, the advancing valve, the retracting valve and the adhesion probe respectively.

As an optional implementation of the present application, optionally, the present application further includes a valve opening and closing mechanism, including:

a spring fitted within the airflow chamber;

the thread pair is matched in the valve group on one side of the airflow cavity;

the valve screw 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 optional embodiment of the present application, optionally, the valve screw comprises:

the valve block is limited at the right end inside the airflow cavity through the spring and seals an outlet of the airflow cavity;

the transmission screw rod is horizontally fixed on the valve block, the right end of the transmission screw rod penetrates through the thread pair in a matched mode, and extends out of the valve block to be connected with the output end of the motor driving system;

the motor driving system drives the transmission screw to move, and the valve block is pushed open to open or close the outlet of the airflow cavity.

the tank body end enclosure is matched with the top of the tank cylinder and elastically limits the compressed gas tank;

a pierce pin connector provided in the gas flow passage, a gas outlet of the compressed gas tank being fitted on the pierce pin connector;

puncturing a gas outlet of the compressed gas tank by the puncturing pin connector when the compressed gas tank is fitted within the canister releases compressed gas through a gas flow channel into a gas flow chamber of the valve block.

and the air outlet is arranged on the biopsy instrument and sends the airflow of the piston cylinder body of the biopsy instrument to the air circulation system for circulation through a pipeline.

the tissue marker is arranged at the position of the focus and used for marking the position of the focus;

a delivery needle for delivering the tissue marker to the lesion location and removing the tissue marker after biopsy is completed.

the radiography system is arranged at one side of the intelligent robot, and is used for radiography of marked lesion tissues, acquiring lesion position images in real time and sending the images to the computer control system;

the display is arranged on one side of the intelligent robot and used for receiving and displaying the contrast images;

the radiography system and the display are respectively and electrically connected with the computer control system.

the cutting tool bit is arranged at the tail end of the cutting sleeve and used for rotary cutting and sampling; the cutting head includes at least three rotary cutting blades.

The technical effects of this application:

according to the scheme, the sampling needle is integrated to be used as an independent consumable, and the cut biopsy instrument is installed on the shell through the installation cavity on the shell; the biopsy needle can be conveniently replaced, when biopsy sampling is carried out on a plurality of lesion tissues, the shell, the probe and the cutting sleeve do not need to be dismounted and mounted back and forth, time is saved for biopsy, and operation of medical personnel is facilitated. In addition, the intelligent manipulator replaces manual operation, biopsy sampling can be performed through the precise control of the robot, technical requirements on the work of people are not required, the intelligent robot cannot shake to cause inaccurate sampling of lesion tissues, the hand is replaced perfectly to perform biopsy puncture, and the sampling efficiency is improved; the low-temperature biopsy sampling is completed by replacing hands of people with intelligent manipulators, the precision is improved, and the labor intensity is reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the application and, together with the description, serve to explain the principles of the application.

FIG. 1 is a schematic cross-sectional view of the biopsy instrument installed as a single consumable in the present application;

FIG. 2 is a schematic cross-sectional view of the biopsy instrument of the present application without the biopsy instrument installed as a separate consumable;

FIG. 3 illustrates a schematic three-dimensional structure of FIG. 2 of the present application;

FIG. 4 shows a schematic front view of a biopsy instrument of the present application as a stand-alone consumable;

FIG. 5 illustrates a schematic diagram of the components of the intelligently controlled cryobiopsy device of the present application;

FIG. 6 shows a schematic representation of spatial marking of lesion tissue locations according to 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 can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

It should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention or for simplicity in description, and do not indicate or imply that the device or element so indicated must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

The word "exemplary" is used exclusively 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.

Furthermore, in the following detailed description, numerous specific details are set forth 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 that are well known to those skilled in the art have not been described in detail so as not to obscure the present application.

As shown in fig. 1, the present application according to an embodiment of the present application provides an intelligently controlled cryobiopsy device, which includes a housing 1, a valve set 15, a canister 5, and a compressed gas tank 18, wherein the compressed gas tank 18 fits inside the canister 5, the canister and the valve set 15 are both fixed on the housing and connected with each other through an air flow channel, and the valve set 15 includes a main valve, an advance valve, and a retract valve;

in this embodiment, the housing of the canister 5 and the valve block 15 are formed as an integral structure, and a piercing pin connector 4 is installed at the bottom of the canister 5 for piercing a gas outlet of the compressed gas tank through the piercing pin connector 4 when the compressed gas tank 18 is fitted in the canister 5, and releasing the compressed gas into the gas flow chamber 11 of the valve block 15 through a gas flow passage. When the valve screw of the outlet of the sealed airflow cavity is driven to open by the motor driving system, the low-temperature compressed gas stays at the valve and then flows to different control valve bodies respectively. The valve set 15 includes a main valve, a forward valve and a reverse valve, and the specific structure and the corresponding pneumatic system thereof are described in the patent embodiment with the publication number CN100571649C, which is not described herein again.

the tank body end enclosure is matched with the top of the tank cylinder and elastically limits the compressed gas tank; the tank closure is used to press the compressed gas tank 18 into the tank 5 by screwing when the compressed gas tank 18 is fitted into the tank 5, so that the piercing pin connector 4 pierces the gas outlet of the compressed gas tank.

This embodiment, with the biopsy needle, install as a consumptive material alone on the shell, compare above-mentioned prior art, this technique no longer need unpack apart its shell and cut the assembly and the change of sleeve pipe and adhesion probe, but directly with a biopsy utensil, the spiro union cooperation can communicate the gas circuit and carry out the work sample on the mounted position in the outside.

As shown in fig. 2 and 3, further comprising:

the mounting cavity is arranged on the shell 1;

as shown in fig. 2, the housing 1 of the sampling device of the present application has an open left end and is a cylinder with a tubular cavity structure, and the right end is gradually closed; the valve group 15 is fixed on the outer side surface of the upper part of the shell and is integrally connected with the tank 5. An installation cavity with an opening at the left end is arranged on the outer side, and an external thread 2 is arranged on the inner side surface of the left end of the installation cavity and used for screwing a biopsy instrument.

A biopsy instrument 16 which is fixed in the installation cavity in a matching way and is internally provided with a matched cutting sleeve 17 and an adhesion probe; as shown in fig. 4, the biopsy instrument as an independent consumable has a body matching with the mounting cavity, and a head portion being a conical connector with internal threads for matching 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 extends into the biopsy instrument through a pipeline 3 and is connected to a piston cylinder body in the biopsy instrument through an air inlet end of the biopsy instrument so as to provide aerodynamic force for driving the cutting sleeve to move; the cooling liquid output by the cooling agent supply pipeline system is guided into the attached probe through the air inlet hole which is arranged on the biopsy instrument in a matching way, and finally, the gas is exhausted through the air outlet hole on the biopsy instrument.

The valve 6 is arranged on the shell, is specifically fixedly arranged on the outer side surface of the top of the valve group 15, guides low-temperature compressed gas into the valve group from the airflow cavity through the valve, firstly enters a main valve, and then is respectively controlled to enter an advancing valve and a retracting valve under the driving of a cam of a motor driving system; the compressed gas is output from the airflow chamber of the valve set 15, guided to the valve through the pipeline, and is subjected to safety control by the valve, and the low-temperature cooling gas is guided to the main valve and distributed under automatic control, and the cooled compressed gas circulates in the forward valve and the return valve respectively according to the gas path setting, which is described in detail with reference to the above patent embodiment.

As shown in fig. 5, in addition to the cryobiopsy device composed of the above components, in the present embodiment, an intelligent robot is used instead of a human hand, and the housing 1 of the cryobiopsy device is held by a manipulator of the intelligent robot, so that the motion of the cryobiopsy device can be controlled by the manipulator, and the precise motion can be realized for the needle biopsy.

And the intelligent robot is arranged on one side of the shell, holds the shell through a manipulator, and realizes automatic biopsy sampling under the control of a computer control system. The model and style of the intelligent robot are not limited in the present place, as long as the shell can be held or clamped by the manipulator, and then the biopsy instrument clamped by the intelligent robot is positioned and driven to move by the control of the computer, and the probe can penetrate to the position near the lesion tissue.

In order to further optimize the system, the lesion tissue is imaged by an imaging system, such as a color ultrasound system, the position of the lesion tissue to be biopsied and sampled can be calculated and obtained, and the specific position coordinates can be obtained after conversion. The display can display the biopsy process to the focus position in real time, and is convenient for directly watching the biopsy process.

the air inlet hole is arranged on the biopsy instrument and guides the cooling liquid output by the cooling agent supply pipeline system into the adhesion probe through a pipeline;

As shown in fig. 1-3, an air inlet 10, disposed at the right end of the housing 1, is connected to the piston cylinder of the biopsy instrument 16 through a pipeline to provide aerodynamic force for driving the motion of the adhesion probe; the inlet air is converted into the moving force of the screw rod through the piston cylinder body, so that the air of the screw rod enters the piston cylinder body 2 through the inlet end 10 to drive the screw rod to move. Through air current circulation, the reciprocating motion of the screw rod can be realized. And will not be described in detail herein.

An air inlet hole 12, which is provided on the biopsy instrument 16 and guides the cooling liquid output by the cooling agent supply pipeline system to the probe in the biopsy instrument 16 through a pipeline;

the valve 6 is arranged on the valve group 15, and a first air inlet pipe 3 and a second air inlet pipe 7 are connected in parallel on the valve group; the air outlet end of the first air inlet pipe 3 is connected into the shell 1 and communicated with the air inlet 12 to provide cooling air for the adhesion probe 17; the second air inlet pipe 7 is connected with the air inlet end 10 and provides pneumatic air for the adhesion probe 17; the outlet of the valve group 15 is opened and closed by a screw rod 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, respective gas circulating systems are used for cooling and guiding, 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, and cooling gas attached to the probe 17 is provided; the second gas inlet pipe 7 is connected with the gas inlet end 10 and provides pneumatic gas for the adhesion probe 17.

the airflow cavity 11 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 the 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 gas through a valve, and respectively guides low-temperature compressed gas to the main valve, the advancing valve, the retracting valve and the adhesion probe.

As shown in fig. 1, when the compressed gas tank 18 is fitted into the canister 5, the gas outlet of the compressed gas tank 18 is pierced by the piercing pin connector 4, releasing compressed gas into the gas flow chamber 11 of the valve block 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 forward valve, the retraction valve and the adhesion probe through the pneumatic system. The pneumatic system is described in detail with reference to the technical principles described in the examples of the prior patent.

As an optional embodiment of the present application, optionally, the vehicle further includes a valve opening and closing mechanism, including:

a spring fitted within the airflow chamber;

the screw pair 21 is matched in the valve group at one side of the airflow cavity;

the valve screw is limited in the airflow cavity through the spring;

In the application, a valve opening and closing mechanism is arranged between the airflow cavity 11 and the valve group 15, and a screw system driven by an electric appliance is used for opening and closing the valve, as shown in fig. 1 and 2, a valve screw is arranged in the airflow cavity and used for opening and closing an air outlet at the right end of the airflow cavity. The valve screw is formed by connecting a valve block 14 and a transmission screw 13, which will be described in detail below.

In order to enable the air valve screw to tightly push and seal the air outlet, a spring matched in the airflow cavity is adopted to push against the left end surface of the air valve screw, so that the air valve block 14 of the air valve screw is pushed against the air outlet. In order to disengage the valve piece 14 of the valve screw and open the air outlet, the valve piece 14 of the valve screw is ejected using a drive screw 13 driven by a servo pneumatic system. The right end of the valve screw is a horizontally arranged transmission screw 13, and the transmission 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 a nut pair, an installation cavity corresponding to the left and right of an airflow cavity is arranged in the valve group 15 on the right side of an air outlet of the valve group 15, a block-shaped thread pair 21 is fixed in the installation cavity in a matched mode, and a transmission screw 13 penetrates through the thread pair 21 in a matched mode, extends out of the valve group 15 and is connected with the output end 9 of a pneumatic system. After the machine is started, the pneumatic system is started, so that the output end 9 drives the transmission screw 13 to transmit, the transmission screw 13 drives the valve block 14 to move through the conversion of the thread pair 21, the valve block 14 opens and closes the airflow cavity to release cooling gas or liquid to flow out, and the gas is conveyed to the valve 6 through the gas pipe 8 to be shunted.

As an optional implementation scheme of this application, optionally, pneumatic system is servo drive system, including computer control system, battery, motor and gear box, and the battery electricity respectively is connected computer control system and motor, the motor is connected the gear box, output 9 is located just keep at the uniform velocity rotating on the gear box.

As shown in fig. 3, the valve block 14 is a flexible cylindrical structure, and can be opened by a spring to seal the air outlet and being driven by the drive screw 13. The transmission screw 13 is matched and penetrates through the thread pair 21, 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 screwing or welding or integrated forming mode, the transmission screw is driven by the motor driving system to move, and the valve block is pushed open to open or close the outlet of the airflow cavity.

and the air outlet 12 is arranged on the biopsy instrument and sends the airflow of the piston cylinder of the biopsy instrument to the air circulation system for circulation through a pipeline. After the rocket device 16 is assembled in the installation cavity, the cooling gas of the adhesion probe 17 is provided through the connection of the gas outlet 12 and the gas outlet end of the first gas inlet pipe 3 or through the matching of pipelines.

According to the application, in order to facilitate the positioning and marking of the focus tissue and provide cloud top target position point data for the intelligent robot, a tissue marker is input to the focus tissue in the radiography environment through a conveying needle, and the space marking is performed on the focus tissue position.

As shown in fig. 6, as an optional embodiment of the present application, optionally, the method further includes:

the tissue marker is arranged at the position of the focus and used for marking the position of the focus; a tissue marker for marking a lesion location; the tissue marker may be metallic Ti which is readily detected by a contrast system for imaging to show the specific location of lesion tissue. By placing tissue markers, lesion repositioning during late treatment can be avoided, and by imaging systems such as ultrasound, magnetic Resonance Imaging (MRI) or x-ray, marker locations can be detected, locating biopsies. A cylindrical tissue marker 101 with a barbed outer surface is placed in a lesion 103 by a delivery needle 102. In this embodiment, the specific shape of the tissue marker is not limited herein.

A delivery needle for delivering the tissue marker to the lesion location and removing 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 location with the assistance of the biopsy data visualization system; and after the biopsy is finished, moving the tissue marker in the biopsy data visualization system out of the body surface from the lesion tissue position with the assistance of the biopsy data visualization system. The specific type of delivery needle 102 is not limiting herein.

The material of the delivery needle or the needle point part of the delivery needle is a material which is visualized under the searchlighting of a contrast system of the biopsy data visualization system. Preferably Ti.

the radiography system is arranged at one side of the intelligent robot, and is used for radiography of marked lesion tissues, acquiring lesion position images in real time and sending the lesion position images to the computer control system; the radiography system is used for radiography of the focus tissues, acquiring focus position images and biopsy sampling image data in real time and sending the focus position images and the biopsy sampling image data to the computer control system; the radiography system is mainly used for imaging the tissue marker of the focus tissue, and the imaging image is sent to the display for real-time display after being sent to the computer control system for processing, so that a doctor can know the position of the focus tissue in real time. The imaging system also images steps in a multi-process procedure, allowing real-time imaging of tissue markers in tissue with the delivery needle, cutting cannulas, probes for biopsies, etc. Accordingly, it is necessary to use a special material for the tip of the cutting cannula and the tip of the penetrating section to which the probe is attached, which material can be identified by imaging. In this embodiment, metallic titanium is preferable. Therefore, the radiography system can be used for radiography in the front and back stages of biopsy, visual biopsy operation is realized, and a doctor can conveniently identify the position and perform accurate biopsy.

the radiography 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 shown in fig. 4, the enlarged structure of the end of the cutting head is schematically illustrated, the cutting head has a plurality of rotary-cut blades for advancing and rotary-cutting under the driving of the valve body, rotary-cut sampling is performed on the focal tissue fixed by the probe through the rotary-cut blade at the head, and the sample is collected after sampling. Three centrosymmetric rotary-cut blades are preferred to carry out rotary-cut sampling.

The present embodiment is an example of sampling a lesion tissue, but the present embodiment can also be applied to sampling other parts and even non-lesion tissues, and only the sampling environment and the corresponding parameters need to be changed.

The foregoing description of the embodiments of the present application has been presented for purposes of illustration and description and is not intended to be exhaustive or 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 described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An intelligent control cryobiopsy device, includes shell, valves, a jar and compressed gas jar, compressed gas jar cooperation in the jar, jar and valves all set firmly on the shell and between the two through a gas flow channel connection, the valves include main valve, advance valve and retract valve, its characterized in that still includes:

the mounting cavity is arranged on the shell;

2. The intelligently controlled cryobiopsy device of claim 1, further comprising:

3. The intelligently controlled cryobiopsy device of claim 1 or 2, further comprising:

the airflow cavity is arranged in the valve group and is communicated with the tank barrel;

4. The intelligently controlled cryobiopsy device of claim 3, further comprising a valve opening and closing mechanism comprising:

a spring fitted within the airflow chamber;

the valve screw is limited in the airflow cavity through the spring;

5. The intelligently controlled cryobiopsy device of claim 4, wherein the valve screw comprises:

6. The intelligently controlled cryobiopsy device of claim 4 or 5, further comprising:

puncturing a gas outlet of the compressed gas tank through the puncturing pin connector when the compressed gas tank is fitted within the canister, releasing compressed gas through a gas flow channel into a gas flow chamber of the valve block.

7. The intelligently controlled cryobiopsy device of claim 1, further comprising:

8. The intelligently controlled cryobiopsy device of any one of claims 1-7, further comprising:

9. The intelligently controlled cryobiopsy device of claim 8, further comprising:

the radiography system is arranged at one side of the intelligent robot, and is used for radiography of marked lesion tissues, acquiring lesion position images in real time and sending the lesion position images to the computer control system;

10. The intelligently controlled cryobiopsy device of claim 1 or 9, further comprising: