WO2022116449A1

WO2022116449A1 - Multi-needle puncture system

Info

Publication number: WO2022116449A1
Application number: PCT/CN2021/084411
Authority: WO
Inventors: 罗中宝; 王海峰; 张星光
Original assignee: 上海睿刀医疗科技有限公司
Priority date: 2020-12-04
Filing date: 2021-03-31
Publication date: 2022-06-09
Also published as: CN112494118A; CN112494118B

Abstract

A multi-needle puncture system, comprising: a puncture guiding and releasing mechanism (1), comprising a puncture needle guiding support arm (11) and an opening and closing valve (12) located at a side portion of the puncture needle guiding support arm (11), the opening and closing valve (12), when being closed, being provided with a through hole (13) for a puncture needle to pass through; a puncture template (2), comprising a flexible puncture plate; an ultrasonic assembly (3), comprising an ultrasonic probe (31) and a probe control assembly, the probe control assembly being configured to control a detection position and a detection direction of the ultrasonic probe (31); and a puncture positioning arm group (4), configured to move the puncture needle guiding support arm (11) to the puncture position in response to a system control signal. The multi-needle puncture system can automatically guide and position a plurality of minimally invasive puncture needles on the basis of a result of fusion and registration of an ultrasonic image and an MR image. Said system is accurate and stable, and reduces the working intensity of an operator.

Description

A multi-needle puncture system

technical field

The invention relates to the technical field of medical instruments, in particular to a multi-needle puncture system.

Background technique

Cancer is a major disease endangering human health. Traditional cancer treatment methods and newly developed thermal ablation therapy featuring minimally invasive ablation, as well as ablation therapy such as particle implantation, are limited by indications, contraindications, treatment side effects, thermal effects and other factors, making their clinical application subject to certain limitations. In recent years, with the continuous development of pulsed bioelectricity, electric field pulses have received extensive attention for their non-thermal and minimally invasive biomedical effects, and have been gradually applied in the clinical treatment of tumors. Minimally invasive therapy often requires a puncture needle to reach the lesion area in the human body for treatment, and the puncture needle usually needs to be positioned with the puncture template under the guidance of ultrasound or other medical imaging equipment to reach the desired target position.

At present, a puncture device and an ultrasonic probe are commonly used in clinical practice, and the localized puncture of the lesion area is carried out under the guidance of ultrasonic images during operation. Among them, the positioning of the ultrasonic probe and the puncture needle in the puncture device is completed by manual operation, and the operation process is relatively complicated, requiring the cooperation of at least two doctors, which is labor-intensive, and the existing puncture device cannot automatically complete much of the puncture positioning. Puncture of a needle. For example, when performing prostate puncture through the perineum, the lesion area of some patients may be blocked by the pubic bone. At this time, the needle insertion angle of this part is not parallel to the needle insertion angle of other unobstructed parts, and the puncture needle needs to be raised at a certain angle. The traditional guide hole puncture template cannot insert puncture needles with different angles. At this time, the puncture equipment not only cannot improve the puncture accuracy, but also prevents the puncture needle from being raised to the location of the lesion blocked by the pubic bone, which affects the accuracy of puncture and thus affects the operation. quality.

SUMMARY OF THE INVENTION

In order to solve the above technical problem of low puncture accuracy, the present invention proposes a multi-needle puncture system, including:

A puncture guide and release mechanism, which comprises a puncture needle guide arm and an opening and closing flap located on the side of the puncture needle guide arm, and when the opening and closing flap is closed, there is a through hole for the puncture needle to pass through;

a puncture template, which includes a flexible puncture plate;

an ultrasonic assembly, which includes an ultrasonic probe and a probe control assembly, the probe control assembly is configured to control a detection position and a detection direction of the ultrasonic probe;

A puncture positioning arm set configured to move the puncture needle guide arm to a puncture position in response to a system control signal.

In one embodiment, the puncture guide and release mechanism further has a puncture depth control baffle provided on the side of the puncture needle guide arm along the axial direction of the puncture needle guide arm, the puncture depth control The baffle plate is provided with a non-closed perforation for the puncture needle to pass through, and the non-closed perforation is opposite to the through hole formed by the closure of the opening and closing valve.

In one embodiment, the ultrasonic assembly further comprises a sheath tube and a force sensor, the sheath tube is protruded and disposed at the front end of the multi-needle puncture system;

The front end of the sheath tube is closed, and the rear end has an opening, and the ultrasonic probe can be inserted into the inner cavity of the sheath tube through the opening;

The force sensor is configured to detect an external force experienced by the sheath.

In one embodiment, the probe control assembly includes an ultrasonic feed stage and an ultrasonic rotary stage.

In one embodiment, the ultrasonic assembly further comprises a strip base and a sheath support,

The sheath tube support is protruded upward and is disposed at the front end of the strip base along the length direction of the base;

The open end of the sheath tube is arranged on the sheath tube support, and the closed end of the sheath tube protrudes toward the outside of the bar-shaped base;

The ultrasonic feeding platform is movably arranged on the bar-shaped base along the length direction of the bar-shaped base, and the ultrasonic rotating platform is arranged on the ultrasonic feeding platform. The front part of the ultrasonic probe is protruded from the front end of the ultrasonic feeding platform, and is inserted into the inner cavity of the sheath tube through the open end of the sheath tube.

In one embodiment, the puncture positioning arm group includes a posture transmission arm group and a first puncture positioning arm, a second puncture positioning arm and a third puncture positioning arm which are sequentially connected by a rotating shaft, whereby the puncture positioning arm group is It is configured to be able to move in a plane parallel to the puncture template, and when the first puncture positioning arm and/or the second puncture positioning arm moves, the posture of the third positioning puncture arm relative to the base can remain unchanged.

In one embodiment, the multi-needle puncture system further includes a base, and the fixed end of the puncture positioning arm group is movably connected to the base; the ultrasonic component is arranged on the base; the puncture template is located at the base. The puncture needle is guided to the front of the support arm and is fixed on the base or the ultrasonic component.

In one embodiment, the puncture positioning arm set is driven by a motor, and the motor is arranged at the fixed end of the puncture positioning arm set,

The motor drives the first puncture positioning arm to rotate according to the control signal, or drives the position transmission rod to drive the second puncture positioning arm to rotate.

In one embodiment, the puncture needle guide arm is rotatably disposed on the free end of the puncture positioning arm group.

In one embodiment, it further includes an adjustment arm group, the adjustment arm group includes a first level adjustment arm, a second level adjustment arm and a third level adjustment arm, and the base is connected to the third level adjustment arm in a forward-backward pitch swing. The first end of the horizontal adjustment arm and the second horizontal adjustment arm are respectively connected to the second end of the third horizontal adjustment arm and the second end of the first horizontal adjustment arm through a rotating shaft.

In one embodiment, the puncture needle guiding arm further comprises a guiding instrument case located at the front end of the puncturing needle guiding supporting arm, and the opening and closing flap is arranged on the guiding instrument case.

In one embodiment, the piercing plate is made of silica gel, fabric or fiber material.

In one embodiment, the puncture plate includes a first silica gel layer and a second silica gel layer, and the puncture template further includes a silica gel pressing plate and a surrounding sidewall of the puncturing template. The second silica gel layer is fixed on the two end faces of the side wall of the puncture template.

Beneficial effects of the present invention: The multi-needle puncture system according to the embodiment of the present invention can automatically guide and position multiple minimally invasive puncture needles based on the results of fusion and registration of ultrasonic images and MR images. work intensity.

Description of drawings

1 is a schematic diagram of the rear side of a multi-needle puncture system proposed by an embodiment of the present invention;

2 is a schematic diagram of the front side of a multi-needle puncture system proposed by an embodiment of the present invention;

Fig. 3 is the schematic diagram of the puncture guide and the release mechanism of the multi-needle puncture system proposed by the embodiment of the present invention;

4 is a schematic assembly diagram of a puncture guide and a release mechanism of a multi-needle puncture system proposed in an embodiment of the present invention;

5 is a schematic diagram of a puncture template of a multi-needle puncture system proposed by an embodiment of the present invention;

6 is a cross-sectional view of a puncture template of a multi-needle puncture system proposed by an embodiment of the present invention;

7 is a side view of a multi-needle puncture system proposed by an embodiment of the present invention;

Figure 8 is a cross-sectional view of the ultrasound assembly of the multi-needle puncture system of Figure 7;

9 is a schematic diagram of the rear side of one side of the puncture positioning arm group of the multi-needle puncture system proposed by the embodiment of the present invention;

10 is a perspective view of a puncture positioning arm group of a multi-needle puncture system proposed in an embodiment of the present invention;

11 is a schematic structural diagram of a puncture positioning arm group (including a posture transmission rod) of a multi-needle puncture system proposed in an embodiment of the present invention;

12 is a schematic structural diagram of a puncture positioning arm group (including a position transmission rod) of a multi-needle puncture system proposed in an embodiment of the present invention;

13 is a schematic diagram of an adjustment arm group of a multi-needle puncture system proposed by an embodiment of the present invention;

14 is another schematic diagram of the adjustment arm group of the multi-needle puncture system proposed by the embodiment of the present invention;

FIG. 15 is a schematic diagram of performing a puncture operation using the multi-needle puncture system provided by an embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings. However, those skilled in the art know that the present invention is not limited to the accompanying drawings and the following embodiments.

As used herein, the term "including" and its various variants can be understood as open-ended terms meaning "including but not limited to". The term "based on" and the like can be understood as "based on at least". The terms "first", "second", "third" and other expressions are only used to distinguish different features and have no substantive meaning. The terms "left", "right", "center" and the like are used only to denote the positional relationship between opposite objects.

An embodiment of the present invention proposes a multi-needle puncture system, referring to FIG. 1 and FIG. 2 , including a puncture guide and release mechanism 1 , a puncture template 2 , an ultrasonic assembly 3 and a puncture positioning arm set 4 . Referring to FIG. 3 , the puncture guide and release mechanism 1 includes a puncture needle guide arm 11 and an opening and closing flap 12 located on the side of the puncture needle guide arm 11 , and the opening and closing flap 12 is provided with a puncture needle when closed. With reference to FIG. 5, the puncture template 2 includes a flexible puncture plate; with reference to FIG. 8, the ultrasonic assembly 3 includes an ultrasonic probe 31 and a probe control assembly, which is configured to control the The detection position and detection direction of the ultrasonic probe 31; the puncture positioning arm group 4 is configured to move the puncture needle guide arm 11 to the puncture position in response to a system control signal.

When in use, the probe control component controls the detection position and detection direction of the ultrasonic probe 31, and the multi-needle puncture system receives the ultrasonic image from the ultrasonic component 3, and further fuses it with the MR image, performs puncture positioning, and controls the positioning arm group. 4. Move the puncture needle guide arm 11 to the puncture position. At this time, the opening and closing flap 12 is closed to form a via hole 13, and the operator manually passes the puncture needle through the via hole 13, and further passes through the puncture template 2, and the puncture during the puncture process is monitored in real time through the ultrasonic image. Needle depth and position for correct insertion into the lesion area. Subsequently, the multi-needle puncture system controls the opening and closing flap 12 to open to release the puncture needle, and controls the puncture positioning arm group 4 to drive the puncture needle guiding arm 11 to move toward the side of the puncture needle, so that the opening and closing flap 12 leaves puncture needle to complete the puncture of one puncture needle. By repeating the above process, multiple puncture needles can be punctured, and the multiple puncture needles are fixed by the puncture template.

Specifically, as shown in FIGS. 3 and 4 , the puncture guide and release mechanism 1 includes a puncture needle guide arm 11 , an opening and closing flap 12 and a puncture depth control baffle 14 .

The opening and closing flap 12 is located on the side of the puncture needle guide arm 11 , and when the opening and closing flap 12 is closed, there is a through hole 13 for the puncture needle to pass through. In this embodiment, the puncture needle guide arm 11 further includes a guide instrument box 15 detachably disposed at the front end of the puncture needle guide arm 11 , and the opening and closing flap 12 is disposed in the guide instrument box 15 Above, the guiding instrument box 15 is provided with a mechanism for controlling the opening and closing of the opening and closing flaps 12 , and the opening and closing flaps 12 can be opened and closed manually by a button, and can also be opened and closed according to a system control signal. The guide tool box 15 can be installed and removed through the button above it. Due to the detachable arrangement of the guide tool box 15, it is easier to sterilize the opening and closing flap 12 or to replace the guide tool box 15 as a whole. .

The puncture depth control baffle 14 is disposed on the side of the puncture needle guide arm 11 through a sliding mechanism such as a chute along the axial direction of the puncture needle guide arm 11, and the puncture depth control baffle 14 has a A non-closed perforation 16 for the puncture needle to pass through. The puncture depth control baffle 14 is disposed behind the opening and closing flap 12 , and the non-closed perforation 16 of the puncturing depth controlling baffle 14 is opposite to the through hole 13 formed by the closing of the opening and closing flap 12 . In this embodiment, the opening and closing flap 12 and the puncture depth control baffle 14 are both disposed on the lower side of the puncture needle guide support arm 11, and the puncture depth control baffle 14 is detachable to facilitate the The puncture depth control baffle 14 is sterilized or replaced as a whole.

By sliding the puncture depth control baffle 14 on the puncture needle guide arm 11, the puncture depth control baffle 14 can be fixed in place. In the embodiment of the present invention, the puncture depth of the puncture needle is automatically located based on the fusion of the ultrasound image and the MR image. During puncture, the operator fits the needle shaft of the puncture needle with the side wall of the non-closed perforation 16 of the puncture depth control baffle 14, and the needle tip of the puncture needle passes through the through hole 13 of the opening and closing flap 12, and further. Puncture of biological tissue. In the embodiment of the present invention, the depth and position of the puncture needle during the puncture process can be monitored in real time through ultrasonic images. When the needle handle of the puncture needle is in contact with the periphery of the non-closed perforation 16 of the puncture depth control baffle 14, the predetermined puncture depth is reached. , stop puncturing. The puncture operation in the embodiment of the present invention is suitable for single-needle treatment or biopsy, and multiple-needle treatment or biopsy can also be achieved by repeating the operation multiple times.

The puncture template 2 includes a flexible puncture plate, and the puncture plate can be made of silica gel, fabric or fiber material. As shown in FIGS. 5 and 6 , the puncture plate includes a first silica gel layer 22 and a second silica gel layer 23 , and the puncture template 2 includes a silica gel pressure plate 21 and a surrounding puncture template side wall 24 . The first silica gel layer 22 and the second silica gel layer 23 are fixed on the two end surfaces of the side wall 24 of the puncture template. Since the puncture plate made of flexible material is used, the needle insertion position and angle can be adjusted freely, which can adapt to the clinical operation of puncture at different positions and angles. In addition, the puncture template can fix the puncture needle in vitro, Fixing the puncture needle improves the stability of the needle body, thereby improving the quality of the operation.

In order to better assemble the multi-needle puncture system, the multi-needle puncture system further includes a base 5 on which the ultrasonic assembly 3 is arranged, and the fixed end of the puncture positioning arm set 4 is movably connected to the base 5 . On the base 5 , the puncture template 2 is located in front of the puncture needle guide arm 11 and is fixed on the base 5 or the ultrasonic component 3 .

As shown in FIGS. 7 and 8 , the ultrasonic assembly 3 includes an ultrasonic probe 31, a sheath tube 32, a sheath tube support 33, a bar-shaped base 34, a force sensor 35 and a probe control assembly, which is configured as The detection position and detection direction of the ultrasonic probe 31 are controlled.

The sheath tube bracket 33 protrudes upward and is disposed at the front end of the bar-shaped base 34 along the length direction of the base, and a sheath tube installation mechanism is provided on the sheath tube bracket 33 . The front end of the sheath tube 32 is closed, and the rear end has an opening. The sheath tube fixing member 321 at the open end of the sheath tube 32 is coupled to the force sensor 35 through a connecting member 322, such as a bolt. The closed end protrudes toward the outside of the bar-shaped base 34, and the sheath tube 32 is protruded and disposed at the front end of the multi-needle puncture system. In a specific embodiment, the force sensor can be selected as a multi-dimensional force sensor, which can sense force changes in multiple dimensions. Move and turn.

The ultrasonic probe 31 is inserted into the lumen of the sheath tube 32 through the opening, and can move along the length direction of the sheath tube 32 under the control of the probe control assembly.

The probe control assembly includes an ultrasonic feeding platform 36 and an ultrasonic rotating platform 37 . The ultrasonic feeding platform 36 is movably arranged on the bar-shaped base 34 along the length direction of the bar-shaped base 34 , and the ultrasonic rotating platform 37 is arranged on the ultrasonic feeding platform 36 . The rear part of the ultrasonic probe 31 is arranged on the ultrasonic rotary platform 36, and the front part of the ultrasonic probe 31 protrudes from the front end of the ultrasonic feeding platform 36, and is inserted into the sheath through the open end of the sheath tube 32. in the lumen of the tube 32 . The ultrasonic feeding platform 36 can make the ultrasonic probe 31 move along the axial direction of the ultrasonic probe 31 ; the ultrasonic rotating platform 37 can make the ultrasonic probe 31 rotate along the axis of the ultrasonic probe 31 . During the puncturing operation, the sheath tube 32 is inserted into the patient's rectum, for example, and the probe control assembly controls the ultrasound probe 31 to rotate and move back and forth in the sheath tube 32 to acquire ultrasound images. Because the sheath tube 32 is provided, the ultrasonic probe 31 can greatly reduce the friction between the instrument and the muscle tissue during the process of rotating and moving back and forth, so as to avoid damage to the patient's muscle tissue as much as possible.

The force sensor 35 is installed on the sheath tube bracket 33 and is fixedly connected with the sheath tube fixing member 321 , so as to be able to detect the external force on the sheath tube 32 . As shown in FIG. 8 , the sheath tube fixing member 321 is a flange formed along the radially outward of the open end of the sheath tube 32 , and the flange is fixed to the force sensor 35 by a connecting member 322 , such as a bolt. superior. When the sheath tube 32 is inserted into the patient's rectum, if the sheath tube 32 is inserted crookedly, the part where the sheath tube fixing member 321 and the connecting member 322 are connected will deflect due to resistance, and the deflection will be transmitted to the force sensor 35 by the connecting member 322, so that the The force sensor 35 detects the abnormal external force exerted by the sheath tube 32 on the patient's tissue, so as to prompt the operator during the puncture process and prevent damage to the patient's tissue.

In addition, in this embodiment, the puncture template 2 is fixed on the sheath tube support 33, of course, the puncture template 2 can also be directly fixed on the strip base 34 or the base 5, as long as the During the puncture operation, the puncture template 2 may be located in front of the puncture needle guide arm 11 .

As shown in FIGS. 9-12 , the puncture positioning arm group 4 is configured to move the puncture needle guide arm 11 to the puncture position in response to a system control signal, and includes a posture transmission arm group and a first puncture arm group connected in sequence through a rotating shaft The puncturing positioning arm 41, the second puncturing positioning arm 42 and the third puncturing positioning arm 43, whereby the puncturing positioning arm group 4 is configured to be able to move in a plane parallel to the puncturing template 2, and when the When the first puncture positioning arm 41 and/or the second puncture positioning arm 42 moves, the posture of the third positioning and puncturing arm 43 relative to the base 5 can remain unchanged, that is, in the embodiment of the present invention, the puncture positioning arm The plane on which the group 4 moves is kept perpendicular to the base plane of the base 5 . Wherein, the action plane of the puncture positioning arm group 4 is parallel to the puncture template 2, and the distance between the two is fixed, which is beneficial to the control of the depth of the puncture needle.

The puncture positioning arm set 4 is driven by a motor 6 , and the motor 6 is arranged at the fixed end of the puncture positioning arm set 4 . In a specific embodiment, the motor 6 includes two motors, one motor drives the first puncture positioning arm 41 to rotate based on the first shaft 401 according to the control signal, and the other motor drives the first position transmission rod 47 according to the control signal It rotates based on the first rotating shaft 401 .

Specifically, referring to FIG. 11 , the first end of the first puncture positioning arm 41 can be movably connected to the base 5 through the first rotating shaft 401 , and the second end of the first puncturing positioning arm 41 can pass through the fourth rotating shaft 404 It is movably connected with the first end of the second puncture positioning arm 42 , and the second end of the second puncture positioning arm 42 is movably connected with the first end of the third puncture positioning arm 43 through the fifth rotating shaft 405 .

As shown in FIG. 11 , the attitude transmission arm group includes a first attitude transmission rod 44 , a second attitude transmission rod 45 and a third attitude transmission rod 46 . The first end of the first attitude transmission rod 44 can be movably connected to the base 5 through the ninth rotation shaft 409 , and the second end of the third attitude transmission rod 46 is positioned with the third puncture through the eighth rotation shaft 408 . The arm 43 is movably connected. The second attitude transmission rod 45 has a bending structure, preferably a right-angle structure. The first end of the puncture positioning arm 42 is movably connected, the first end of the second attitude transmission rod 45 is connected with the second end of the first attitude transmission rod 44 through the sixth rotating shaft 406 , and the second attitude transmission rod The second end of 45 is connected with the first end of the third attitude transmission rod 46 through the seventh rotating shaft 407 .

In this embodiment, the third puncture positioning arm 43 is T-shaped as a whole, and the upper transverse arm of the T-shaped third puncture positioning arm 43 is always in a horizontal state. Of course, those skilled in the art can understand that the third puncture positioning arm 43 can also have other shapes of bending structures, so as to be suitable for connecting the puncture needle guide support arm 11, so that the puncture needle guide support arm 11 can be rotated It is arranged at the free end of the puncturing positioning arm group 4, that is, the second end of the third puncturing positioning arm 43, and the pitch angle can be adjusted during the puncturing process to expand the puncturing range. In addition, the first end of the third puncture positioning arm 43 has a support arm 431 extending outward, and the second end of the third attitude transmission rod 46 is positioned with the third puncture through the eighth rotation shaft 408 The support arm 431 of the arm 43 is movably connected.

Therefore, the first puncture positioning arm 41 , the second attitude transmission rod 45 and the first attitude transmission rod 44 can form a first parallel with the first rotation axis 401 , the fourth rotation axis 404 , the sixth rotation axis 406 and the ninth rotation axis 409 as endpoints Quadrilateral transmission structure, the second puncture positioning arm 42, the support arm 431 of the third puncture positioning arm 43, the third attitude transmission rod 46 and the second attitude transmission rod 45 are connected by the fifth rotating shaft 405, the eighth rotating shaft 408, and the seventh rotating shaft 407 and the fourth rotating shaft 404 as the end points to form a second parallelogram transmission structure, which can ensure that when the first puncture positioning arm 41 and/or the second puncture positioning arm 42 moves, the third positioning puncture arm 43 is relative to the base 5 posture remains unchanged.

In a preferred embodiment of the present invention, as shown in FIG. 12 (for the sake of clarity, each attitude transmission rod is not shown in FIG. 12 ), the puncture positioning arm set 4 further includes a first position transmission rod 47 , a second position transmission rod 47 , and a second position transmission rod 47 . A transmission rod 48 and a third position transmission rod 49, the first end of the first position transmission rod 47 is movably connected with the first end of the first puncture positioning arm 41 through the first rotating shaft 401, the first The second end of the position transmission rod 47 is movably connected to the first end of the second position transmission rod 48 through the second shaft 402 , and the second end of the second position transmission rod 48 is connected to the first end of the second position transmission rod 48 through the third rotation shaft 403 . The first end of the three-position transmission rod 49 is movably connected, and the second end of the third-position transmission rod 49 is fixedly connected with the second puncture positioning arm 42 . In this embodiment, the third position transmission rod 49 is connected with the second puncture positioning arm 42 along the length direction. The function of the position transmission rod is that a driving mechanism can be provided at the first rotating shaft 401 to drive the second puncture positioning arm 42 to act through the first position transmission rod 47, the second position transmission rod 48 and the third position transmission rod 49. In this embodiment, the motor 6 provided at the first rotating shaft 401 is two motors, one motor drives the first puncture positioning arm 41 to rotate based on the first rotating shaft 401 according to the control signal; the other motor drives the other motor according to the control signal The first position transmission rod 47 rotates based on the first rotating shaft 401 to drive the second puncture positioning arm 42 to move through the second position transmission rod 48 and the third position transmission rod 49 .

In the above structure of the puncture positioning arm group 4 according to the embodiment of the present invention, the plurality of puncture positioning arms, the position transmission rod and the attitude transmission rod share the first rotation shaft 401, the fourth rotation shaft 404 and the fifth rotation shaft 405, and can be arranged at the same time Inside the puncture positioning arm group 4, the structure of the puncture positioning arm group 4 is more compact.

As shown in FIG. 13 , the multi-needle puncture system according to the embodiment of the present invention further includes an adjustment arm group 7 , and the adjustment arm group includes a first level adjustment arm 71 , a second level adjustment arm 72 and a third level adjustment arm 73 . The base 5 is connected to the first end of the third horizontal adjustment arm 73 so as to be able to swing forward and backward, and the second horizontal adjustment arm 72 is connected to the second end of the third horizontal adjustment arm 73 and the The second end of the first leveling arm 71 is connected to the trolley 8 at the first end of the first leveling arm 71 .

In a preferred embodiment of the present invention, as shown in FIG. 14 , the first end of the first level adjusting arm 71 is connected to the trolley 8 through a height adjusting arm 74 . The height adjustment arm 74 further includes a first height adjustment arm and a second height adjustment arm arranged in parallel, the first height adjustment arm and the second height adjustment arm have the same length, and the first height adjustment arm has the same length. One end and the first end of the second height adjustment arm are arranged on the first end of the first level adjustment arm 71 at an interval, and the second end of the first height adjustment arm and the second end of the second height adjustment arm The ends can be set to the trolley 8 so as to form a parallelogram structure and the height can be adjusted.

In addition, referring to FIG. 9 , in order to facilitate the hand-held operation of the multi-needle puncture system according to the embodiment of the present invention, at the rear end of the bar-shaped base 34 along the length direction of the base, an adjustment handle 38 extending to both sides is provided, The adjustment handle 38 is provided with a control button 39 . The control button 39 is not limited to include a plurality of moving buttons and brake unlocking buttons, and one brake unlocking button can be provided on each side of the adjustment handle 38 to facilitate the user's left-hand or right-hand operation. The moving button is used to control the front and rear, left and right, up and down movements of the adjusting arm group 7 and the pitch angle and horizontal angle of the base 5 with respect to the adjusting arm group 7. When the moving button is pressed, the adjusting arm group 7 moves as a whole (motor driven) , When the moving button is released, the adjustment arm group 7 stops moving. The brake release button is used to control the opening and closing of the brakes of each joint of the adjustment arm group 7. When the brake release button is pressed, the brakes of each joint of the adjustment arm group 7 are opened, and the movement button can be operated to control the movement of the adjustment arm group 7. , you can also directly drag the handle to make the entire adjustment arm group 7 move forward and backward, left and right; when the brake unlocking button is released, the adjustment arm group 7 cannot move.

When the multi-needle puncture system of the embodiment of the present invention is in operation, the movement of the adjustment arm group 7 is controlled by the control button 39 on the adjustment handle 38, the sheath tube 32 at the front end of the multi-needle puncture system is aligned with the patient's anus and inserted into the rectum, and the brake is released. Unlock the button to lock the adjustment arm group 7. Then, the ultrasonic feeding signal is given on the control panel of the trolley 8 to control the ultrasonic probe 31 to move and rotate in the inner cavity of the sheath tube 32 to obtain ultrasonic images. The ultrasonic images are further fused with the MR images to calculate the puncture position. and depth. According to the puncture position of a puncture needle, the positioning arm group 4 is controlled to perform puncture positioning, and the puncture needle is guided to the support arm 11 to move to the puncture position; at the same time, according to the calculated puncture depth of the puncture needle, the puncture depth control baffle is controlled 14 Slide to the corresponding position. At this time, the opening and closing flap 12 is closed to form the via hole 13 , and the operator manually attaches the puncture needle to the side wall of the non-closed perforation 16 of the puncture depth control baffle 14 and passes through the via hole 13 , through the puncture template 12 , inserted into the lesion site. When the needle handle of the puncture needle is in contact with the peripheral edge of the non-closed hole 16 of the puncture depth control baffle 14, the predetermined puncture depth is reached, and the puncture is stopped. Next, the opening and closing flap 12 is controlled to open to release the puncture needle, and the puncture positioning arm group 4 is controlled to drive the puncture needle guiding arm 11 to move toward the side of the puncture needle, so that the opening and closing flap 12 leaves the area of the puncture needle , so as to complete the puncture of a puncture needle. By repeating the above process, multiple puncture needles can be punctured, and the multiple puncture needles are fixed by the puncture template.

The multi-needle puncture system of the embodiment of the present invention can automatically guide and position multiple minimally invasive puncture needles based on the result of fusion and registration of ultrasonic images and MR images. The system is accurate and stable, and the work intensity of the operator is reduced.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The embodiments of the present invention have been described above. However, the present invention is not limited to the above-described embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

A multi-needle puncture system, comprising:

a puncture guide and release mechanism, comprising a puncture needle guide arm and an opening and closing flap located on the side of the puncture needle guide arm, the opening and closing flap having a through hole for the puncture needle to pass through when closed;

a puncture template, which includes a flexible puncture plate;

an ultrasonic assembly, which includes an ultrasonic probe and a probe control assembly, the probe control assembly is configured to control a detection position and a detection direction of the ultrasonic probe;

A puncture positioning arm set configured to move the puncture needle guide arm to a puncture position in response to a system control signal.
The multi-needle puncture system according to claim 1, wherein the puncture guide and release mechanism further has a puncture guide provided on the side of the puncture needle guide arm along the axial direction of the puncture needle guide arm. A depth control baffle, the puncture depth control baffle is provided with a non-closed perforation for the puncture needle to pass through, and the non-closed perforation is opposite to the through hole formed by closing the opening and closing valve.
The multi-needle puncture system according to claim 2, wherein the ultrasonic assembly further comprises a sheath tube and a force sensor, and the sheath tube is protruded and disposed at the front end of the multi-needle puncture system;

The front end of the sheath tube is closed, and the rear end has an opening, and the ultrasonic probe can be inserted into the inner cavity of the sheath tube through the opening;

The force sensor is configured to detect an external force experienced by the sheath.
The multi-needle puncture system according to claim 3, wherein the probe control assembly comprises an ultrasonic feeding platform and an ultrasonic rotating platform.
The multi-needle puncture system according to claim 4, wherein the ultrasonic assembly further comprises a bar-shaped base and a sheath tube support,

The sheath tube support is protruded upward and is disposed at the front end of the strip base along the length direction of the base;

The open end of the sheath tube is arranged on the sheath tube support, and the closed end of the sheath tube extends toward the outside of the bar base;

The ultrasonic feeding platform is movably arranged on the bar-shaped base along the length direction of the bar-shaped base, and the ultrasonic rotating platform is arranged on the ultrasonic feeding platform. The front part of the ultrasonic probe is protruded from the front end of the ultrasonic feeding platform, and is inserted into the inner cavity of the sheath tube through the open end of the sheath tube.
The multi-needle puncture system according to claim 1, wherein the puncture positioning arm group comprises a posture transmission arm group and a first puncture positioning arm, a second puncture positioning arm and a third puncture positioning arm sequentially connected by a rotating shaft Therefore, the puncture positioning arm group is configured to be able to move in a plane parallel to the puncture template, and when the first puncture positioning arm and/or the second puncture positioning arm moves, the third positioning puncture can be made The posture of the arm relative to the base remains unchanged.
The multi-needle puncture system according to claim 6, wherein the multi-needle puncture system further comprises a base, and the fixed end of the puncture positioning arm group is movably connected to the base; the ultrasonic component is arranged on the base. on the base; the puncture template is located in front of the puncture needle guide arm and fixed on the base or the ultrasonic component.
The multi-needle puncture system according to claim 7, wherein the puncture positioning arm set is driven by a motor, and the motor is arranged on the fixed end of the puncture positioning arm set,

The motor drives the first puncture positioning arm to rotate according to the control signal, or drives the position transmission rod to drive the second puncture positioning arm to rotate.
The multi-needle puncture system according to claim 7, wherein the puncture needle guide support arm is rotatably arranged on the free end of the puncture positioning arm group.
The multi-needle puncture system according to claim 7, further comprising an adjustment arm group, the adjustment arm group comprising a first level adjustment arm, a second level adjustment arm and a third level adjustment arm, and the base can It is connected to the first end of the third horizontal adjustment arm in a front and rear pitch swing, and the second horizontal adjustment arm is respectively connected to the second end of the third horizontal adjustment arm and the first horizontal adjustment arm through a rotating shaft. two ends.
The multi-needle puncture system according to claim 1, wherein the puncture needle guide arm further comprises a guide instrument box located at the front end of the puncture needle guide arm, and the opening and closing flap is arranged on the guide instrument on the box.
The multi-needle puncture system according to claim 1, wherein the puncture plate is made of silica gel, fabric or fiber material.
The multi-needle puncture system according to claim 1, wherein the puncture plate comprises a first silica gel layer and a second silica gel layer, and the puncture template further comprises a silica gel pressing plate and a surrounding puncture template side wall, through which the silica gel The pressing plate respectively fixes the first silica gel layer and the second silica gel layer on the two end surfaces of the side wall of the puncture template.