Full-automatic bone marrow biopsy puncture equipment and application method

Abstract

The invention relates to full-automatic bone marrow biopsy puncture equipment and an application method. The full-automatic bone marrow biopsy puncture equipment comprises an operation table, and a puncture module and a three-axis motion platform are arranged on the operation table; the puncture module comprises a vertical rod, a transparent pressing cover is coaxially fixed to the upper end of the vertical rod, and an annular movable groove is formed in the lower surface of the pressing cover; a cavity is formed in the hold-down cover; a cross rod is arranged in the cavity, a through hole allowing the vertical rod to penetrate through is formed in the center of the cross rod, and the inner diameter of the through hole is matched with the outer diameter of the vertical rod; a driving assembly is arranged in the cavity, a color ultrasound probe and an electric push rod are arranged at one end of the cross rod, and a biopsy needle, a suction unit and a lead screw assembly are arranged at the other end of the cross rod; a three-dimensional camera for collecting three-dimensional actions is arranged in the hold-down cover; the functions of hold-down color ultrasound scanning, three-dimensional image acquisition, human body hold-down, biopsy needle simulated puncture, biopsy needle automatic needle insertion and the like on a human body are integrated, and the problem that an accurate and automatic biopsy needle puncture scheme is difficult to implement on the ground is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of biopsy puncture surgical instruments, and more specifically, to a fully automatic bone marrow biopsy puncture device and an application method thereof. Background Art

[0002] In the existing bone marrow biopsy process, the bone marrow biopsy needle is usually manually controlled by the doctor. However, different doctors have different control over the puncture depth and the aspiration of bone marrow fluid, and it is impossible to form a unified standard. In addition, manually operating the bone marrow biopsy needle not only takes a long time to operate, but may also increase the patient's pain. Chinese patent, application number CN201710228171.3 discloses a color ultrasound orthopedic puncture dual-guide control system, which guides the robot to perform puncture by scanning two-dimensional images with an ultrasonic image processor and capturing three-dimensional information of the shape, position and motion trajectory of the puncture device with a three-dimensional motion capture unit to improve the puncture accuracy and efficiency. However, this scheme only has theory but does not give a specific way for the robot to perform the operation. There is no specific implementation structure for the problems encountered in actual operations such as how to perform color ultrasound scanning and avoid human body movement, and it cannot be implemented on the ground; therefore, it is necessary to develop a fully automatic bone marrow biopsy puncture device that can be implemented to improve the accuracy and efficiency of puncture and reduce the pain of patients. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a fully automatic bone marrow biopsy puncture device and an application method of the fully automatic bone marrow biopsy puncture device in view of the above-mentioned defects of the prior art.

[0004] The technical solution adopted by the present invention to solve its technical problem is:

[0005] A fully automatic bone marrow biopsy puncture device is constructed, which includes an operating table, on which a puncture module and a three-axis motion platform for driving the puncture module to move are arranged; the puncture module includes a cylindrical vertical rod, a transparent pressure-holding cover is coaxially fixed to the upper end of the vertical rod, a circular ring-shaped movable groove is arranged on the lower surface of the pressure-holding cover, and a silicone pressure-holding ring is arranged on the opening edge of the movable groove; a chamber connected to the upper surface of the movable groove is arranged inside the pressure-holding cover, and the vertical rod passes through the chamber; a cross bar is arranged in the chamber, and a through hole for the vertical rod to pass through is arranged in the middle of the cross bar, and the inner diameter of the through hole matches the outer diameter of the vertical rod; a driving component for driving the cross bar to rise and fall and rotate is arranged in the chamber, and a rotating shaft for the cross bar to rotate is arranged in the chamber. space; a color ultrasound probe and an electric push rod for driving the color ultrasound probe to rise and fall are arranged at one end of the cross bar, and a biopsy needle, a suction unit for providing suction force to the biopsy needle, and a screw assembly for driving the biopsy needle to rise and fall are arranged at the other end of the cross bar; a three-dimensional camera for collecting three-dimensional movements is arranged in the pressure-holding cover, and in the initial state, the color ultrasound probe is located within the collection range of the three-dimensional camera; a processing host is arranged on the upper surface of the pressure-holding cover, and the processing host receives the data collected by the color ultrasound probe and generates a color ultrasound image of the part to be punctured, and is also used to receive the data of the three-dimensional camera to generate a three-dimensional scene simulation image, and simulates the insertion of the biopsy needle in combination with the color ultrasound image and the three-dimensional scene simulation image, and controls the operation of the drive assembly, the screw assembly, and the suction unit according to the final simulation data to perform bone marrow puncture sampling.

[0006] The fully automatic bone marrow biopsy puncture device described in the present invention, wherein the driving assembly includes a driving platform and a lifting unit that drives the driving platform to rise and fall, both of which are located below the cross bar, a bevel gear and a driving motor are provided on the driving platform, the driving motor is arranged horizontally, and the bevel gear is arranged on the movable end of the driving motor; the lower end of the cross bar is fixed with an annular gear ring that meshes with the bevel gear.

[0007] The fully automatic bone marrow biopsy puncture device of the present invention, wherein the driving platform is annular and sleeved on the vertical rod, and a plurality of slave bevel gears are rotatably arranged on the driving platform, and the slave bevel gears and the annular gear ring provide support force for the annular gear ring.

[0008] The fully automatic bone marrow biopsy puncture device of the present invention, wherein the drive assembly further comprises an elastic pressing unit, and the elastic pressing unit is used to provide a downward elastic pressing force to the cross bar.

[0009] The fully automatic bone marrow biopsy puncture device of the present invention, wherein the elastic pressing unit includes an annular pressing plate fixed to the upper end of the cross bar and a mounting plate fixed to the inner top of the chamber, and a plurality of elastic pressing rollers are arranged on the mounting plate.

[0010] The fully automatic bone marrow biopsy puncture device of the present invention, wherein an inner hole is provided in the cross bar, and the inner hole is used for routing the color Doppler ultrasound probe, the electric push rod and the screw assembly.

[0011] The fully automatic bone marrow biopsy puncture device described in the present invention, wherein the three-axis motion platform includes a Z-axis moving unit that drives the puncture module to rise and fall, an X-axis moving unit that drives the Z-axis moving unit to move along the X-axis, and a Y-axis moving unit that drives the X-axis moving unit to move along the Y-axis.

[0012] A method for applying a fully automatic bone marrow biopsy puncture device is applied to the fully automatic bone marrow biopsy puncture device as described above, wherein the method comprises the steps of:

[0013] The three-axis motion platform drives the puncture module to move horizontally to the top of the patient's puncture site, and the color Doppler ultrasound probe faces the patient's puncture site.

[0014] The three-axis motion platform drives the puncture module downward to the first height, and then the electric push rod drives the color Doppler ultrasound probe downward to contact and press the patient's puncture site;

[0015] The operation of the driving component drives the crossbar to rotate, thereby driving the color Doppler ultrasound probe to move. During the movement, the color Doppler ultrasound probe operates, and the processing host receives the color Doppler ultrasound probe data and generates a color Doppler ultrasound image of the part to be punctured.

[0016] After the puncture position is determined according to the color Doppler ultrasound image, the three-axis motion platform drives the puncture module downward to the second height, and the puncture module moves downward to hold the patient, while the electric push rod drives the color Doppler ultrasound probe upward to leave the human body and stays just above the determined puncture position, with the center of the color Doppler ultrasound probe facing the determined puncture position;

[0017] The 3D camera operates to obtain the puncture position of the human body, the position of the color Doppler ultrasound probe, and the height of the color Doppler ultrasound probe from the determined puncture position, and sends the data to the processing host, which generates a 3D scene simulation image based on the color Doppler ultrasound image and the 3D camera;

[0018] The driving assembly drives the crossbar to rotate 180 degrees, so that the biopsy needle is aligned with the determined puncture position; multiple puncture simulations are performed by the processing host to obtain the final simulation data;

[0019] The driving component is controlled to run according to the simulation data, driving the crossbar downward so that the biopsy needle contacts the human body, and the three-dimensional camera operates to obtain images and sends them to the processing host, which then issues a reconfirmation pop-up window;

[0020] After confirmation, the screw assembly is controlled to run according to the simulation data, driving the biopsy needle downward to perform puncture. After the puncture is in place, the aspiration unit is controlled to run according to the simulation data to complete the bone marrow aspiration, and then the crossbar and screw assembly drive the biopsy needle upward to reset;

[0021] The three-axis motion platform drives the puncture module upward to release the pressure on the human body, and then the three-axis motion platform drives the puncture module to move horizontally away from the top of the part to be punctured on the human body.

[0022] The beneficial effects of the present invention are as follows: the three-axis motion platform drives the puncture module to move horizontally to the top of the patient's puncture site, and the color ultrasound probe is directly opposite to the patient's puncture site; the three-axis motion platform drives the puncture module to descend to a first height, and then the electric push rod drives the color ultrasound probe to descend to contact and press the patient's puncture site; the driving component drives the crossbar to rotate, and then drives the color ultrasound probe to move, and during the movement, the color ultrasound probe runs, and the processing host receives the color ultrasound probe data and generates a color ultrasound image of the site to be punctured; after determining the puncture position according to the color ultrasound image, the three-axis motion platform drives the puncture module to descend to a second height, and the puncture module descends to hold the patient, while the electric push rod drives the color ultrasound probe to move upward away from the human body and stays directly above the determined puncture position, and the center of the color ultrasound probe is directly opposite to the determined puncture position; the three-dimensional camera operates to obtain the human body puncture position, the color ultrasound probe position and the height of the color ultrasound probe from the determined puncture position, and sends the data to the processing host, and the processing host generates a three-dimensional scene simulation image according to the color ultrasound image and the three-dimensional camera; the driving component drives The movable crossbar rotates 180 degrees so that the biopsy needle is aligned with the determined puncture position; multiple puncture simulations are performed through the processing host to obtain the final simulation data; the driving component is controlled to operate according to the simulation data, and the crossbar is driven downward to make the biopsy needle contact the human body, the three-dimensional camera operates to obtain images and sends them to the processing host, and the processing host issues a re-confirmation pop-up window; after confirmation, the screw rod assembly is controlled to operate according to the simulation data, and the biopsy needle is driven downward for puncture. After the puncture is in place, the suction unit is controlled to operate according to the simulation data to complete the bone marrow aspiration, and then the crossbar and screw rod assembly drive the biopsy needle to reset upward; the three-axis motion platform drives the puncture module upward to release the pressure on the human body, and then the three-axis motion platform drives the puncture module to move horizontally away from the top of the human body to be punctured; the method of the present application integrates the functions of pressing and holding color Doppler ultrasound scanning of the human body, three-dimensional image acquisition, human body pressing and holding, biopsy needle simulation puncture, and automatic insertion of the biopsy needle, which can well integrate the color Doppler ultrasound probe and the biopsy needle, solving the problem that the precise automatic puncture solution of the biopsy needle is difficult to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. The drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work:

[0024] Figure 1 This is a cross-sectional view of the structure of the fully automatic bone marrow biopsy puncture device of the preferred embodiment of the present invention (see the specific structure of the drive component for details). Figure 2 );

[0025] Figure 2 Schematic diagram of the structure of the driving assembly of the fully automatic bone marrow biopsy puncture device according to a preferred embodiment of the present invention;

[0026] Figure 3 It is a flow chart of the application method of the fully automatic bone marrow biopsy puncture device according to the preferred embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the following will be described clearly and completely in combination with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are partial embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention.

[0028] The fully automatic bone marrow biopsy puncture device of the preferred embodiment of the present invention is as follows: Figure 1 See also Figure 2, including an operating table 1, on which a puncture module 2 and a three-axis motion platform 3 for driving the puncture module 2 to move are arranged; the puncture module 2 includes a cylindrical upright pole 20, a transparent pressure-holding cover 21 is coaxially fixed to the upper end of the upright pole 20, a circular ring-shaped movable groove 22 is arranged on the lower surface of the pressure-holding cover 21, and a silicone pressure-holding ring 23 is arranged on the opening edge of the movable groove 22; a chamber 24 connected to the upper surface of the movable groove 22 is arranged inside the pressure-holding cover 21, and the upright pole 20 passes through the chamber 24; a cross bar 25 is arranged in the chamber 24, and a through hole for the upright pole 20 to pass through is arranged in the middle of the cross bar 25, and the inner diameter of the through hole matches the outer diameter of the upright pole 20; a driving component 27 for driving the cross bar 25 to rise and fall and rotate is arranged in the chamber 24, and a space for the cross bar 25 to rotate is arranged in the chamber 24; A color ultrasound probe 4 and an electric push rod 5 for driving the color ultrasound probe to rise and fall are arranged at one end, and a biopsy needle 6, a suction unit 7 for providing suction force to the biopsy needle 6, and a screw assembly 8 for driving the biopsy needle to rise and fall are arranged at the other end of the cross bar 25; a three-dimensional camera 26 for collecting three-dimensional movements is arranged in the pressure-holding cover 21, and in the initial state, the color ultrasound probe 4 is located within the collection range of the three-dimensional camera 26; a processing host 9 is arranged on the upper surface of the pressure-holding cover 21, and the processing host 9 receives the data collected by the color ultrasound probe 4 and generates a color ultrasound image of the part to be punctured, and is also used to receive the data of the three-dimensional camera 26 to generate a three-dimensional scene simulation image, and simulates the insertion of the biopsy needle 6 in combination with the color ultrasound image and the three-dimensional scene simulation image, and controls the driving assembly 27, the screw assembly 8, and the suction unit 7 to operate according to the final simulation data to perform bone marrow puncture sampling;

[0029] The three-axis motion platform 3 drives the puncture module 2 to move horizontally to the top of the patient's puncture site, and the color ultrasound probe 4 is opposite to the patient's puncture site; the three-axis motion platform 3 drives the puncture module 2 to move downward to a first height, and then the electric push rod 5 drives the color ultrasound probe 4 to descend to contact and press the patient's puncture site; the driving component 27 drives the cross bar 25 to rotate, and then drives the color ultrasound probe 4 to move. During the movement, the color ultrasound probe 4 runs, and the processing host 9 receives the data of the color ultrasound probe 4 and generates a color ultrasound image of the site to be punctured; after determining the puncture position according to the color ultrasound image, the three-axis motion platform 3 drives the puncture module 2 to move downward to a second height, and the puncture module 2 moves downward to hold the patient (mainly relying on the silicone holding ring 23 to hold), and at the same time, the electric push rod 5 drives the color ultrasound probe 4 to move upward away from the human body and stays just above the determined puncture position, and the center of the color ultrasound probe 4 is opposite to the determined puncture position; the three-dimensional camera 26 operates to obtain the human body puncture position, the color ultrasound probe position, and the color ultrasound probe distance to the determined puncture The height of the position is determined, and the data is sent to the processing host 9. The processing host 9 generates a three-dimensional scene simulation image based on the color ultrasound image and the three-dimensional camera 26; the driving component 27 drives the crossbar 25 to rotate 180 degrees, so that the biopsy needle 6 is directly opposite to the determined puncture position; multiple puncture simulations are performed by the processing host 9 to obtain the final simulation data; the driving component 27 is controlled to operate according to the simulation data, and the crossbar 25 is driven downward to make the biopsy needle 6 contact the human body. The three-dimensional camera 26 operates to obtain the image and sends it to the processing host 9, and the processing host 9 issues a re-confirmation pop-up window; after confirmation, the screw rod assembly 8 is controlled to operate according to the simulation data, and the biopsy needle 6 is driven downward to perform the puncture action. After the puncture is in place, the suction unit 7 is controlled to operate according to the simulation data to complete the bone marrow aspiration, and then the crossbar 25 and the screw rod assembly 8 drive the biopsy needle 6 to reset upward; the three-axis motion platform 3 drives the puncture module 2 upward to release the pressure on the human body, and then the three-axis motion platform 3 drives the puncture module 2 to move horizontally away from the top of the human body to be punctured;

[0030] By applying the method and technique of the present application, functions such as human body pressure-holding color ultrasound scanning, three-dimensional image acquisition, human body pressure-holding, biopsy needle simulation puncture, and automatic biopsy needle insertion are integrated. The color ultrasound probe and the biopsy needle can be well integrated into one, solving the problem that the precise automatic puncture scheme of the biopsy needle is difficult to implement.

[0031] Preferably, the driving assembly 27 includes a driving platform 270 located below the cross bar 25 and a lifting unit 271 (which may be a cylinder, an electric push rod, etc.) for driving the driving platform 270 to rise and fall. The driving platform 270 is provided with a bevel gear 272 and a driving motor 273. The driving motor 273 is arranged horizontally, and the bevel gear 272 is arranged on the movable end of the driving motor 273. The lower end of the cross bar 25 is fixed with an annular gear ring 274 meshing with the bevel gear. The driving platform 270 is annular and is sleeved on the vertical pole 20. A plurality of slave bevel gears 275 are rotatably arranged on the driving platform 270, and the slave bevel gears 275 and the annular gear ring 274 provide support force to the annular gear ring 274; the driving assembly 27 also includes an elastic holding unit, and the elastic holding unit is used to provide downward elastic holding force to the cross bar 25; the elastic holding unit includes an annular holding plate 276 fixed to the upper end of the cross bar 25 and a mounting plate 277 fixed to the inner top of the chamber 24, and a plurality of elastic holding rollers 278 are arranged on the mounting plate 277;

[0032] This driving structure is compact, small in size and high in precision. It also utilizes multiple elastic pressure rollers 278 to better absorb vibration and maintain stability. The bevel gear 272 and multiple slave bevel gears 275 can drive the annular gear ring 274 while performing positioning and support, and can also ensure the rotation accuracy of the cross bar 25.

[0033] Preferably, an inner hole is provided in the cross bar 25, and the inner hole is used for routing the color Doppler ultrasound probe, the electric push rod and the screw assembly; the three-axis motion platform 3 includes a Z-axis moving unit for driving the puncture module to rise and fall, an X-axis moving unit for driving the Z-axis moving unit to move along the X-axis, and a Y-axis moving unit for driving the X-axis moving unit to move along the Y-axis (the existing three-axis platform can be used, which will not be described here); the structure is reasonably arranged and the degree of automation is high; preferably, an opening can be provided on the upper part of the operating table 1, and the holding cover 21 can be partially or completely retracted into the opening, and walking wheels are provided at the bottom of the operating table 1 for easy folding and movement.

[0034] A method for applying a fully automatic bone marrow biopsy puncture device is applied to the fully automatic bone marrow biopsy puncture device as described above. Figure 3 As shown, the method comprises the steps of:

[0035] S01: The three-axis motion platform drives the puncture module to move horizontally to the top of the patient's puncture site, and the color Doppler ultrasound probe faces the patient's puncture site;

[0036] S02: The three-axis motion platform drives the puncture module downward to the first height, and then the electric push rod drives the color Doppler ultrasound probe downward to contact and press the patient's puncture site;

[0037] S03: The driving component drives the crossbar to rotate, thereby driving the color Doppler ultrasound probe to move. During the movement, the color Doppler ultrasound probe operates, and the processing host receives the color Doppler ultrasound probe data and generates a color Doppler ultrasound image of the part to be punctured;

[0038] S04: After the puncture position is determined according to the color Doppler ultrasound image, the three-axis motion platform drives the puncture module downward to the second height, and the puncture module moves downward to hold the patient, while the electric push rod drives the color Doppler ultrasound probe upward to leave the human body and stays just above the determined puncture position, with the center of the color Doppler ultrasound probe facing the determined puncture position;

[0039] S05: The 3D camera operates to obtain the puncture position of the human body, the position of the color Doppler ultrasound probe, and the height of the color Doppler ultrasound probe from the determined puncture position, and sends the data to the processing host, which generates a 3D scene simulation image based on the color Doppler ultrasound image and the 3D camera;

[0040] S06: The driving assembly drives the crossbar to rotate 180 degrees, so that the biopsy needle is aligned with the determined puncture position; multiple puncture simulations are performed by the processing host to obtain final simulation data;

[0041] S07: Control the driving component to run according to the simulation data, drive the crossbar downward so that the biopsy needle contacts the human body, and the three-dimensional camera operates to obtain an image and sends it to the processing host, which sends a re-confirmation pop-up window;

[0042] S08: After confirmation, the screw assembly is controlled to operate according to the simulation data, driving the biopsy needle downward to perform puncture. After the puncture is in place, the aspiration unit is controlled to operate according to the simulation data to complete bone marrow aspiration, and then the crossbar and screw assembly drive the biopsy needle upward to reset;

[0043] S09: The three-axis motion platform drives the puncture module upward to release the pressure on the human body, and then the three-axis motion platform drives the puncture module to move horizontally away from the part of the human body to be punctured;

[0044] By applying the method and technique of the present application, functions such as human body pressure-holding color ultrasound scanning, three-dimensional image acquisition, human body pressure-holding, biopsy needle simulation puncture, and automatic biopsy needle insertion are integrated. The color ultrasound probe and the biopsy needle can be well integrated into one, solving the problem that the precise automatic puncture scheme of the biopsy needle is difficult to implement.

[0045] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A fully automatic bone marrow biopsy puncture device, characterized in that: It comprises an operating table, on which a puncture module and a three-axis motion platform for driving the puncture module to move are arranged; the puncture module comprises a cylindrical vertical rod, a transparent pressure-holding cover is coaxially fixed to the upper end of the vertical rod, a circular movable groove is arranged on the lower surface of the pressure-holding cover, and a silicone pressure-holding ring is arranged on the opening edge of the movable groove; a chamber connected to the upper surface of the movable groove is arranged inside the pressure-holding cover, and the vertical rod passes through the chamber; a cross bar is arranged in the chamber, and a through hole for the vertical rod to pass through is arranged in the middle of the cross bar, and the inner diameter of the through hole matches the outer diameter of the vertical rod; a driving component for driving the lifting and rotating of the cross bar is arranged in the chamber, and a space for the rotation and movement of the cross bar is arranged in the chamber; one side of the cross bar A color ultrasound probe and an electric push rod for driving the color ultrasound probe to rise and fall are arranged at one end of the cross bar, and a biopsy needle, a suction unit that provides suction force to the biopsy needle, and a screw assembly that drives the biopsy needle to rise and fall are arranged at the other end of the cross bar; a three-dimensional camera for collecting three-dimensional movements is arranged in the pressure-holding cover, and in the initial state, the color ultrasound probe is located within the collection range of the three-dimensional camera; a processing host is arranged on the upper surface of the pressure-holding cover, and the processing host receives the data collected by the color ultrasound probe and generates a color ultrasound image of the part to be punctured, and is also used to receive the data of the three-dimensional camera to generate a three-dimensional scene simulation image, and simulates the insertion of the biopsy needle in combination with the color ultrasound image and the three-dimensional scene simulation image, and controls the operation of the drive assembly, the screw assembly, and the suction unit according to the final simulation data to perform bone marrow puncture sampling.

2. The fully automatic bone marrow biopsy puncture device according to claim 1, characterized in that: The driving assembly includes a driving platform and a lifting unit that drives the driving platform to rise and fall, both of which are located below the cross bar. A bevel gear and a driving motor are provided on the driving platform. The driving motor is arranged horizontally, and the bevel gear is arranged on the movable end of the driving motor. An annular gear ring that meshes with the bevel gear is fixed to the lower end of the cross bar.

3. The fully automatic bone marrow biopsy puncture device according to claim 2, characterized in that: The driving platform is annular and sleeved on the vertical pole. A plurality of slave bevel gears are rotatably arranged on the driving platform. The slave bevel gears and the annular gear ring provide support force for the annular gear ring.

4. The fully automatic bone marrow biopsy puncture device according to claim 3, characterized in that: The driving assembly further comprises an elastic pressing unit, and the elastic pressing unit is used for providing a downward elastic pressing force to the cross bar.

5. The fully automatic bone marrow biopsy puncture device according to claim 4, characterized in that: The elastic pressing unit comprises an annular pressing plate fixed to the upper end of the cross bar and a mounting plate fixed to the inner top of the chamber, and a plurality of elastic pressing rollers are arranged on the mounting plate.

6. The fully automatic bone marrow biopsy puncture device according to claim 1, characterized in that: An inner hole is arranged in the crossbar, and the inner hole is used for routing the color Doppler ultrasound probe, the electric push rod and the screw assembly.

7. The fully automatic bone marrow biopsy puncture device according to claim 1, characterized in that: The three-axis motion platform includes a Z-axis moving unit that drives the puncture module to move up and down, an X-axis moving unit that drives the Z-axis moving unit to move along the X-axis, and a Y-axis moving unit that drives the X-axis moving unit to move along the Y-axis.

8. An application method of a fully automatic bone marrow biopsy puncture device, applied to the fully automatic bone marrow biopsy puncture device as claimed in any one of claims 1 to 7, characterized in that: The method comprises the steps of: The three-axis motion platform drives the puncture module to move horizontally to the top of the patient's puncture site, and the color Doppler ultrasound probe faces the patient's puncture site. The three-axis motion platform drives the puncture module downward to the first height, and then the electric push rod drives the color Doppler ultrasound probe downward to contact and press the patient's puncture site; The operation of the driving component drives the crossbar to rotate, thereby driving the color Doppler ultrasound probe to move. During the movement, the color Doppler ultrasound probe operates, and the processing host receives the color Doppler ultrasound probe data and generates a color Doppler ultrasound image of the part to be punctured. After the puncture position is determined according to the color Doppler ultrasound image, the three-axis motion platform drives the puncture module downward to the second height, and the puncture module moves downward to hold the patient, while the electric push rod drives the color Doppler ultrasound probe upward to leave the human body and stays just above the determined puncture position, with the center of the color Doppler ultrasound probe facing the determined puncture position; The 3D camera operates to obtain the puncture position of the human body, the position of the color Doppler ultrasound probe, and the height of the color Doppler ultrasound probe from the determined puncture position, and sends the data to the processing host, which generates a 3D scene simulation image based on the color Doppler ultrasound image and the 3D camera; The driving assembly drives the crossbar to rotate 180 degrees, so that the biopsy needle is aligned with the determined puncture position; multiple puncture simulations are performed by the processing host to obtain the final simulation data; The driving component is controlled to run according to the simulation data, driving the crossbar downward so that the biopsy needle contacts the human body, and the three-dimensional camera operates to obtain images and sends them to the processing host, which then issues a reconfirmation pop-up window; After confirmation, the screw assembly is controlled to run according to the simulation data, driving the biopsy needle downward to perform puncture. After the puncture is in place, the aspiration unit is controlled to run according to the simulation data to complete the bone marrow aspiration, and then the crossbar and screw assembly drive the biopsy needle upward to reset; The three-axis motion platform drives the puncture module upward to release the pressure on the human body, and then the three-axis motion platform drives the puncture module to move horizontally away from the top of the part to be punctured on the human body.

Images