Needle guide device

Abstract

The invention discloses a needle guiding device. The needle guide device may include: a base; the supporting frame is arranged on the base; the plurality of pairs of positioning assemblies are arranged on the support frame in a manner of being laminated at intervals; wherein the positioning assembly comprises a movable plate and a guide plate which can move relatively; the movable plate is provided with a plurality of through holes, the guide plate is provided with a hollow guide area, and relative movement between the movable plate and the guide plate enables at least one through hole to be located in the guide area, so that a needle is positioned and guided through the at least one through hole.

Description

[0001] This application claims priority to patent application number CN202410625212.2 filed with the State Intellectual Property Office of the People's Republic of China, which is hereby incorporated by reference in its entirety. Technical Field

[0002] The present application relates to the field of medical equipment, and in particular to a needle guiding device for positioning and guiding a needle introduced percutaneously into a patient's body. Background Art

[0003] Currently, various medically defined needles are widely used for pathological sampling, interventional therapy, research trials, and minimally invasive clinical procedures. However, percutaneous insertion of needles into patients is typically performed manually, requiring control based on medical staff's skill and experience. This can be inconvenient and can lead to inaccurate positioning. Summary of the Invention

[0004] The present application discloses a needle guiding device which has a simple structure, is easy to operate and can be accurately positioned.

[0005] The needle guiding device disclosed in the present application may include: a base; a support frame, which is arranged on the base; and a plurality of pairs of positioning components, which can be arranged on the support frame in a stacked manner with gaps; wherein, the positioning component may include a movable plate and a guide plate that can move relative to each other; the movable plate may have a plurality of through holes, and the guide plate may have a guide area with a central hole, and the relative movement between the movable plate and the guide plate can make at least one through hole located in the guide area, so as to utilize the at least one through hole to position and guide the needle.

[0006] According to some embodiments of the present application, the relative motion may include linear motion.

[0007] According to some embodiments of the present application, the guide plate may include an outer frame that surrounds or partially surrounds the guide area, and a guide groove may be provided on the outer frame to accommodate a carrier loaded with the movable plate; the movement of the carrier in the guide groove can realize a partial movement of the movable plate relative to the guide plate.

[0008] According to some embodiments of the present application, the movable plate is movable within the carrier to achieve a partial movement of the movable plate relative to the guide plate.

[0009] According to some embodiments of the present application, a plurality of first teeth may be continuously arranged on the outer edge of the outer frame close to the guide groove and away from the guide area; a freely rotatable first knob may be provided on the carrier, and the first knob may have a first engaging element that follows and engages with the first tooth. The rotation of the first knob may realize the engaging transmission between the first engaging element and the first tooth, thereby realizing the movement of the movable plate relative to the guide plate in the first direction.

[0010] According to some embodiments of the present application, the movable plate may be in the shape of an elongated strip, and a plurality of second teeth may be continuously arranged on one side in the length direction; a second knob that can rotate freely may be provided on the carrier, and the second knob may have a second engaging element that follows and engages with the second teeth. The engagement transmission between the second engaging element and the second teeth may be achieved through the rotation of the second knob, thereby achieving the movement of the movable plate relative to the guide plate in the second direction.

[0011] According to some embodiments of the present application, the first direction and the second direction may be perpendicular to each other.

[0012] According to some embodiments of the present application, the area where the multiple through holes are located can be separated from other areas of the movable plate by an easy-folding line, and / or the guide plate is provided with an easy-folding line on the outer frame.

[0013] According to some embodiments of the present application, applying an external force to the easy-to-break line on the movable plate can separate the area where the multiple through holes are located from the movable plate, and / or applying an external force to the easy-to-break line on the guide plate can disassemble the guide plate and remove the guide plate, base and support frame without affecting the area where the through holes of the movable plate are located.

[0014] According to some embodiments of the present application, the outer frame has a notch, and a clamp is provided in the area where the multiple through holes on the movable plate are located. The area where the multiple through holes are located can be separated from the movable plate by applying force to the easy-folding line through the notch and the clamp.

[0015] According to some embodiments of the present application, the support frame may include at least two rigid uprights, and the rigid uprights are fixedly connected to the guide plate to enable the positioning assembly to be arranged on the support frame.

[0016] According to some embodiments of the present application, the at least two rigid upright poles may be disposed on a rigid connector, and the base may be rotatably connected to the rigid connector.

[0017] According to some embodiments of the present application, the needle guide device includes a first feedback component, wherein the first knob is rotatable relative to the first feedback component, and when the first knob rotates relative to the first feedback component, the relative movement between the first knob and the first feedback component can be fed back through sound and / or tactile feedback;

[0018] The first feedback component includes a first feedback member, the first feedback member is provided with a first protrusion or a first ridge, and the first knob is provided with a first groove adapted to the first protrusion or the first ridge.

[0019] According to some embodiments of the present application, the needle guide device includes a second feedback component, and the second knob is rotatable relative to the second feedback component. When the second knob rotates relative to the second feedback component, the relative movement between the second knob and the second feedback component can be fed back through sound and / or tactile feedback;

[0020] The second feedback component includes a second feedback member, the second feedback member is provided with a second protrusion or a second ridge, and the second knob is provided with a second groove matched with the second protrusion or the second ridge. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present application will be further described in the form of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting, and in these embodiments, like numbers represent like structures, wherein:

[0022] Figure 1 is an exemplary structural diagram of a needle guide device according to some embodiments of the present application;

[0023] Figure 2 is an exemplary exploded view of a needle guide device according to some embodiments of the present application;

[0024] Figure 3 is an exemplary structural diagram of a base and a support frame according to some embodiments of the present application;

[0025] Figure 4 is an exemplary structural diagram of a positioning assembly according to some embodiments of the present application;

[0026] Figure 5 is another exemplary structural diagram of a positioning assembly according to some embodiments of the present application;

[0027] Figure 6 is another exemplary structural diagram of a positioning assembly according to some embodiments of the present application;

[0028] Figure 7 yes Figure 1A front view of the needle guide device is shown;

[0029] Figure 8 yes Figure 1 A rear view of the needle guide device is shown;

[0030] Figure 9 yes Figure 1 A top view of the needle guide device is shown;

[0031] Figure 10 yes Figure 1 a bottom view of the needle guide device shown;

[0032] Figure 11 yes Figure 1 A left side view of the needle guide device is shown;

[0033] Figure 12 yes Figure 1 a right side view of the needle guide assembly shown;

[0034] Figure 13 is another exemplary structural diagram of a needle guide device according to some embodiments of the present application;

[0035] Figure 14 yes Figure 13 A front view of the needle guide device is shown;

[0036] Figure 15 yes Figure 13 A rear view of the needle guide device is shown;

[0037] Figure 16 yes Figure 13 A top view of the needle guide device is shown;

[0038] Figure 17 yes Figure 13 a bottom view of the needle guide device shown;

[0039] Figure 18 yes Figure 13 A left side view of the needle guide device is shown;

[0040] Figure 19 yes Figure 13 a right side view of the needle guide assembly shown;

[0041] Figure 20 is another exemplary structural diagram of a needle guide device according to some embodiments of the present application

[0042] Figure 21 yes Figure 20 A front view of the needle guide device is shown;

[0043] Figure 22 yes Figure 20A rear view of the needle guide device is shown;

[0044] Figure 23 yes Figure 20 A top view of the needle guide device is shown;

[0045] Figure 24 yes Figure 20 a bottom view of the needle guide device shown;

[0046] Figure 25 yes Figure 20 A left side view of the needle guide device is shown;

[0047] Figure 26 yes Figure 20 a right side view of the needle guide assembly shown;

[0048] Figure 27 is a schematic structural diagram of a first knob according to some embodiments of the present application;

[0049] Figure 28 is a schematic structural diagram of a first feedback element according to some embodiments of the present application;

[0050] Figure 29 is a bottom view of a first feedback member according to some embodiments of the present application;

[0051] Figure 30 is a schematic structural diagram of a first knob according to other embodiments of the present application;

[0052] Figure 31 is a schematic structural diagram of a first feedback element according to other embodiments of the present application;

[0053] Figure 32 is a bottom view of a first feedback member according to some other embodiments of the present application;

[0054] Figure 33 is a schematic structural diagram of a second knob according to some embodiments of the present application;

[0055] Figure 34 is a schematic structural diagram of a second feedback element according to some embodiments of the present application;

[0056] Figure 35 is a bottom view of a second feedback member according to some embodiments of the present application;

[0057] Figure 36 is a schematic structural diagram of a second knob according to other embodiments of the present application;

[0058] Figure 37 is a schematic structural diagram of a second feedback element according to other embodiments of the present application;

[0059] Figure 38 is a bottom view of a second feedback member according to some other embodiments of the present application;

[0060] Figure 39 is another exemplary structural diagram of a needle guide device according to some embodiments of the present application;

[0061] Figure 40 is another exemplary structural diagram of a needle guiding device according to some embodiments of the present application. DETAILED DESCRIPTION

[0062] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0063] It should be noted that when a component is referred to as being "fixed to" or "mounted on" another component, it may be directly on the other component or there may be another component interposed thereon. When a component is referred to as being "connected to" another component, it may be directly connected to the other component or there may be another component interposed thereon. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0064] In this application, the term "needle" may refer to any instrument used in any percutaneous procedure or any step within such a procedure. Such procedures may include biopsy, tumor ablation, seed implantation, intratumoral drug injection, brain electrode implantation, radiofrequency or laser ablation, brachytherapy such as afterloading radiotherapy, cosmetic procedures such as injections of botulinum toxin, hyaluronic acid solutions, liposuction, breast augmentation, and body and face slimming. Exemplarily, when the surgery is a puncture biopsy or any step of a puncture biopsy, the needle may include a puncture needle; when the surgery includes tumor ablation or any step of tumor ablation, the needle may include an ablation needle; when the surgery includes particle implantation or any step of particle implantation, the needle may include a particle implantation gun for performing the particle implantation surgery; when the surgery includes intratumoral drug injection or any step of intratumoral drug injection, the needle may include an injection needle; when the surgery includes brain electrode implantation or any step of brain electrode implantation, the needle may include an electrode guide wire and / or a cannula; when the surgery includes radiofrequency or laser ablation or any step of radiofrequency or laser ablation, the needle may include radiofrequency or laser optical fiber, and / or a cannula; when the surgery includes any step of brachytherapy, the needle may include an applicator, a catheter and an interpolation needle; when the surgery includes any step of medical cosmetic surgery, the needle may include an injection needle and a liposuction needle.

[0065] The terms "plurality" and "plurality" may include two, three, four, or more. For example, in this application, "plurality of through-holes" may include two through-holes, three through-hole regions, or more. In this application, "plurality of pairs of positioning components" may include two pairs of positioning components, three pairs of positioning components, or more.

[0066] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "and / or" or "and / or" as used herein include any and all combinations of one or more of the associated listed items.

[0067] Some preferred embodiments of the present application are described below with reference to the accompanying drawings. It should be noted that the following description is for illustrative purposes only and is not intended to limit the scope of protection of the present application.

[0068] The present application discloses a needle guiding device. The needle guiding device has a simple structure, is easy to operate, and has accurate positioning. It can realize multiple needle insertion and has strong practicality in needle positioning. Figure 1 , Figure 1 FIG. 1 is an exemplary structural diagram of a needle guide device according to some embodiments of the present application. The needle guide device can position the needle and introduce the needle into the patient's body. Figure 1As shown, needle guide device 100 may include a base 110 , a support frame 120 , and a plurality of positioning assemblies 130 .

[0069] Base 110 can be a substrate for supporting other components of needle guide device 100. Other components (e.g., support frame 120 and multiple pairs of positioning assemblies 130) can be directly or indirectly connected to base 110. For example, support frame 120 can be directly fixedly connected to base 110 (including permanent or removable attachment), or movably connected (e.g., via a ball joint, universal joint, etc.). Positioning assembly 130 can be fixed to support frame 120, thereby forming the entire needle guide device 100. Another purpose of base 110 is to conform to the patient's body surface so that needle guide device 100 can be placed relatively stably and without causing a sense of pressure on the patient, whether with or without external force applied (e.g., when supported by a physician's hand). Base 110 can be formed of a regular shape, such as a circular or regular polygonal planar plate, or other specific shapes, such as a sled plate, or a sphere or ellipsoid.

[0070] The support frame 120 can be used to carry the positioning assembly 130 and be connected to the base 110 to serve as the device skeleton to achieve the purpose of support. The support frame 120 may include a rigid upright pole for fixed connection with the positioning assembly 130. It may also include a rigid connecting rod to serve as a supporting "foundation" to carry the rigid upright pole and connect to the base 110. Figure 2 and Figure 3 , Figure 2 is an exemplary exploded view of a needle guide device according to some embodiments of the present application. Figure 3 : is an exemplary structural diagram of the base and the support frame according to some embodiments of the present application. Figure 2 and Figure 3In the example given in , the support frame 120 may include two rigid uprights 122 arranged on a rigid connector 121. The three may form an inverted "∏" shape. That is, the two rigid uprights 122 are perpendicularly arranged to the rigid connector 121 serving as a crossbar, and are fixedly connected. Of course, the number of rigid uprights 122 is not fixed, and may be three, four, or even more. The rigid upright 122 may be a single piece, or may be composed of two or more segments connected to each other. For example, the combination of multiple segments may be achieved by means of internal and external threads. For the preparation of the support frame 120, any rigid material available in the medical device field, such as polymer materials (for example, ultra-high molecular weight polyethylene (UHMWP), high-density polyethylene (HDP), polymethyl methacrylate (PMMA) or other methacrylates, polysiloxane (silicone), polyphenylene sulfide (PPS), polyetheretherketone (PEEK), polylactic acid (PLA), polyamide (nylon, PA), polycarbonate (PC), polystyrene (PS), polyethylene (PE), polypropylene (PP), acrylonitrile-butadiene-styrene copolymer (ABS), polyethylene terephthalate glycol (PETG), thermoplastic polyurethane (TPU), polyamide, photosensitive resin, etc.), metal materials (for example, metal elements such as copper, iron, aluminum, titanium, gold, platinum, silver, iridium, tantalum, tungsten, or metal alloy materials such as stainless steel, aluminum alloy, titanium alloy, etc.), and ceramic materials (for example, alumina, zirconium oxide, silicon carbide, silicon nitride, boron carbide, etc.) can be used to prepare the support frame 120. For example, it can be made by an integrated molding process such as injection molding, die casting, 3D printing, or each component can be made separately and then fixedly connected to each other by welding, bonding, clamping, threading, etc. The bottom of the rigid connector 121 can also be provided with a connecting component, such as a spherical joint ( Figure 3 4 ball joints are shown in the example). The base 110 may be a flat plate with a bowl-shaped pad (e.g. Figure 3 , plane plate 111, plane plate 112, plane plate 113 and plane plate 114 shown in ). Through the cooperation between the spherical joint and the bowl-shaped pad, a rotatable connection between the base 110 and the support frame 120 can be achieved. For example, the base 110 can move in multiple degrees of freedom so as to better fit the patient's body surface. Since the base 110 needs to be in direct contact with the patient, the contact surface or point between the base 110 and the patient can be made of a flexible material. For example, the plane plate itself is made of a flexible material, or a layer of flexible material such as a silicone layer is added to the bottom of the plane plate. This can improve the comfort of the patient. In addition, in order to prevent the needle guide device 100 from moving after being placed on the patient's body surface, medical biological glue or medical tape can be applied to the contact surface or point between the base 110 and the patient during use to fix the device. Of course, Figure 2 and Figure 3What is given in is only an example. The base 110 and the support frame 120 can also be fixedly connected. For example, the base 110 and the support frame 120 are integrally formed. The inclination angle of the base 110 as a flat plate can be obtained through fitting calculation based on the big data of the body surface information of multiple patients, so as to adapt to the vast majority of patients.

[0071] The positioning component 130 can be used to implement the guidance and positioning of the needle. The needle guiding device 100 can include a plurality of pairs of positioning components 130, such as Figure 2 In the given example, the needle guiding device 100 can include two pairs of positioning components 130. These two pairs of positioning components 130 are arranged on the support frame 120 in a stacked manner with a gap. "Stacked with a gap" can mean that the two pairs of positioning components 130 are not stacked together in a mutually adhering manner, but there is a limited space in the middle. For example, the vertical distance between the two pairs of positioning components 130 is 1-10 cm, such as 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8 cm, 9 cm, 10 cm, etc., or any increment of the above values. In some examples, the positioning component 130 can be arranged on the rigid vertical rod 122, for example, fixedly connected to the rigid vertical rod 122, so as to be arranged on the support frame 120. The connection points of different positioning components 130 and the rigid vertical rod 122 are separated by a certain distance, so as to achieve the above-mentioned "stacked with a gap".

[0072] Refer to Figure 4 , Figure 4 is an exemplary structural diagram of the positioning component shown according to some embodiments of the present application. As Figure 4 shown, the positioning component 130 can include a movable plate 131 and a guiding plate 132. The movable plate 131 can have a plurality of through holes ( Figure 4 not marked in ), and these through holes can be used for positioning and guiding the needle, including positioning and guiding a single needle, and simultaneously positioning and guiding multiple needles (which can be needles of the same type or different types). For example, for a single needle, two or more positioning components 130 each provide a through hole for the needle to pass through. Then, based on the principle of two-point and multi-point fixation, the pose of the needle will be determined, and the traveling trajectory can also be guided. Exemplarily, as Figure 4 shown, the movable plate 131 can be a long strip-shaped plate, and a plurality of through holes can be centrally distributed in the rectangular area ( Figure 4 marked as 131-1 in ) in the middle of the long strip-shaped plate. The entire movable plate 131 can present a "middle" shape. The guiding plate 132 (for example, Figure 4The square plate shown in FIG1 may have a guide area S with a central hole, and the through hole on the movable plate 131 may be exposed in the guide area S. In this way, the needle can pass through the positioning assembly 130 smoothly. The movable plate 131 and the guide plate 132 can move relative to each other. For example, the movable plate 131 may include linear motion or linear sliding in two or more directions relative to the guide plate 132. During the sliding process, the movable plate 131 can expose at least one through hole in the area 131-1 to the guide area S for positioning and guiding the needle. At the same time, the movable plate 131 can change the posture of the positioned / guided needle during the movement.

[0073] The guide plate 132 can also be used to realize the connection between the positioning assembly 130 and the support frame 120. Figure 4 As shown, the guide plate 132 may be provided with a plurality of connection holes 132-1 (e.g., four). The rigid uprights 122 of the support frame 120 may be inserted into the connection holes 132-1, for example, by a socket-like connection to secure the two. Of course, for reasons such as a secure connection and ease of use, the plane of the guide plate 132 may be perpendicular to the rigid uprights 122.

[0074] The following is an exemplary description of the relative movement between the movable plate 131 and the guide plate 132. It should be noted that this is not a limitation of the present application.

[0075] The relative movement between the movable plate 131 and the guide plate 132 can be achieved by sliding between the carrier and the guide groove. For example, the guide plate 132 can be divided into an outer frame and a guide area S provided in the outer frame. Figure 4 As shown, the outer frame may be provided with a guide groove 133. For example, two guide grooves 133 may be provided on opposite sides of the outer frame. The movable plate 131 may be loaded on a carrier, including a carrier 135 and a carrier 136. The carrier 135 may include a channel 135-4, and the carrier 136 may include a channel 136-4. The long movable plate 131 may be accommodated in the channel 135-4 and the channel 136-4, and may move in the direction defined by the channel 135-4 and the channel 136-4 (for example, sliding in the direction of the channel opening, that is, Figure 4 y direction shown in FIG). The carrier 135 further includes a slide 135-3, and the carrier 136 further includes a slide 136-3. The slides 135-3 and 136-3 can slide in the guide groove 133. At the same time, the slides 135-3 and 136-3 are fixedly connected to the channels 135-4 and 136-4 respectively (for example, including but not limited to Figure 4, insert the blocks of the slide 135-3 and the slide 136-3 into the holes on the channel 135-4 and the channel 136-4. After completion, the slide 135-3 and the slide 136-3 are located above the guide plate 132, and the channel 135-4 and the channel 136-4 are located below the guide plate 132. The synchronous sliding of the slide 135-3 and the slide 136-3 in the two guide grooves 133 drives the channel 135-4 and the channel 136-4 to move synchronously, thereby realizing the movement of the movable plate 131 accommodated in the channel 135-4 and the channel 136-4 in the sliding direction of the slide 135-3 and the slide 136-3 (for example, Figure 4 The x direction is shown in FIG. ), wherein the x direction and the y direction may be perpendicular to each other.

[0076] The movement of the movable plate 131 in the x direction (which may also be referred to as the first direction in this application) can be achieved by means of the first knob 135-2. The first knob 135-2 can be set on the carrier 135 by means of the first nut 135-1 and the first screw 135-5, for example, on the channel 135-4. The first knob 135-2 can have a passage that allows the rod of the first screw 135-5 to pass through, and the first knob 135-2 can be mounted on the carrier 135 by the tight fit between the first nut 135-1 and the first screw 135-5. And the tight fit between the first nut 135-1 and the first screw 135-5 does not limit the free rotation of the first knob 135-2. In other words, the first knob 135-2 can be rotated arbitrarily. The guide plate 132 can be continuously provided with a plurality of first teeth 134 on the outer edge of the outer frame close to the guide groove 133 and away from the guide area S. The first knob 135-2 may include a first engaging element (e.g., located below the first knob 135-2) that moves with the first teeth 134. For example, the first knob 135-2 may be integrally formed with the first knob 135-2, or a gear fixedly connected to the first knob 135-2 by welding, bonding, or snap-fitting. Based on this, the continuous first teeth provided on the outer frame of the guide plate 132 can be considered a rack structure, and the first engaging element of the first knob 135-2 that moves with it can be considered a gear structure. Through the meshing transmission between the gear and the rack, that is, as the first knob 135-2 rotates, the carrier 135 will move linearly relative to the guide plate 132, that is, the movement in the x-direction mentioned above. The carrier 136, due to the force applied by the movable plate 131 within its channel 136-4 (this force is applied by the movable plate 131 due to the linear motion of the carrier 135 driving the movable plate 131 to move linearly), will move in unison with the carrier 135. Thereby, the movable plate 131 is moved in the first direction.

[0077] When the movable plate 131 is moved in the first direction by rotating the first knob 135-2, it is not easy to accurately control and / or timely feedback the movement stroke of the movable plate 131 due to the absence of any sound or tactile feedback. Therefore, in some embodiments of the present application, a first feedback component is provided to solve this problem, that is, the rotation of the first knob 135-2 is controlled through dual feedback of sound and / or tactile feel, thereby accurately controlling and / or timely feedback the movement stroke of the movable plate 131 in the first direction.

[0078] The first feedback component is arranged between the first nut 135-1 and the first knob 135-2. The first knob 135-2 can rotate relative to the first feedback component. When the first knob 135-2 rotates relative to the first feedback component, the relative movement between the first knob 135-2 and the first feedback component can be fed back through sound and / or tactile feel.

[0079] refer to Figures 28-29 In some embodiments, the first feedback assembly includes a first feedback member 140, which is disposed between the first nut 135-1 and the first knob 135-2 and fixedly connected to the first nut 135-1. Specifically, a first mounting groove is provided on the upper surface of the first feedback member 140, the shape of which matches the shape of the first nut 135-1, and at least a portion of the first nut 135-1 is disposed in the first mounting groove. A second mounting groove is provided on the upper surface of the first knob 135-2, the shape of which matches the shape of the first feedback member 140, and at least a portion of the first feedback member 140 is disposed in the second mounting groove. A first protrusion 140-1 is provided on the lower surface of the first feedback member 140, and the first protrusion 140-1 protrudes in a direction away from the first feedback member 140, that is, the first protrusion 140-1 protrudes downward.

[0080] refer to Figure 27 A first groove 140 - 2 is provided on the surface of the second mounting groove on the first knob 135 - 2 facing the first feedback member 140 , that is, a first groove 140 - 2 is provided on the upper surface of the second mounting groove on the first knob 135 - 2 .

[0081] The first protrusion 140-1 is adapted to the shape of the first groove 140-2, such as an arc-shaped protrusion and an arc-shaped groove, or other compatible shapes. The positions of the first protrusion 140-1 and the first groove 140-2 correspond to each other. Specifically, the first protrusion 140-1 is located at the end radially away from the center of the lower surface of the first feedback member 140, and the first groove 140-2 is located at the end radially away from the center of the upper surface of the second mounting groove. The first protrusion 140-1 can be set to 1 or more, such as 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, preferably 1, 2, 3, 4, and especially 2, symmetrically arranged on the lower surface of the first feedback member 140. The first groove 140-2 can be set to multiple, evenly spaced along the circumference of the upper surface of the second mounting groove.

[0082] Symmetrical two sides of the first feedback member 140 may be provided with vertically penetrating through grooves 140 - 3 , and a connecting member 140 - 4 connected to the first feedback member 140 is provided in the through grooves 140 - 3 , and the first protrusion 140 - 1 is provided on the lower surface of the connecting member 140 - 4 .

[0083] When the first knob 135-2 is rotated, the first knob 135-2 rotates relative to the first feedback member 140. At this time, the first protrusion 140-1 and the first groove 140-2 also move relative to each other at the same time. The operator can know the relative movement between the first knob 135-2 and the first feedback component through the dual feedback of sound and feel, and then accurately control and / or timely feedback the movement stroke of the movable plate 131 in the first direction.

[0084] refer to Figures 31-32 In some other embodiments, the first feedback assembly includes a first feedback member 140, which is disposed between the first nut 135-1 and the first knob 135-2 and fixedly connected to the first nut 135-1. Specifically, a first mounting groove is provided on the upper surface of the first feedback member 140, the shape of which is adapted to the shape of the first nut 135-1, and at least a portion of the first nut 135-1 is disposed in the first mounting groove. A second mounting groove is provided on the upper surface of the first knob 135-2, the shape of which is adapted to the shape of the first feedback member 140, and at least a portion of the first feedback member 140 is disposed in the second mounting groove. A first ridge 140-5 is provided on the lower surface of the first feedback member 140, and the first ridge 140-5 protrudes in a direction away from the first feedback member 140, that is, the first ridge 140-5 protrudes downward.

[0085] refer to Figure 30 A first groove 140 - 2 is provided on the surface of the second mounting groove on the first knob 135 - 2 facing the first feedback member 140 , that is, a first groove 140 - 2 is provided on the upper surface of the second mounting groove on the first knob 135 - 2 .

[0086] The number of first ribs 140-5 can be one or more, such as one, two, three, four, five, six, seven, eight, nine, or ten, preferably one, two, three, or four, and particularly four, symmetrically arranged on the lower surface of the first feedback member 140. The number of first grooves 140-2 can be multiple, evenly spaced along the circumference of the upper surface of the second mounting slot. The positions of the first ribs 140-5 and the first grooves 140-2 correspond to each other. Specifically, the first ribs 140-5 are radially arranged on the lower surface of the first feedback member 140, and the first grooves 140-2 are radially arranged on the upper surface of the second mounting slot. The shape of the first ridge 140-5 is adapted to that of the first groove 140-2. Specifically, the width of the first ridge 140-5 gradually becomes narrower as it moves away from the surface of the first feedback member 140, and the width of the first ridge 140-5 gradually becomes wider as it moves away from the center of the first feedback member 140. The width of the first groove 140-2 gradually becomes wider as it moves away from the bottom of the groove 140-2, and the width of the first groove 140-2 gradually becomes wider as it moves away from the center of the second mounting groove.

[0087] When the first knob 135-2 is rotated, the first knob 135-2 rotates relative to the first feedback member 140. At this time, the first ridge 140-5 and the first groove 140-2 also move relative to each other. The operator can know the relative movement between the first knob 135-2 and the first feedback component through the dual feedback of sound and feel, and then accurately control and / or timely feedback the movement stroke of the movable plate 131 in the first direction.

[0088] refer to Figure 5 , Figure 5 FIG. 1 is another exemplary structural diagram of the positioning assembly according to some embodiments of the present application, and is also a bottom view of the guide plate 132. Figure 5 As shown in the center circle A, the continuous first teeth on the outer edge of the guide plate 132 mesh with a first meshing element (i.e., a gear) that rotates with the first knob 135-2. Rotation of the first knob 135-2 drives the first meshing element, and the meshing motion between the first teeth causes the carrier 135 (and carrier 136) to move relative to the guide plate 132, thereby also causing the movable plate 131 housed therein to move relative to the guide plate 132.

[0089] The movement of the movable plate 131 in the y direction (which may also be referred to as the second direction in this application) can be achieved by means of the second knob 136-2. Similarly or similarly, the second knob 136-2 can also be set on the carrier 136 through the second nut 136-6 and the second screw 136-1, for example, on the channel 136-4. The second knob 136-2 may also have a passage that allows the rod of the second screw 136-1 to pass through, and the second knob 136-2 can be installed on the carrier 136 through the tight fit between the second nut 136-6 and the second screw 136-1. And the tight fit between the second nut 136-6 and the second screw 136-1 does not limit the free rotation of the second knob 136-2. In other words, the second knob 136-2 can be rotated arbitrarily. The long strip-shaped movable plate 131 is movable in the length direction (for example, Figure 4 A plurality of second teeth ( Figure 4 (not shown in the figure) The second knob 136-2 may have a second engaging element 136-5 that follows and engages with the second tooth. The second engaging element 136-5 may be detachably fixed to the second knob 136-2. For example, a groove is provided on the second knob 136-2, and a ridge may be provided on the second engaging element 136-5. The second engaging element 136-5 is fixed to the second knob 136-2 by snapping the ridge into the groove. Of course, other feasible connection methods are also applicable to this solution. Figure 4 In the example given in FIG, the second engaging element 136-5 can be a gear. Thus, the continuous second teeth provided on the outer longitudinal edge of the movable plate 131 can be considered a rack structure, while the second engaging element 136-5, which is driven by the second knob 136-2, can be considered a gear structure. Through the meshing transmission between the gear and the rack, that is, as the second knob 136-2 rotates, the movable plate 131 will move linearly within the carriers 135 and 136, i.e., the movement in the y-direction described above.

[0090] When the second knob 136-2 is rotated to achieve the movement of the movable plate 131 in the second direction, it is not easy to accurately control and / or timely feedback the movement stroke of the movable plate 131 due to the absence of any sound or tactile feedback. Therefore, in some embodiments of the present application, a second feedback component is provided to solve this problem, and the rotation of the second knob 136-2 is controlled by dual feedback of sound and / or tactile feel, thereby accurately controlling and / or timely feedback the movement stroke of the movable plate 131 in the second direction.

[0091] The second feedback component is arranged between the slide 136-3 and the second knob 136-2. The second knob 136-2 can rotate relative to the second feedback component. When the second knob 136-2 rotates relative to the second feedback component, the relative movement between the second knob 136-2 and the second feedback component can be fed back through sound and / or tactile feel.

[0092] refer to Figures 34-35 In some embodiments, the second feedback assembly includes a second feedback member 150, which is disposed between the slide 136-3 and the second knob 136-2 and fixedly connected to the slide 136-3. Specifically, the slide 136-3 is provided with a mounting slot extending vertically therethrough, and the second feedback member 150 is disposed within the mounting slot, with its length extending along the length of the mounting slot and along the length of the slide 136-3. A second protrusion 150-1 is provided on the upper surface of the second feedback member 150, and the second protrusion 150-1 protrudes away from the second feedback member 150, that is, the second protrusion 150-1 protrudes upward.

[0093] refer to Figure 33 A second groove 150 - 2 is provided on the surface of the second knob 136 - 2 facing the second feedback member 150 , that is, a second groove 150 - 2 is provided on the lower surface of the second knob 136 - 2 .

[0094] The second protrusion 150-1 is adapted to the shape of the second groove 150-2, specifically, for example, an arc-shaped protrusion and an arc-shaped groove, or other compatible shapes. The second protrusion 540-1 corresponds to the position of the second groove 150-2. Specifically, the second protrusion 150-1 is located on the end of the upper surface of the second feedback member 150 away from the connection between the second feedback member 150 and the slide 136-3, and the second groove 150-2 is located on the end of the lower surface of the second knob 136-2 radially away from the center. The second protrusion 150-1 can be provided as one. The second groove 150-2 can be provided as multiple, evenly spaced along the circumference of the lower surface of the second knob 136-2.

[0095] When the second knob 136-2 is rotated, the second knob 136-2 rotates relative to the second feedback member 150. At this time, the second protrusion 150-1 and the second groove 150-2 also move relative to each other. The operator can know the relative movement between the second knob 136-2 and the second feedback component through the dual feedback of sound and feel, and then accurately control and / or timely feedback the movement stroke of the movable plate 131 in the second direction.

[0096] refer to Figures 37-38In other embodiments, the second feedback assembly includes a second feedback member 150, which is disposed between the slide 136-3 and the second knob 136-2 and fixedly connected to the slide 136-3. Specifically, the slide 136-3 is provided with a mounting groove extending vertically therethrough, and the second feedback member 150 is disposed within the mounting groove, with its length extending along the length of the mounting groove and along the length of the slide 136-3. A second ridge 150-3 is provided on the upper surface of the second feedback member 150, and the second ridge 150-3 protrudes in a direction away from the second feedback member 150, that is, the second ridge 150-3 protrudes upward.

[0097] refer to Figure 36 A second groove 150 - 2 is provided on the surface of the second knob 136 - 2 facing the second feedback member 150 , that is, a second groove 150 - 2 is provided on the lower surface of the second knob 136 - 2 .

[0098] The second ridge 150-3 corresponds to the second groove 150-2. Specifically, the second ridge 150-3 is located on the upper surface of the second feedback member 150 and is arranged along the length of the second feedback member 150. The second groove 150-2 is located on the lower surface of the second knob 136-2 and is arranged radially. There can be one second ridge 150-3 and multiple second grooves 150-2, which are evenly spaced along the circumference of the lower surface of the second knob 136-2.

[0099] The second ridge 150-3 is adapted to the shape of the second groove 150-2. Specifically, the width of the second ridge 150-3 gradually becomes narrower as it moves away from the surface of the second feedback member 150, and the width of the second ridge 150-3 gradually becomes wider as it moves away from the side where the second feedback member 150 is connected to the slide 136-3. The width of the second groove 150-2 gradually becomes wider as it moves away from the bottom of the second groove 150-2, and the width of the second groove 150-2 gradually becomes wider as it moves away from the center of the second knob 136-2.

[0100] In order to achieve a more stable use effect, the second ribs 150 - 3 can also be set to two or more; when set to two, the second ribs 150 - 3 are symmetrically arranged relative to the second screw 136 - 1 on the upper surface of the sliding sheet 136 - 3 .

[0101] When the second knob 136-2 is rotated, the second knob 136-2 rotates relative to the second feedback member 150. At this time, the second ridge 150-3 and the second groove 150-2 also move relative to each other. The operator can know the relative movement between the second knob 136-2 and the second feedback component through the dual feedback of sound and feel, and then accurately control and / or timely feedback the movement stroke of the movable plate 131 in the second direction.

[0102] refer to Figure 6 , Figure 6 FIG. 1 is another exemplary structural diagram of the positioning assembly according to some embodiments of the present application, and is also a bottom view of the movable plate 131. Figure 6 As shown in the center circle B, the movable plate 131 is provided with a continuous series of second teeth 510 along its longitudinal outer edge. These teeth mesh with the second engagement element 136-5 (i.e., a gear) that rotates with the second knob 136-2. Rotation of the second knob 136-2 drives the second engagement element 136-5, which in turn engages with the second teeth 510. Consequently, the movable plate 131 undergoes linear motion in the second direction as the second knob 136-2 rotates.

[0103] It should be noted that the above description of the first knob 135-2 and the second knob 136-2 is not intended to be limiting. The first knob 135-2 or the second knob 136-2 can be any rotatable component, and its rotation can be achieved manually or by a machine. For example, the first knob 135-2 or the second knob 136-2 can be a stepless knob or a step-limit knob, which is rotated by an operator (e.g., a doctor) manually. For another example, the first knob 135-2 or the second knob 136-2 itself can be a gear or a bevel gear, and a device capable of providing rotational force, such as a motor, can transmit force through components such as belt teeth, a worm gear, or a gear shaft. The rotation of the motor drives the rotation of the first knob 135-2 or the second knob 136-2, thereby achieving the rotation of the follower first meshing element or the second meshing element. For another example, the first knob 135-2 or the second knob 136-2 can be a spherical joint that can rotate freely. Similarly, the rotation can be achieved by the rotational force transmitted through the flexible shaft, the hard shaft, the transmission rod or other elements, thereby driving the first engaging element or the second engaging element to rotate.

[0104] Of course, the relative movement between the movable plate 131 and the guide plate 132 is not limited to the above description. For example, the guide groove 133 and the carrier 135 and the carrier 136 can be a guide rail and slider combination. The relative movement between the movable plate 131 and the guide plate 132 is achieved by the sliding of the carrier 135 and the carrier 136 in the guide groove 133. At the same time, the movable plate 131 and 135 and the carrier 136 can also be a guide rail and slider combination. For example, a slide groove is provided at the bottom of the movable plate 131, and sliders are provided on the carrier 135 and the carrier 136. Such cooperation can realize the sliding of the movable plate 131 between the carrier 135 and the carrier 136.

[0105] Returning to the example description of the movable plate 131 and the guide plate 132, the region 131-1 where the plurality of through holes are located on the guide plate 131 and other regions can be separated by an easy-to-fold line. Figure 6The easy-folding line 520 shown in . The easy-folding line 520 can be composed of multiple connection points, that is, the easy-folding line 520 is similar to a dotted line. On the one hand, the easy-folding line 520 can realize the function of separation, and on the other hand, it can realize the function of separation. Separation can refer to removing the area 131-1 from the movable plate 131. For example, a slight external force is applied to the easy-folding line 520, and multiple connection points will break. Similarly, the easy-folding line can also be set on the guide plate 130, for example, on the outer frame. When a slight external force is applied, multiple connection points of the easy-folding line will break, and the guide plate can be disassembled, so that the guide plate, the base and the support frame can be removed without affecting the movable plate 131, especially without affecting the area 131-1.

[0106] Therefore, after the positioning and guiding of the needle are completed, that is, after the needle has passed through the patient's body through the skin, the separation function of the easy-to-break line 520 can be used to remove the needle guiding device 100 from the patient's body surface to reduce the impact of interfering with subsequent operations.

[0107] The movable plate 131 and guide plate 132 may also be provided with multiple scale lines. These scale lines can be used to assist in determining the extent of movement of the movable plate 131, such as adjusting the position of the region 131-1 within the guide region S, and can also be used for imaging. It can be appreciated that the needle guidance device 100 can be used to position and / or guide the needle with the assistance of medical imaging equipment (such as CT or MRI). For example, the scale lines can be clearly displayed in images obtained under CT imaging conditions. Thus, based on corresponding processing, such as establishing an image coordinate system, a coordinate set of the scale lines can be obtained. Using the scale lines as a reference, the current position or a set of positions (i.e., a set of current positions of multiple through-hole regions) of the through-hole used for positioning and guiding the needle, the final position or a set of final positions, and the motion trajectory between the two can be determined.

[0108] Furthermore, when the needle guide device 100 is scanned by a medical scanner along with the patient, the various components of the needle guide device 100 can be made of materials compatible with medical scanning. For example, non-magnetic materials such as polymer plastics include polyethylene (PE), polypropylene (PP), polyvinyl chloride (PVC), etc. If the medical scanning device is an MRI, these components can also be made of non-magnetic metals such as titanium alloys, nickel alloys, chromium alloys, and other alloy materials. At the same time, some components or materials of the needle guide device 100 can also be added with developing elements to facilitate confirmation on medical scan images. For example, Figure 4As shown in FIG, the guide plate 132 may be provided with ceramic beads 137, which can be placed into developing holes defined in the guide plate 132. A developing substance, such as cod liver oil, water, or vitamins, may also be added to the developing holes. Alternatively, developing elements may be added to the guide plate 132 during its manufacture. For example, a passage may be defined within the guide plate 132. This passage may accommodate various developing elements, thereby enabling the guide plate 132 to be used for developing images on medical scans.

[0109] I understand. Figure 1 A perspective view of needle guide device 100 is shown. Figure 7 A front view of the needle guide device 100 is shown, Figure 8 A rear view of needle guide device 100 is shown. Figure 9 A top view of needle guide device 100 is shown. Figure 10 A bottom view of needle guide device 100 is shown, Figure 11 A left side view of needle guide device 100 is shown, and Figure 12 The right side view of the needle guide device 100 shown more clearly presents the structure and shape of the exemplary needle guide device 100 disclosed in this application, and more intuitively shows how the needle guide device 100 can position and guide the needle.

[0110] It should be noted that the above Figures 1-12 The description of the needle guide device 100 is merely exemplary, and the needle guide device 100 may also have other various adjustments and changes that do not depart from the scope of protection of this application. Figure 13 , Figure 13 FIG. 1 is another exemplary structural diagram showing a needle guide device according to some embodiments of the present application. Figure 7 As shown, compared to the installation directions of the movable plates included in the two positioning assemblies of the needle guide device 100 being parallel to each other, the installation directions of the movable plates included in the two positioning assemblies of the needle guide device 1300 can be perpendicular to each other. Figure 13 A perspective view of needle guide device 1300 is shown. Figure 14 A front view of needle guide device 1300 is shown, Figure 15 A rear view of needle guide device 1300 is shown. Figure 16 A top view of needle guide device 1300 is shown. Figure 17 A bottom view of needle guide device 1300 is shown, Figure 18 A left side view of needle guide device 1300 is shown, and Figure 19 The right side view of the needle guide device 1300 shown more clearly presents the structure and shape of the exemplary needle guide device 1300 disclosed in this application, and more intuitively shows how the needle guide device 1300 can position and guide the needle.

[0111] refer to Figure 20 , Figure 20 FIG. 1 is another exemplary structural diagram of a needle guide device according to some embodiments of the present application. Figure 8 As shown, the base of the needle guide device 2000 can be a sled-shaped plate. At the same time, compared to the outer frame of the guide plate included in the positioning assembly of the needle guide device 100, which surrounds the guide area, the outer frame of the guide plate included in the positioning assembly of the needle guide device 2000 partially surrounds the guide area and has a gap. At the same time, a clamp 2010 can be used to clamp the area where the multiple through holes are located. In this way, through the gap, the operator can apply force to the easy-to-break line through the clamp 2010 after the needle enters the patient's body through the skin, thereby conveniently and quickly separating the area where the multiple through holes are located from the movable plate. Similarly, Figure 20 A perspective view of needle guide device 2000 is shown. Figure 21 A front view of needle guide device 2000 is shown, Figure 22 A rear view of needle guide device 2000 is shown. Figure 23 A top view of needle guide device 2000 is shown. Figure 24 A bottom view of needle guide device 2000 is shown. Figure 25 A left side view of needle guide device 2000 is shown, and Figure 26 The right side view of the needle guide device 2000 shown more clearly presents the structure and shape of the exemplary needle guide device 2000 disclosed in this application, and more intuitively shows how the needle guide device 2000 can position and guide the needle.

[0112] In addition, the positional relationship between the movable plate and the guide plate is not limited. For example, Figure 1 、 Figure 13 and Figure 20 In the embodiment, the movable plate is always located below the guide plate. However, the movable plate may be located above the guide plate, which is also within the scope of protection of this application.

[0113] refer to Figure 39 , Figure 39 FIG. 1 is another exemplary structural diagram of a needle guide device according to some embodiments of the present application. Figure 39 As shown, the needle guide device 3900 is Figure 20Based on the structure of the needle guide device 2000 shown, multiple developing holes 3910 are further defined in the first and second directions of the movable plate 131 and guide plate 132, and / or in the areas where the multiple through holes are located. Ceramic beads 137 can be placed in the multiple developing holes 3910. Depending on the imaging requirements of different medical imaging devices, in addition to the ceramic beads, developing substances such as cod liver oil, water, and vitamins can also be added to the developing holes 3910. Alternatively, developing elements can be added to the movable plate 131 and guide plate 132 during manufacture. For example, a passageway can be defined within the plate body. This passageway can accommodate various developing elements, thus enabling the movable plate 131 and guide plate 132 to be developed on medical scan images.

[0114] The movable plate 131 and the guide plate 132 are provided with a plurality of scale lines in the first and second directions. These scale lines can be used to help determine the extent of the movable plate 131 movement, such as adjusting the position of the area 131-1 in the guide area S, and can also be used for development.

[0115] Other structures of the needle guide device 3900 may be the same or similar to those in the above-mentioned embodiments.

[0116] refer to Figure 40 , Figure 40 FIG. 1 is another exemplary structural diagram of a needle guide device according to some embodiments of the present application. Figure 40 As shown, the needle guide device 4000 is Figure 20 Based on the structure of the needle guide device 2000 shown, developing holes 4010 are further provided continuously along the first and second directions of the movable plate 131 and the guide plate 132, and / or in the areas where the multiple through holes are located. Ceramic beads 137 can be placed in the multiple developing holes 4010. Depending on the imaging requirements of different medical imaging devices, in addition to the ceramic beads, developing substances such as cod liver oil, water, vitamins, etc. can also be added to the developing holes 4010. Alternatively, developing elements can be added to the movable plate 131 and the guide plate 132 during manufacture. For example, a passageway can be provided within the plate body. This passageway can accommodate various developing elements, thus enabling the movable plate 131 and the guide plate 132 to be developed on medical scan images.

[0117] Other structures of the needle guide device 4000 may be the same or similar to those in the above-mentioned embodiments.

[0118] The needle guidance device disclosed in the present application has a simple structure, is easy to operate, has accurate positioning, is convenient to assemble and disassemble, and is highly practical. It can realize multi-needle positioning and guidance, and is particularly suitable for use under the guidance of medical scanning equipment such as CT / MRI. It can improve puncture accuracy, reduce the number of trial punctures, and reduce the patient's radiation exposure, damage and pain, save the doctor's puncture operation time, improve work efficiency, reduce the number of scans of large medical equipment, and save medical and health resources.

[0119] This application also discloses a method for using the aforementioned needle guiding device. This method can be performed under the guidance of a medical imaging device and may include the following steps:

[0120] The first step is to place the needle guide device and perform a scan to obtain a medical scan image. The needle guide device can be placed on the patient's body surface at a location corresponding to the target site where the needle is to be inserted. For example, if a patient requires a lung puncture, the needle guide device can be placed on the patient's chest. Of course, the specific placement of the needle guide device can also be determined based on the physician's clinical experience. The physician can place the needle guide device on the patient's body surface based on the patient's specific needle insertion requirements (e.g., the location of the target site within the body, the insertion depth, etc.). After the needle guide device is placed, the patient and the needle guide device can be scanned using medical scan images to obtain medical scan images. Medical scans can be performed using instruments such as CT, MRI, PET, PET-CT, C-arms (including mobile C-arms, peripheral interventional C-arms, and DSA digital subtraction angiography systems), G-arms, U-arms, DSCs, and CCDs. Images obtained after data processing and image reconstruction, such as CT images, MRI images, PET images, and DSA images, can serve as the aforementioned medical scan images. These medical scan images can be either 2D or 3D images. Taking a CT image as an example, the medical scan image can be composed of multiple cross-sectional images, or a three-dimensional image reconstructed from these cross-sectional images. The medical scan image can be directly displayed on a display device associated with the medical scanning device. For example, an interactive device for CT or MRI, such as a computer screen, can display image information of the patient and a needle guide device placed on the patient's body surface. This image information can include spatial data related to the patient and the needle guide device. For example, the coordinates of the patient region and the needle guide device region in the medical scan image correspond to a set of coordinates in an established image coordinate system. This set of coordinates can be used to determine the current and final positions of the needle guide device (and / or needle), as well as the trajectory of the needle (and / or the through-hole region of the needle guide device). It should be noted that the needle guide device may or may not already have a needle placed in it. For example, a through-hole on the movable plate of each positioning assembly can be arbitrarily or rationally selected for passage of the needle.

[0121] The second step is to adjust the needle guide device based on the medical scan image. This adjustment can involve adjusting the position of the needle guide device relative to the patient or the position of any movable plate of the needle guide device (e.g., adjusting the movable plate in the x, y, or both directions), thereby adjusting the posture for subsequent percutaneous needle insertion to facilitate subsequent percutaneous needle insertion. It should be noted that the needle guide device may or may not be positioned with a needle. To achieve this adjustment, the medical scan image can first be used to determine the final position of the needle after percutaneous entry into the patient's body, as well as the path of movement of the needle within the patient's body. The final position of the needle can be the position where the needle exerts its specific effect. For example, if a needle is used for a biopsy to determine whether a patient has lung cancer, the final position of the needle can be the suspected tumor area in the patient's lung, where the needle is used to remove tissue / cells. The path of movement of the needle can be the trajectory of the needle from the patient's body to the final position. For example, in the above example, the trajectory of the needle from the patient's chest to the suspected tumor area in the lungs after percutaneous entry. An exemplary method for determining the final position of the needle may be to first process the medical scan image through a recognition / segmentation algorithm to display the target position in the image. Any suitable machine learning algorithm or neural network such as R-CNN, SPP-Net, Fast R-CNN, Faster R-CNN, R-FCN, U-Net, V-Net, OverFeat, YOLO, SSD, DSSD, etc. can be applied. Alternatively, the doctor can manually divide and confirm it directly based on clinical experience. Subsequently, the coordinate point set of the target position in the image coordinate system can be obtained by establishing an image coordinate system based on the medical scan image. Through coordinate transformation, the coordinate point set in the image coordinate system can be converted into a coordinate point set in the world coordinate system to represent the target position in a real environment.

[0122] The needle's motion path can be determined using several strategies. It's understood that a needle is rigid and will inevitably cause damage upon entry into the patient's body. Furthermore, it possesses a certain degree of flexibility, which inevitably leads to deformation (thus deviating from the planned trajectory). Therefore, determining the needle's real-time position using a medical scanning device is essential. To minimize impact on normal organs and / or tissues while avoiding the effects of bone during entry (for example, a needle entering from the chest surface needs to avoid obstruction by the ribs), the needle's motion path can be the safest path based on damage assessment. Following this path, the needle can smoothly travel from the patient's body surface to the target location with minimal damage. Since the needle generally moves in a straight line after entering the patient's body, the needle's position along the motion path, including its position and angle, can be determined based on the medical scan images. The position can be the point of intersection of the needle and the patient's body surface upon entry, while the angle can be the basis for ensuring that the needle aligns with the motion path during its advancement. This can be achieved by adjusting the position of the movable plate of the needle guide device. For example, the needle's position can be adjusted by rotating the first and second knobs to adjust the positions of the areas containing the multiple through-holes on the movable plate.

[0123] In one example, the regions of other organs / tissues within the patient's body can also be determined based on the segmentation and recognition of the medical scan image. Subsequently, a similar exhaustive method can be applied to obtain multiple connecting lines (also considered multiple candidate paths) that pass through the patient's body surface to the final position of the needle. For example, these candidate paths do not intersect with organs / tissues within the patient's body. After evaluation, the optimal candidate path, such as the candidate path with the least damage to healthy tissue obtained by weighted assessment of the damage caused by the needle along the candidate path, can be determined as the motion path. Of course, other evaluation methods, such as path length assessment, can also be used to determine the direction of the motion path. For example, the shortest candidate path can be determined as the motion path. Furthermore, after determining the motion path, the intersection of the motion path with the patient's body surface can also be determined, or can be referred to as the starting point of the needle's motion. Regarding the needle's angle, the motion path can be extended, and a set of coordinate points of the extended line in a world coordinate system can be obtained (for example, first obtaining a set of coordinate points in an image coordinate system established based on the medical scan image and then performing a coordinate transformation to determine the position). The needle's position can then coincide with the region indicated by this set of coordinate points. At least, the central axis of the needle coincides with the area indicated by the set of coordinate points. Thus, by manually or automatically adjusting the position of the movable plate of the needle guide device (for example, by rotating the first knob and the second knob), the position of the needle can be adjusted to meet the requirements.

[0124] Of course, the use of real-time imaging medical scanning equipment, such as a dynamic flat-panel DRF, allows for instant adjustment of the needle guide device. For example, an algorithm can be combined to display the needle's motion path and position in real time on the monitor of the medical scanning equipment's workstation. The operator can manually adjust the first knob / second knob under guidance to position the needle in the indicated position, or the needle guide device can automatically adjust. Furthermore, the needle guide device can be placed on the patient's body surface without a needle, allowing the needle to be inserted into the through-hole and positioned at any appropriate time. In some cases, the first and second steps can be repeated or alternated as needed until the needle guide device (particularly the movable plate) reaches the target position.

[0125] The third step is to guide the needle's movement based on the adjusted needle guide. Obviously, the adjusted needle guide ensures that the needle moves in the appropriate position along the defined motion path until it reaches its final position. During the entire needle insertion process, the medical scanning device can be controlled to image the patient, including the needle guide (and, of course, the needle), in real time or at short intervals. The acquired real-time medical images can be used to fine-tune the needle's movement to ensure that the needle properly enters the body and reaches the aforementioned final position. For example, after entering the patient's body, the needle may be squeezed and deformed due to tissue pressure, elasticity, and density differences between tissues, causing it to deviate from the trajectory defined by the motion path. In this case, the needle's current position can be readjusted based on the acquired real-time medical images to restore it to the trajectory defined by the motion path. Furthermore, the real-time medical images can be displayed on a display device associated with the medical scanning device, such as a workstation monitor, to help the physician better understand the needle insertion process.

[0126] The above description is for the use of the needle guide device when operating a single needle. The needle guide device can also be used to position and guide multiple needles.

[0127] It should be noted that the use of the needle guide device is not limited to the above exemplary description. For example, when placing the needle guide device on the patient's body surface, the doctor can roughly adjust the position of the needle based on his or her own experience to reduce the adjustment time in subsequent steps. For another example, the adjustment of the needle guide device can also include determining the depth of needle insertion. At the same time, during the needle insertion process, the deviation of the needle's trajectory can be ignored until the needle insertion depth is reached, and then the needle insertion is stopped directly, and then a medical scanning device is used to perform scanning imaging to determine whether the needle has reached the final position. For another example, the use of the needle guide device also includes some additional operations, such as removing most of the components of the needle guide device from the patient's body surface through the separation function of the folding line after the needle insertion is completed.

[0128] Alternatively, the above process can be automated. For example, the needle guidance device can be communicatively connected to a motion control system, which can also be communicatively connected to the medical imaging device. Alternatively, the motion control system can be part of a processing device (e.g., a workstation) within the medical imaging device. The included acquisition module can be used to acquire medical scan images, the adjustment module can be used to adjust the needle guidance device based on the acquired medical scan images, and the guidance module can be used to guide the adjusted needle guidance module. For example, the acquisition module can be used to implement the first step described above, the adjustment module can be used to implement the second step, and the guidance module can be used to implement the third step. For details, please refer to the descriptions of the relevant steps. These systems and their modules can be implemented in various ways, for example, through hardware, software, or a combination of software and hardware. The hardware portion can be implemented using dedicated logic, while the software portion can be stored in memory and executed by an appropriate instruction execution system, such as a microprocessor or purpose-built hardware. Those skilled in the art will appreciate that the above methods and systems can be implemented using computer-executable instructions and / or contained in processor control code, for example, such code being provided on a carrier medium such as a disk, CD, or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The systems and modules of this specification can be implemented not only by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays and programmable logic devices, but can also be implemented by software executed by various types of processors, or by a combination of the above hardware circuits and software (e.g., firmware).

[0129] It should be noted that the above description of modules is for convenience only and does not limit this specification to the illustrated embodiments. It is understood that those skilled in the art, after understanding the principles of the system, may arbitrarily combine the modules or form subsystems connected to other modules without departing from these principles. For example, the modules may share a single storage module, or each module may have its own storage module. Such variations are within the scope of protection of this application.

[0130] While the basic concepts have been described herein, it will be apparent to those skilled in the art that the detailed disclosure is provided solely as an example and does not limit this specification. Although not explicitly stated herein, various modifications, improvements, and revisions to this specification may be made by those skilled in the art. Such modifications, improvements, and revisions are suggested in this specification and remain within the spirit and scope of the exemplary embodiments of this specification.

[0131] This specification also uses specific terms to describe the embodiments of this specification. For example, "one embodiment," "an embodiment," and / or "some embodiments" refer to a feature, structure, or characteristic associated with at least one embodiment of this specification. Therefore, it should be emphasized and noted that references to "one embodiment," "an embodiment," or "an alternative embodiment" two or more times in different locations in this specification do not necessarily refer to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of this specification may be appropriately combined.

[0132] In addition, it will be understood by those skilled in the art that various aspects of this specification may be illustrated and described by a number of patentable categories or situations, including any new and useful process, machine, product or combination of substances, or any new and useful improvements thereto. Accordingly, various aspects of this specification may be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software may be referred to as "data blocks", "modules", "engines", "units", "components" or "systems". In addition, various aspects of this specification may be represented as a computer product located in one or more computer-readable media, which includes computer-readable program code.

[0133] A computer storage medium may include a propagated data signal embodying computer program code, for example, in baseband or as part of a carrier wave. The propagated signal may be in a variety of forms, including electromagnetic, optical, or any suitable combination thereof. A computer storage medium may be any computer-readable medium other than a computer-readable storage medium that can be connected to a command control system, device, or apparatus to communicate, propagate, or transmit the program for use. The program code on a computer storage medium may be transmitted via any suitable medium, including radio, cable, fiber optic cable, RF, or similar media, or any combination of such media.

[0134] The computer program code required for the operation of the various parts of this specification can be written in any one or more programming languages, including object-oriented programming languages ​​such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET, Python, etc., conventional procedural programming languages ​​such as C, Visual Basic, Fortran 2003, Perl, COBOL 2002, PHP, ABAP, dynamic programming languages ​​such as Python, Ruby and Groovy, or other programming languages. The program code can be run entirely on the user's computer, or as a stand-alone software package on the user's computer, or partly on the user's computer and partly on a remote computer, or entirely on a remote computer or server. In the latter case, the remote computer can be connected to the user's computer via any network, such as a local area network (LAN) or a wide area network (WAN), or connected to an external computer (e.g., via the Internet), or in a cloud computing environment, or used as a service such as software as a service (SaaS).

[0135] In addition, unless expressly stated in the claims, the order of the processing elements and sequences, the use of alphanumeric characters, or the use of other names described in this specification are not intended to limit the order of the processes and methods of this specification. Although the above disclosure discusses some of the invention embodiments currently considered useful through various examples, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the spirit and scope of the embodiments of this specification. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only by software solutions, such as installing the described system on an existing server or mobile device.

[0136] Similarly, it should be noted that, in order to simplify the presentation of this specification and thus facilitate understanding of one or more embodiments of the invention, the foregoing descriptions of the embodiments of this specification sometimes combine multiple features into a single embodiment, figure, or description thereof. However, this disclosure method does not imply that the subject matter of this specification requires more features than those recited in the claims. In fact, an embodiment may have fewer features than all of the features of a single disclosed embodiment.

[0137] In some embodiments, numbers are used to describe the quantity of components and attributes. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise stated, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the description and claims are approximate values, which may change according to the required characteristics of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of this specification are approximate values, in specific embodiments, the settings of such numerical values ​​are as accurate as possible within the feasible range.

[0138] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, and documents, cited in this specification is hereby incorporated by reference in its entirety. This includes application history documents that are inconsistent with or conflict with the content of this specification, as well as documents (currently or subsequently attached to this specification) that limit the broadest scope of the claims of this specification. It should be noted that if the descriptions, definitions, and / or terminology used in the accompanying materials are inconsistent or conflicting with the content of this specification, the descriptions, definitions, and / or terminology used in this specification will control.

[0139] Finally, it should be understood that the embodiments described in this specification are intended only to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, by way of example and not limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly described and illustrated in this specification.

Claims

1. A needle guide device, characterized in that The needle guide device comprises: base; a support frame, the support frame being disposed on the base; and A plurality of pairs of positioning components are arranged on the support frame in a stacked manner with gaps therebetween; wherein, The positioning assembly includes a movable plate and a guide plate that can move relative to each other; the movable plate has a plurality of through holes, and the guide plate has a centrally-through guide area. The relative movement between the movable plate and the guide plate causes at least one through hole to be located within the guide area, so that the needle can be positioned and guided using the at least one through hole.

2. The needle guide device according to claim 1, wherein The guide plate includes an outer frame surrounding or partially surrounding the guide area, and a guide groove is provided on the outer frame for accommodating a carrier loaded with the movable plate; the movement of the carrier in the guide groove realizes a partial movement of the movable plate relative to the guide plate.

3. The needle guide device according to claim 2, characterized in that The movable plate is movable within the carrier to achieve a partial movement of the movable plate relative to the guide plate.

4. The needle guide device according to claim 3, characterized in that A plurality of first teeth are continuously arranged on the outer edge of the outer frame close to the guide groove and away from the guide area; a freely rotatable first knob is provided on the carrier, and the first knob has a first engaging element that follows and engages with the first tooth, and the engagement transmission between the first engaging element and the first tooth is realized by the rotation of the first knob, thereby realizing the movement of the movable plate relative to the guide plate in the first direction.

5. The needle guide device according to claim 4, characterized in that The movable plate is in the shape of a long strip, and a plurality of second teeth are continuously arranged on one side in the length direction; a second knob that can rotate freely is provided on the carrier, and the second knob has a second engaging element that follows and engages with the second teeth. The engagement transmission between the second engaging element and the second teeth is realized by the rotation of the second knob, thereby realizing the movement of the movable plate relative to the guide plate in the second direction.

6. The needle guide device according to claim 5, characterized in that The first direction and the second direction are perpendicular to each other.

7. The needle guide device according to claim 1 or 2, characterized in that The area where the multiple through holes are located is separated from other areas of the movable plate by an easy-folding line; and / or the guide plate is provided with an easy-folding line on the outer frame.

8. The needle guide device according to claim 7, characterized in that Applying external force to the easy-bend line on the movable plate can separate the area where the multiple through holes are located from the movable plate; and / or applying external force to the easy-bend line on the guide plate can disassemble the guide plate without affecting the through hole area of ​​the movable plate to remove the guide plate, base and support frame.

9. The needle guide device according to claim 7, characterized in that The outer frame has a notch, and a clamp is provided in the area where the multiple through holes on the movable plate are located. The area where the multiple through holes are located can be separated from the movable plate by applying force to the easy-folding line through the notch and the clamp.

10. The needle guide device according to claim 1, wherein The support frame includes at least two rigid uprights, which are fixedly connected to the guide plate to realize the arrangement of the positioning assembly on the support frame; the at least two rigid uprights are arranged on a rigid connecting member, and the base is rotatably connected to the rigid connecting member.

11. The needle guide device according to claim 4, characterized in that The needle guide device includes a first feedback component, wherein the first knob is rotatable relative to the first feedback component, and when the first knob rotates relative to the first feedback component, the relative movement between the first knob and the first feedback component can be fed back through sound and / or tactile feedback; The first feedback component includes a first feedback member, the first feedback member is provided with a first protrusion or a first ridge, and the first knob is provided with a first groove adapted to the first protrusion or the first ridge.

12. The needle guide device according to claim 5, wherein The needle guide device includes a second feedback component, the second knob is rotatable relative to the second feedback component, and when the second knob rotates relative to the second feedback component, the relative movement between the second knob and the second feedback component can be fed back through sound and / or tactile feedback; The second feedback component includes a second feedback member, the second feedback member is provided with a second protrusion or a second ridge, and the second knob is provided with a second groove matched with the second protrusion or the second ridge.

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