Puncture positioning system and needle holding device

Abstract

The present invention provides a needle holding device, including a bracket and a locking structure; the biopsy needle is arranged on the bracket through the locking structure; the locking structure can lock the biopsy needle on the bracket when there is no external force; when the locking structure is acted upon by an external force, the biopsy needle and the bracket can be unlocked to allow the biopsy needle to move relative to the bracket. During use, the operator only needs to apply an external force to allow the locking structure to unlock the biopsy needle and the bracket and drive the biopsy needle to move relative to the bracket, thereby realizing interventional surgery; when the biopsy needle needs to stop moving during movement, the biopsy needle can be locked on the bracket by the locking structure as long as the applied external force is withdrawn, thereby facilitating the stopping and moving of the biopsy needle; after the external force is lost, the biopsy needle can be securely locked on the bracket by the locking structure, thereby avoiding the risk of the biopsy needle still sliding when it needs to stop and injuring the patient. The present invention also provides a puncture positioning system.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a puncture positioning system and a needle holding device thereof. Background Art

[0002] At present, interventional medicine is constantly developing, and percutaneous interventional surgery has become a commonly used minimally invasive treatment method. Usually, the biopsy needle is fixed to the puncture stereotactic system, and the operator controls the movement of the biopsy needle to perform interventional surgery on the patient's lesion. However, when the operator needs to pause during the puncture procedure, a locking action is required to lock the position of the biopsy needle, and the operation process is relatively cumbersome; moreover, if the biopsy needle is not locked due to careless operation, there is a risk of injuring the patient if the biopsy needle continues to move. Summary of the invention

[0003] Based on this, it is necessary to provide a needle holding device that can facilitate the locking and unlocking operations of the biopsy needle while avoiding the risk of injuring the patient when the biopsy needle is not locked, in order to address the problems of the current cumbersome biopsy needle locking operation process and the risk of injuring the patient when the biopsy needle is not locked. At the same time, a puncture positioning system containing the above-mentioned needle holding device is also provided.

[0004] The above purpose is achieved through the following technical solutions:

[0005] A needle holding device comprises a support and a locking structure; the biopsy needle is arranged on the support through the locking structure;

[0006] The locking structure can lock the biopsy needle on the bracket when there is no external force;

[0007] When the locking structure is subjected to an external force, the biopsy needle and the bracket can be unlocked, so that the biopsy needle moves relative to the bracket.

[0008] In one embodiment, the support comprises a guide rail and a slider slidably disposed on the guide rail, the biopsy needle is disposed on the slider, and the locking structure is disposed on the slider;

[0009] The locking structure can unlock or lock the sliding block on the guide rail.

[0010] In one of the embodiments, an operation button is provided on the slider, and the operation button is linked with the locking structure;

[0011] When the operating button is touched, the slide block is unlocked relative to the guide rail.

[0012] In one embodiment, the locking structure includes a lever, which has a supporting portion. The lever is swingably mounted on the slider via the supporting portion, and one end of the lever is connected to the operation button, and the other end of the lever abuts against the guide rail to limit the relative movement between the guide rail and the slider.

[0013] In one embodiment, the locking structure further includes a locking block, wherein the locking block is located between the lever and the guide rail, and the lever abuts against the guide rail through the locking block to limit the relative movement between the guide rail and the slider.

[0014] In one embodiment, the locking structure also includes a first elastic member, which is arranged between the locking block and the sliding block. When the first elastic member is in a free state, the first elastic member can make the locking block abut against the guide rail to limit the relative movement between the guide rail and the sliding block.

[0015] In one embodiment, the locking structure also includes a second elastic member, which is arranged between the operation button and the slider. When the second elastic member is in a free state, the second elastic member can drive the locking block to abut against the guide rail through the lever to limit the relative movement between the guide rail and the slider.

[0016] In one embodiment, the locking structure includes a pull rod and a locking block, the pull rod connects the operation button and the locking block, the locking block abuts against the guide rail, and the operation button can drive the pull rod to move, so that the locking block disengages from the guide rail.

[0017] In one embodiment, a plurality of evenly distributed teeth are provided on the surface of the guide rail and the locking block that cooperate with each other; a plurality of latch teeth are provided on the locking block;

[0018] When the biopsy needle is locked, the latching teeth of the locking block are locked in the toothed portion of the guide rail;

[0019] When the biopsy needle is unlocked, the latching teeth of the locking block are separated from the tooth portion of the guide rail.

[0020] In one embodiment, the bracket further includes a stopper, which is disposed at the end of the guide rail and is used to limit the movement stroke of the slider;

[0021] The support also includes a guide member, one end of which is disposed on the stopper, and the other end of which is sleeved on the biopsy needle to guide the movement of the biopsy needle;

[0022] The support also includes a support arm, one end of which is arranged on the guide rail, and the other end of which is suitable for connecting with the puncture mechanical arm.

[0023] A puncture positioning system, comprising a puncture mechanical arm and a needle holding device as described in any of the above technical features;

[0024] The puncture robot arm has multiple degrees of freedom. The needle holding device is installed at the end of the puncture robot arm. The puncture robot arm drives the needle holding device to move to the command position, and drives the biopsy needle through the needle holding device to perform an intervention operation.

[0025] After adopting the above technical solution, the beneficial effects of the present invention are:

[0026] The puncture positioning system and needle holding device of the present invention are characterized in that the biopsy needle is arranged on the bracket in a locked state through a locking structure; when in use, the operator only needs to apply external force to make the locking structure unlock the biopsy needle and the bracket, and at the same time the operator drives the biopsy needle to move relative to the bracket to implement interventional surgery; when the biopsy needle needs to stop moving during movement, the biopsy needle can be locked on the bracket by the locking structure as long as the applied external force is withdrawn; the current cumbersome biopsy needle locking operation process and the risk of injuring the patient when not locked are effectively solved; the operator can conveniently stop and move the front and rear positions of the biopsy needle during operation; moreover, after the external force is lost, the biopsy needle can be securely locked on the bracket by the locking structure, avoiding the risk of injuring the patient due to the biopsy needle still sliding when it needs to stop, thereby ensuring the use performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A three-dimensional diagram of a biopsy needle installed on a needle holding device according to an embodiment of the present invention;

[0028] Figure 2 for Figure 1 A schematic diagram of the structure of the locking structure and the bracket in the needle holding device shown;

[0029] in:

[0030] 100-needle holding device;

[0031] 110-Stand;

[0032] 111-guide rail; 1111-tooth portion;

[0033] 112-slider; 1121-operation button;

[0034] 113-stopper;

[0035] 114- guide member;

[0036] 115-support arm;

[0037] 120-locking structure;

[0038] 121-lever; 1211-supporting part;

[0039] 122-locking block; 1221-grip tooth;

[0040] 113-first elastic member;

[0041] 114- a second elastic member;

[0042] 200-biopsy needle;

[0043] 210-biopsy needle holder;

[0044] 220-needle body. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the puncture positioning system and the needle holding device of the present invention are further described in detail below through embodiments and in combination with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0046] The serial numbers of the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings). In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0047] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0048] See also Figure 1 and Figure 2The present invention provides a needle holding device 100, which is used to clamp a biopsy needle 200 and drive the biopsy needle 200 to perform puncture interventional surgery. The puncture interventional surgery here can refer to the sampling and cell aspiration of living tissue for pyramidal tumors and tumors of unknown species, and can also refer to the injection of hemostatic agents and treatment. Moreover, the needle holding device 100 is installed on the puncture mechanical arm of the puncture stereotactic system, and the needle holding device 100 is driven to move by the puncture mechanical arm, so that the biopsy needle 200 on the needle holding device 100 performs interventional surgery on the patient. Of course, in other embodiments of the present invention, the needle holding device 100 can also be installed on other devices that can drive the needle holding device 100 to move, such as a connecting rod, a support arm 115, and the like. The needle holding device 100 of the present invention can securely fix the biopsy needle 200, avoiding the risk of the biopsy needle 200 sliding and injuring the patient when it needs to stop, thereby ensuring the performance of use; moreover, the needle holding device 100 of the present invention is simple and convenient to operate, and is convenient for locking and unlocking the biopsy needle 200, making it convenient for medical staff to use.

[0049] In the present invention, the needle holding device 100 includes a support 110 and a locking structure 120, and the biopsy needle 200 is arranged on the support 110 through the locking structure 120. The support 110 plays a bearing connection role, and the locking structure 120 and the biopsy needle 200 are both arranged on the support 110. In this embodiment, the support 110 can also be connected to the puncture robot arm, and the support 110 is driven by the puncture robot arm to move to the command position, and then the relationship between the biopsy needle 200 and the support 110 is controlled by manipulating the locking structure 120 to realize the puncture interventional surgery operation.

[0050] The locking structure 120 is used to lock or unlock the biopsy needle 200 and the bracket 110. It is understood that when the locking structure 120 is locked, the biopsy needle 200 can be securely locked on the bracket 110 by the locking structure 120, and at this time, the biopsy needle 200 cannot move relative to the bracket 110; when the locking structure 120 is unlocked, the biopsy needle 200 is no longer locked on the bracket 110 by the locking structure 120, and at this time, the biopsy needle 200 can move relative to the bracket 110, such as linear motion, etc., to achieve puncture interventional surgery. Moreover, the locking structure 120 can always lock the biopsy needle 200 on the bracket 110, that is, the locking structure 120 is unlocked only when it is in use, and the locking structure 120 always locks the biopsy needle 200 on the bracket 110 at other times.

[0051] The locking and unlocking control of the locking structure 120 is achieved through external force. Specifically, when the locking structure 120 is subjected to external force, the biopsy needle 200 and the bracket 110 can be unlocked, so that the biopsy needle 200 moves relative to the bracket 110; when there is no external force, the locking structure 120 can lock the biopsy needle 200 on the bracket 110. When in use, the medical staff applies an external force to the locking structure 120, so that the locking structure 120 unlocks the biopsy needle 200 and the bracket 110, and then the medical staff drives the biopsy needle 200 to move along the bracket 110, so that the biopsy needle 200 can puncture into the patient's lesion location to achieve puncture interventional surgery; when the biopsy needle 200 needs to pause or stop moving during the movement, at this time, the medical staff directly cancels the force applied to the locking structure 120, so that the locking structure 120 can lock the biopsy needle 200 and the bracket 110, and the biopsy needle 200 can be stopped without performing too much and complicated operations. The operation is convenient and fast, and it is convenient for medical staff to use; moreover, the locking structure 120 can also ensure that the biopsy needle 200 is reliably locked on the bracket 110, ensuring that the position of the biopsy needle 200 is fixed when locked, avoiding the risk of injuring the patient due to the sliding of the biopsy needle 200 when locked.

[0052] The biopsy needle 200 here includes a biopsy needle seat 210 and a needle body 220. The biopsy needle seat 210 is installed on the bracket 110 and locked by the locking structure 120. The needle body 220 is detachably arranged on the biopsy needle seat 210. When the needle body 220 is installed on the biopsy needle seat 210, the needle body 220 is fixed on the biopsy needle seat 210, and the needle body 220 and the biopsy needle seat 210 are connected as a whole; when the needle body 220 is removed from the biopsy needle seat 210, the needle body 220 is separated from the biopsy needle seat 210, and the needle body 220 can be replaced at this time. The biopsy needle 200 implements puncture intervention surgery through the needle body 220. After the needle body 220 surgery is completed, the needle body 220 can be removed and the needle body 220 can be disinfected or replaced.

[0053] For example, in this embodiment, the external force refers to the pressing force. That is to say, the medical staff can unlock the biopsy needle 200 and the bracket 110 by pressing the locking structure 120; after the medical staff let go, the locking structure 120 locks the biopsy needle 200 and the bracket 110. The unlocking and locking of the biopsy needle 200 and the bracket 110 are achieved by the medical staff pressing or releasing the locking structure 120, and the biopsy needle 200 can be stopped without too many and complicated operations. The operation is convenient and fast, and it is convenient for medical staff to use. Moreover, when the biopsy needle 200 pauses during the movement, the medical staff can directly let go and lock the biopsy needle 200 and the bracket 110, and there will be no risk of the biopsy needle 200 continuing to slide and injuring the patient due to forgetting to lock the biopsy needle 200 and the bracket 110. Of course, in other embodiments of the present invention, the external force can also be a torsional force, a tensile force, etc., as long as it can achieve the force of controlling the locking of the locking structure 120 and facilitate the operation of medical staff.

[0054] The needle holding device 100 of the present invention locks and unlocks the biopsy needle 200 and the bracket 110 through the external force on the locking structure 120. When in use, the operator only needs to apply an external force to make the locking structure 120 unlock the biopsy needle 200 and the bracket 110, and at the same time, the operator drives the biopsy needle 200 to move relative to the bracket 110, such as linear motion, to achieve interventional surgery; when the biopsy needle 200 needs to stop moving during the movement, as long as the applied external force is withdrawn, the biopsy needle 200 can be locked on the bracket 110 by the locking structure 120; it effectively solves the cumbersome operation process of the current biopsy needle locking operation and the risk of injuring the patient when it is not locked; it allows the operator to easily stop and move the front and rear position of the biopsy needle 200 during operation; moreover, after the external force is lost, the biopsy needle 200 can be firmly locked on the bracket 110 by the locking structure 120, avoiding the risk of injuring the patient when the biopsy needle 200 still slides when it needs to stop, thereby ensuring the performance of use.

[0055] As an implementation method, the bracket 110 includes a guide rail 111 and a slider 112 slidably disposed on the guide rail 111, the biopsy needle 200 is disposed on the slider 112, and the locking structure 120 is disposed on the slider 112. The locking structure 120 can unlock or lock the slider 112 on the guide rail 111. The linear motion of the biopsy needle 200 is achieved by the cooperation between the slider 112 and the guide rail 111, so as to ensure that the motion trajectory of the biopsy needle 200 is accurate. Before the puncture intervention surgery, the support 110 is controlled to move to the command position and the position of the support 110 is fixed. When the puncture intervention surgery is performed, the locking structure 120 unlocks the biopsy needle 200 and the support 110, and the biopsy needle 200 slides along the guide rail 111 through the slider 112. When the biopsy needle 200 slides out along the guide rail 111, the biopsy needle 200 can puncture into the patient. When the biopsy needle 200 moves to the end of the guide rail 111, the end of the biopsy needle 200 just extends into the patient's lesion position, thereby realizing the puncture intervention surgery on the patient.

[0056] The head end and the end of the guide rail 111 are arranged opposite to each other. Figure 1 As shown. It can be understood that when the needle holding device 100 is in the initial state, the slider 112 is located at the head end of the guide rail 111, and the biopsy needle 200 is in a non-extended (retracted) state; when the slider 112 drives the biopsy needle 200 to move from the head end to the end of the guide rail 111, the biopsy needle 200 gradually extends and enters the patient. When the end of the biopsy needle 200 extends into the patient's lesion position, the slider 112 is located at the end of the guide rail 111. The slider 112 moves from the head end to the end of the guide rail 111 to drive the biopsy needle 200 to extend, which can ensure the movement stroke of the biopsy needle 200, so that the biopsy needle 200 has a sufficient movement distance to accurately extend into the patient's lesion position. Of course, when the patient's lesion position is shallow, the initial position of the slider 112 can also be located in the middle position of the guide rail 111. Medical staff can adjust the initial position of the slider 112 according to the actual situation of the patient's lesion location, and then adjust the puncture intervention stroke of the biopsy needle 200 to prevent the biopsy needle 200 from passing through the patient's lesion location and extending into other organs of the patient, thereby ensuring the accuracy of the operation.

[0057] Of course, in other embodiments of the present invention, the linear motion of the biopsy needle 200 can also be achieved through a ball screw structure, a cylinder structure, or a gear rack structure, etc. The linear motion of the biopsy needle 200 can ensure the motion trajectory of the biopsy needle 200, so that the biopsy needle 200 accurately enters the patient's lesion position according to the planned path, and implements the puncture interventional surgery operation.

[0058] Furthermore, an operation button 1121 is provided on the slider 112, and the operation button 1121 is linked with the locking structure 120. When the operation button 1121 is touched, the slider 112 is unlocked relative to the guide rail 111. The medical staff drives the locking structure 120 to move by touching the operation button 1121 on the slider 112, so that the locking structure 120 unlocks or locks the slider 112 and the guide rail 111, thereby realizing the locking and unlocking of the biopsy needle 200. For example, the operation button 1121 is a press-type structure. When in use, the medical staff presses the operation button 1121, and the operation button 1121 drives the locking structure 120 to move, so that the locking structure 120 unlocks the slider 112 and the guide rail. At this time, the medical staff pushes the slider 112 to move along the guide rail 111, thereby driving the biopsy needle 200 to move linearly along the guide rail 111, thereby realizing the puncture interventional surgery operation. When the biopsy needle 200 needs to pause during its movement, the medical staff only needs to release the operating button 1121. At this time, the operating button 1121 loses its pressing force and drives the locking structure 120 to move, so that the locking structure 120 locks the slider 112 and the guide rail 111 to limit the slider 112 from sliding relative to the guide rail 111, thereby avoiding the risk of the biopsy needle 200 continuing to slide during the pause and causing the patient to be stabbed. In addition, the locking structure 120 locks or unlocks the slider 112 and the guide rail by the medical staff touching the operating button 1121, which is simple and quick to operate and convenient for medical staff to use.

[0059] Of course, in other embodiments of the present invention, it can also be achieved through structures such as switches or knobs. When the medical staff does not trigger the switch or button, the locking structure 120 always locks the slider 112 and the guide rail 111; when the medical staff touches the switch or button, the locking structure 120 unlocks the slider 112 and the guide rail 111; when the medical staff lets go, the locking structure 120 will return to its initial state, so that the locking structure 120 locks the slider 112 on the guide rail 111.

[0060] In one embodiment of the present invention, the locking structure 120 includes a lever 121, the lever 121 has a support portion 1211, the lever 121 is swingably mounted on the slider 112 through the support portion 1211, and one end of the lever 121 is connected to the operation button 1121, and the other end of the lever 121 abuts against the guide rail 111 to limit the relative movement between the guide rail 111 and the slider 112. In this embodiment, the slider 112 and the guide rail 111 are locked or unlocked by the lever 121. When locked, the operation button 1121 is in a free state, one end of the lever 121 abuts against the operation button 1121, and the other end of the lever 121 abuts against the guide rail 111 to limit the movement of the slider 112 along the guide rail 111, thereby locking the slider 112 and the guide rail 111. At this time, the slider 112 cannot drive the biopsy needle 200 to slide along the guide rail 111; when performing a puncture interventional surgery, the medical staff presses the operation button 1121, and the operation button 1121 drives one end of the lever 121 to move toward the guide rail 111, and then through the supporting effect of the support part 1211, the other end of the lever 121 is tilted and separated from the guide rail 111, thereby unlocking the slider 112 and the guide rail 111. At this time, the medical staff can operate the slider 112 to move along the guide rail 111 and drive the biopsy needle 200 to perform a puncture interventional surgery. For example, the support portion 1211 may be a rotating shaft or a hinge. Of course, in other embodiments of the present invention, the support portion 1211 may also be other structures that can achieve support and swing of the lever 121 .

[0061] Optionally, the lever 121 includes a first section and a second section, the first section is the part from the support portion 1211 to the operation button 1121, the second section is the part from the support portion 1211 to the locking block 122, and the length of the first section is greater than or equal to the length of the second section. In this way, medical staff only need a small pressing force to achieve the locking and unlocking of the slider 112 and the guide rail 111 through the lever 121, which is convenient for medical staff to operate and use. Preferably, the length of the first section is 1 to 10 times the length of the second section. Of course, in other embodiments of the present invention, the length of the first section may also be less than the length of the second section, which can also achieve the locking and unlocking of the slider 112 and the guide rail 111.

[0062] Furthermore, the locking structure 120 further includes a locking block 122, which is located between the lever 121 and the guide rail 111, and the lever 121 abuts against the guide rail 111 through the locking block 122 to limit the relative movement between the guide rail 111 and the slider 112. In this embodiment, the slider 112 and the guide rail 111 are locked by the locking block 122 to ensure the locking effect, and to prevent the slider 112 from moving along the guide rail 111 during locking, causing the biopsy needle 200 to slide. The locking block 122 is movably arranged in the slider 112. When the locking structure 120 locks the slider 112 and the guide rail 111, the locking block 122 moves toward the guide rail 111 and abuts against the guide rail 111 to achieve locking; when the locking structure 120 unlocks the slider 112 and the guide rail 111, the locking block 122 moves in a direction away from the guide rail 111 and is separated from the guide rail 111 to achieve unlocking. Correspondingly, the slider 112 has a cavity, and the slider 112 also has a cover plate covering the cavity, the lever 121 is swingably arranged in the cavity, the operation button 1121 passes through the cover plate portion and is located in the cavity and abuts against the lever 121, and the locking block 122 passes through the slider 112 and extends out to lock the guide rail 111. It can be understood that the structure of the locking block 122 is not limited to the block structure in this embodiment, and can also be a flat plate, etc.

[0063] For example, a first shifting groove is provided on the operation button 1121, and a second shifting groove is provided on the locking block 122. The end of the first section of the lever 121 extends into the first shifting groove, and the end of the second section of the lever 121 extends into the second shifting groove. When the operation button 1121 is pressed, the operation button 1121 drives the lever 121 to move, and the two ends of the lever 121 move in opposite directions, so that the other end of the lever 121 moves the locking block 122 away from the guide rail 111 to unlock the slider 112 and the guide rail 111. After the operation button 1121 is reset, the operation button 1121 drives the lever 121 to move, and the two ends of the lever 121 move in opposite directions, so that the other end of the lever 121 moves the locking block 122 toward the guide rail 111 to lock the slider 112 and the guide rail 111.

[0064] Optionally, a plurality of evenly distributed teeth 1111 are provided on the surfaces where the guide rail 111 and the locking block 122 match; and a plurality of latching teeth 1221 are provided on the locking block 122. When the biopsy needle 200 is locked, the latching teeth 1221 of the locking block 122 are latched in the teeth 1111 of the guide rail 111; when the biopsy needle 200 is unlocked, the latching teeth 1221 of the locking block 122 are separated from the teeth 1111 of the guide rail 111. The locking and unlocking of the slider 112 and the guide rail 111 are achieved by the engagement or separation of the latching teeth 1221 on the locking block 122 with the teeth 1111 of the guide rail 111. In this way, it can be ensured that the locking block 122 is reliably latched on the guide rail 111 when locked, and the loosening of the locking block 122 is avoided, thereby ensuring reliable locking. Of course, in other embodiments of the present invention, the locking of the slider 112 and the guide rail 111 can also be achieved by increasing the friction between the locking block 122 and the guide rail 111, such as setting damping particles, applying a coating that increases friction, or using a material with high friction, etc.

[0065] Optionally, the locking structure 120 further includes a first elastic member 113, which is disposed between the locking block 122 and the slider 112. When the first elastic member 113 is in a free state, the first elastic member 113 can make the locking block 122 abut against the guide rail 111 to limit the relative movement between the guide rail 111 and the slider 112. When the operation button 1121 is pressed, the operation button 1121 moves the locking block 122 to compress the first elastic member 113. At this time, the locking block 122 is separated from the guide rail 111 to unlock the slider 112 and the guide rail 111; after releasing the operation button 1121, the first elastic member 113 stretches and resets under the action of its own elastic force, and the first elastic member 113 can drive the locking block 122 toward the guide rail 111 to lock the slider 112 in the guide rail 111. For example, the first elastic member 113 is a spring. The locking block 122 has a first groove, the first elastic member 113 is disposed in the first groove, one end of the first elastic member 113 abuts against the locking block 122, and the other end of the first elastic member 113 abuts against the slider 112. Of course, in other embodiments of the present invention, the first elastic member 113 may also be an elastic column or an elastic rope, etc.

[0066] Optionally, the locking structure 120 further includes a second elastic member 114, which is disposed between the operation button 1121 and the slider 112. When the second elastic member 114 is in a free state, the second elastic member 114 can drive the locking block 122 to abut against the guide rail 111 through the lever 121 to limit the relative movement between the guide rail 111 and the slider 112. When the operation button 1121 is pressed, the operation button 1121 compresses the second elastic member 114 and moves the locking block 122. At this time, the locking block 122 is separated from the guide rail 111 to unlock the slider 112 and the guide rail 111; after the operation button 1121 is released, the second elastic member 114 stretches and resets under the action of its own elastic force, and the second elastic member 114 can drive the operation button 1121 to reset, and then move the locking block 122 toward the guide rail 111 through the lever 121 to lock the slider 112 in the guide rail 111. For example, the second elastic member 114 is a spring. The operation button 1121 has a second groove, the second elastic member 114 is disposed in the second groove, and one end of the second elastic member 114 abuts against the operation button 1121, and the other end of the second elastic member 114 abuts against the operation button 1121. Of course, in other embodiments of the present invention, the second elastic member 114 may also be an elastic column or an elastic rope, etc.

[0067] It is understandable that the locking structure 120 may only use the first elastic member 113 or only use the second elastic member 114. Through the elastic force of the first elastic member 113 or the second elastic member 114, the locking block 122 is automatically reset to ensure the locking effect. The specific action mode has been described in the above content and will not be repeated here. In this embodiment, the locking structure 120 uses a combination of the first elastic member 113 and the second elastic member 114. Specifically, when the operation button 1121 is pressed, the operation button 1121 compresses the second elastic member 114 and moves the locking block 122 to compress the first elastic member 113 through the lever 121. At this time, the locking block 122 disengages from the guide rail 111 to unlock the slider 112 and the guide rail 111; after releasing the operation button 1121, the second elastic member 114 stretches and resets under the action of its own elastic force, and the second elastic member 114 can drive the operation button 1121 to reset, and then move the locking block 122 toward the guide rail 111 through the lever 121; at the same time, the first elastic member 113 stretches and resets under the action of its own elastic force, and the first elastic member 113 also drives the locking block 122 toward the guide rail 111. Through the joint action of the first elastic member 113 and the second elastic member 114, the locking block 122 abuts against the guide rail 111, and the slider 112 is locked in the guide rail 111. This can ensure that the locking process of the locking block 122 is fast and accurate, and avoid the biopsy needle 200 slipping due to a long locking process.

[0068] In addition, the operation buttons 1121 and the locking structures 120 of the present invention can be two groups respectively, and the two groups of locking structures 120 are symmetrically arranged in the slider 112 and located on both sides of the guide rail 111, and the operation buttons 1121 are respectively linked with the corresponding locking structures 120. In this way, the two operation buttons 1121 respectively control the two locking structures 120 to lock the guide rail 111, which can ensure that the slider 112 is locked reliably and avoid the slider 112 tilting due to uneven force. Of course, in other embodiments of the present invention, the slider 112 and the guide rail 111 can also be locked by adsorption, and the slider 112 and the guide rail 111 can be unlocked after the adsorption force is eliminated.

[0069] In another embodiment of the present invention, the locking structure 120 includes a pull rod and a locking block. The pull rod connects the operation button 1121 and the locking block. The locking block abuts against the guide rail 111. The operation button 1121 can drive the pull rod to move, so that the locking block is separated from the guide rail 111. Pull the operation button 1121, and the operation button 1121 drives the locking block to separate from the guide rail 111 through the pull rod. When in use, the medical staff pulls the operation button 1121, and drives the locking block to separate from the guide rail 111 through the pull rod. Then the medical staff pushes the slider 112, and drives the biopsy needle 200 to slide along the guide rail 111 through the slider 112, so that the biopsy needle 200 can puncture into the patient's lesion position, and realize the puncture interventional surgery operation; when the biopsy needle 200 needs to pause or stop moving during the movement, at this time, the medical staff directly releases the operation button 1121. At this time, the operation button 1121 acts on the pull rod. The pull rod 112 is reset to the bottom, and the locking block is driven to abut against the guide rail 111 to lock the slider 112 and the guide rail 111, thereby locking the biopsy needle 200 on the guide rail 111. The biopsy needle 200 can be stopped without performing too many and complicated operations. The operation is convenient and fast, and it is convenient for medical staff to use. Moreover, the cooperation between the pull rod and the locking block can also ensure that the biopsy needle 200 is reliably locked on the bracket 110, ensuring that the position of the biopsy needle 200 is fixed when locked, avoiding the risk of stabbing the patient due to the sliding of the biopsy needle 200 when locked. It can be understood that the structure of the locking block in this embodiment can be the same as the structure of the locking block 122 in the above embodiment, or it can be different, as long as the locking and unlocking of the guide rail 111 can be achieved.

[0070] As an implementable embodiment, the bracket 110 also includes a stopper 113, which is arranged at the end of the guide rail 111 and is used to limit the movement stroke of the slider 112. The stopper 113 can play a limiting role, and is used to limit the movement stroke of the slider 112 along the guide rail 111, so as to prevent the slider 112 from detaching from the guide rail 111, thereby ensuring the accuracy of the trajectory of the biopsy needle 200 in the puncture interventional surgery and avoiding over-travel operation. When the needle holding device 100 of the present invention is in use, after the puncture robot arm drives the needle holding device 100 to move to the command position, the stopper 113 corresponds to the end point position of the puncture of the biopsy needle 200, that is, when the slider 112 drives the biopsy needle 200 to perform the puncture interventional surgery, after the end of the slider 112 abuts against the stopper 113, the biopsy needle 200 just moves to the patient's lesion position. That is to say, when pre-planning the movement path of the biopsy needle 200, the block 113 at the end of the guide rail 111 is used as a reference to correspond to the patient's lesion position, so that the biopsy needle 200 can puncture into the patient's lesion position during the movement along the guide rail 111. This can ensure that the movement trajectory of the biopsy needle 200 is accurate and reliable, avoid deviation from the planned path, and at the same time ensure the running stroke of the biopsy needle 200 to avoid over-stroke operation.

[0071] Furthermore, the support 110 further includes a guide 114, one end of which is disposed on the stopper 113, and the other end of which is sleeved on the biopsy needle 200, for guiding the movement of the biopsy needle 200. Specifically, the guide 114 can play a guiding and supporting role, and the other end of the guide 114 is sleeved on the needle body 220 of the biopsy needle 200, so as to prevent the needle body 220 of the biopsy needle 200 from sagging at the end of the needle body 220 similar to a cantilever beam structure. When the slider 112 drives the biopsy needle 200 to move along the guide rail 111, the needle body 220 gradually extends out of the guide 114, and the guide 114 can guide and support the movement of the needle body 220, so that the needle body 220 can accurately enter the lesion position of the patient, and prevent the actual trajectory of the needle body 220 from deviating from the pre-planned trajectory, thereby ensuring the accuracy of the puncture interventional surgery. Furthermore, the support 110 further includes a support arm 115, one end of which is disposed on the guide rail 111, and the other end is suitable for connecting with the puncture robot arm. The support arm 115 plays a role of bearing connection, and the guide rail 111 is installed on the puncture robot arm through the support arm 115, thereby establishing a mechanical connection between the biopsy needle 200 and the puncture robot arm, so that the puncture robot arm drives the biopsy needle 200 to move to the command position, and then performs the puncture interventional surgery.

[0072] The present invention also provides a puncture positioning system, including a puncture robot arm and a needle holding device 100 in any of the above embodiments. The puncture robot arm has multiple degrees of freedom, and the needle holding device 100 is installed at the end of the puncture robot arm. The puncture robot arm drives the needle holding device 100 to move to the command position, and performs intervention operations through the needle holding device 100. The puncture robot arm has a large movement space, so that after driving the needle holding device 100 and the biopsy needle 200 on the needle holding device 100 to move to the command position, the puncture robot arm is controlled to lock, so as to avoid the position of the puncture robot arm from moving and causing the needle holding position to change, thereby ensuring the movement trajectory of the biopsy needle 200. Then, the medical staff controls the needle holding device 100 to unlock the biopsy needle 200, thereby performing the puncture interventional surgery; when a pause is required, the medical staff releases the needle holding device 100 so that the biopsy needle 200 is locked on the guide rail 111. The operation is quick and easy, and it is convenient for medical staff to use; moreover, the needle holding device 100 can also reliably lock the biopsy needle 200 on the bracket 110, ensuring that the position of the biopsy needle 200 is fixed when locked, avoiding the risk of injuring the patient due to the sliding of the biopsy needle 200 when locked.

[0073] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0074] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A needle holding device, characterized in that: It comprises a bracket and a locking structure; the biopsy needle is arranged on the bracket through the locking structure; The locking structure can lock the biopsy needle on the bracket when there is no external force, and the position of the biopsy needle relative to the bracket is fixed; When the locking structure is subjected to an external force, the biopsy needle and the bracket can be unlocked, so that the biopsy needle moves relative to the bracket; Wherein, the bracket includes a guide rail and a slider slidably arranged on the guide rail, the biopsy needle is arranged on the slider, and the locking structure is arranged on the slider; The locking structure can unlock or lock the slider on the guide rail. An operation button is provided on the slider, and the operation button is linked with the locking structure. The locking structure includes a lever and a locking block, wherein the lever has a supporting portion, the lever is swingably mounted on the slider through the supporting portion, one end of the lever is connected to the operation button, the other end of the lever abuts against the guide rail to limit the relative movement between the guide rail and the slider, and the locking block is located between the lever and the guide rail; A plurality of evenly distributed teeth are arranged on the surface where the guide rail and the locking block cooperate; a plurality of latch teeth are arranged on the locking block; When the biopsy needle is locked, the latching teeth of the locking block are locked in the toothed portion of the guide rail; When the biopsy needle is unlocked, the latching teeth of the locking block are separated from the toothed portion of the guide rail; The bracket also includes a stopper, which is arranged at the end of the guide rail and is used to limit the movement stroke of the slider.

2. The needle holding device according to claim 1, characterized in that: The lever abuts against the guide rail through the locking block to limit the relative movement between the guide rail and the sliding block.

3. The needle holding device according to claim 2, characterized in that: The locking structure also includes a first elastic member, which is arranged between the locking block and the sliding block. When the first elastic member is in a free state, the first elastic member can make the locking block abut against the guide rail to limit the relative movement between the guide rail and the sliding block.

4. The needle holding device according to claim 2 or 3, characterized in that: The locking structure also includes a second elastic member, which is arranged between the operation button and the slider. When the second elastic member is in a free state, the second elastic member can drive the locking block to abut against the guide rail through the lever to limit the relative movement between the guide rail and the slider.

5. The needle holding device according to claim 1, characterized in that: The locking structure includes a pull rod and a locking block, the pull rod connects the operation button and the locking block, the locking block abuts against the guide rail, and the operation button can drive the pull rod to move, so that the locking block is separated from the guide rail.

6. The needle holding device according to claim 1, characterized in that: The support also includes a guide member, one end of which is disposed on the stopper, and the other end of which is sleeved on the biopsy needle to guide the movement of the biopsy needle; The support also includes a support arm, one end of which is arranged on the guide rail, and the other end of which is suitable for connecting with the puncture mechanical arm.

7. The needle holding device according to claim 1, characterized in that: When the operation button is touched, the operation button drives one end of the lever to move toward the guide rail, and the other end of the lever is supported by the support portion to tilt up and detach from the guide rail, so that the slider is unlocked relative to the guide rail; when the operation button is released, the operation button causes the lever to abut against the guide rail, and the slider is locked to the guide rail.

8. A puncture positioning system, characterized in that: It comprises a puncture mechanical arm and a needle holding device as claimed in any one of claims 1 to 7; The puncture robot arm has multiple degrees of freedom. The needle holding device is installed at the end of the puncture robot arm. The puncture robot arm drives the needle holding device to move to the command position, and drives the biopsy needle through the needle holding device to perform an intervention operation.

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