A laser-guided puncture assist device

Abstract

The present application discloses a puncture assisting device based on laser guidance, including a parallel guiding mechanism installed on a spatial positioning device, the parallel guiding mechanism including a translation bracket fixedly installed with the spatial positioning device, a servo motor installed at one end of the translation bracket, the servo motor drivingly connected to a screw installed in the translation bracket; and a guide frame slidably installed on the translation bracket and drivingly connected to the screw, the guide frame being equipped with a laser guiding unit and a needle holder for assisting puncture. The puncture assisting device provided by the present application can greatly reduce or even eliminate the deflection caused by the doctor's barehanded puncture, so that the puncture needle can perform a predetermined puncture completely in the direction of laser guidance, realize the precise implantation of radioactive particles, and achieve the purpose of precise radiation.

Description

Technical Field

[0001] The present application relates to the field of medical devices and equipment, in particular to the technical field of puncture medical devices and equipment, and specifically to an auxiliary puncture device for improving puncture accuracy and puncture stability, specifically a puncture auxiliary device based on laser guidance. Background Art

[0002] As one of the main methods of precision medicine and precision radiotherapy for tumors, the use of radioactive particles for implantation is one of the most common methods. Radioactive particle implantation is the process of implanting a number of tiny radioactive particles, such as iodine 125, into the tumor for precise radiation, which achieves the purpose of treatment without damaging normal organs.

[0003] The existing radioactive ion implantation method is to use manual implantation, that is, the surgeon manually holds the puncture needle and inserts it into the affected part of the human body, and then implants the radioactive ions into the human body through the hollow puncture needle. The most obvious disadvantages of this method are three:

[0004] One is inaccurate positioning. During the puncture process, the depth and angle of puncture need to rely on human experience to judge, and there are very obvious errors.

[0005] The second is that it is impossible to determine whether the bone structure or blood vessels in the puncture area have been avoided. Any carelessness may easily lead to abnormal conditions during the operation and even endanger the patient's life.

[0006] Third, during the puncture process, the doctor's hands will inevitably shake, especially when there is greater resistance at the puncture site, it is easy to deflect, and the doctor's needle is likely to deflect in the direction of less resistance.

[0007] In order to achieve precise puncture, the prior art already has technology that uses laser to accurately guide puncture. However, since the laser can only be operated by visual alignment, it cannot effectively limit the puncture needle path. Therefore, a method is needed to limit the puncture needle to always puncture along the preset needle path during the puncture process, so as to achieve the purpose of precise puncture and eliminate the deviation and uncertainty caused by the doctor's operation. Summary of the invention

[0008] In order to solve the practical problem that in existing puncture operations, the doctor's bare-handed needle will inevitably deflect, and long-term puncture will increase the degree of puncture deflection, the present application provides a puncture auxiliary device based on laser guidance, which is used in combination with laser-guided puncture, which does not affect the space occupied by the doctor's puncture, and can fully utilize the precise guidance of the laser for puncture, so that the doctor can insert the needle under the limitation and restriction of the auxiliary device, and can achieve fast and accurate puncture. Compared with bare-hand puncture, it directly eliminates the operation of holding the needle steadily and straightening it, and there is no need to calibrate the concentricity of the tail of the puncture needle and the guiding laser in real time. On the one hand, it reduces the workload and fatigue of the doctor during puncture; on the other hand, it improves the convenience and accuracy of the operation. It is worth noting that there is an essential difference between the present application and ordinary puncture templates. Ordinary parallel puncture templates and 3D printed templates are used independently, and the puncture path of the actual puncture needle is limited by the preset needle channel on the template, so that the puncture needle can puncture according to the preset template needle channel, thereby improving accuracy; however, compared with the present application, puncture using a puncture template has inherent and insurmountable defects, because no matter how high the manufacturing precision of the template is, there will be inevitable errors in the process of positioning, fitting and puncturing the human body surface. In addition, the human body surface is soft, which will further aggravate the expansion of the error. In the present application, only the puncture needle is in contact with the patient. During the puncture process, the movement of the puncture needle is limited by an auxiliary device to keep the actual puncture direction consistent with the preset puncture needle channel, thereby achieving a comprehensive combination of puncture efficiency, stability and particle implantation accuracy.

[0009] In order to achieve the above purpose, the technical solution adopted in this application is:

[0010] A puncture assisting device based on laser guidance includes a parallel guiding mechanism installed on a spatial positioning device, the parallel guiding mechanism includes a translation bracket fixedly installed with the spatial positioning device, a servo motor is installed at one end of the translation bracket, and the servo motor is driven and connected to a screw rod installed in the translation bracket; and a guide frame slidably installed on the translation bracket and driven and connected to the screw rod, and a laser guiding unit and a needle holder for assisting puncture are installed on the guide frame. The laser guiding unit guides the preset needle path through a laser to visualize the invisible needle path. The doctor can use the imaging point of the laser on the patient's body surface as the puncture point, and overlap the tail of the puncture needle with the laser so that the spatial direction of the puncture needle is always consistent with the laser guidance direction, thereby achieving precise puncture. Because freehand puncture is not stable, even experienced surgeons will always have more or less deviation when performing puncture. Therefore, even under the guidance of the laser guiding unit through the beam laser, precise operation cannot be achieved, and it will also be affected by human operation. However, the needle holder used to assist puncture can constrain or limit the deflection of the puncture needle in the radial direction. During the puncture process, the doctor only needs to puncture along the needle holder toward the patient. Due to the constraint of the needle holder, the problem of needle track deviation caused by the doctor's hand shaking and deflection is avoided, thereby reducing the doctor's burden during the puncture process and improving the direction accuracy of the puncture needle track. It is worth noting that the puncture auxiliary device provided in this application is installed on a spatial positioning device, which belongs to the prior art. For example, it can be implemented by the control system provided in the announcement number CN110755142B applied by the applicant on December 30, 2019, and the subject name is: Control system and method for realizing spatial multi-point positioning using three-way laser positioning. At the same time, it can also be implemented by the positioning device provided by the invention patent with patent number 2021103115223 and the subject name of a device for auxiliary guidance and positioning of CT puncture. Of course, in addition to the two types of spatial positioning devices mentioned above, other positioning devices that can achieve spatial positioning effects can also be used. This positioning part is not the technical content protected by this patent, but only belongs to related technology. This description is helpful for technical personnel in this field to more quickly understand the core of the technical solution of this application; therefore, the spatial positioning devices will not be listed one by one in detail here.

[0011] As a preferred embodiment, the needle holder is fixedly connected to the guide frame through a bracket, and a plurality of puncture holes or puncture grooves for slidingly accommodating the puncture needle are arranged in parallel on the needle holder, and the guide laser emitted by the laser guide unit coincides with the axis of at least one of the puncture holes or puncture grooves. When puncture is required, the doctor inserts the puncture needle into the puncture hole or puncture groove. When performing precise puncture, the puncture needle can only be inserted into the puncture hole or puncture groove irradiated by the laser emitted by the laser guide unit. Since the puncture hole or puncture groove is adapted to the size of the puncture needle, the puncture needle cannot shake, and the doctor only needs to insert the puncture needle axially into the patient; at the same time, the doctor can also judge the insertion depth of the puncture needle at any time by the displacement between the scale marked on the puncture needle and the needle holder, which is convenient and quick, and avoids the deflection caused by manual puncture.

[0012] In order to achieve puncture more conveniently, preferably, the puncture groove has a V-shaped opening, and the V-shaped opening is smoothly connected to the puncture groove. The puncture groove with a V-shaped opening can greatly reduce the doctor's alignment work under laser guidance. The puncture needle can be easily placed in the V-shaped opening, and then the puncture needle can be pressed inward to fit with the puncture groove. During puncture, the puncture needle will always move along the direction of the puncture groove. Since the puncture groove coincides with the guided linear laser beam, the puncture needle can achieve accurate puncture.

[0013] In the actual clinical puncture process, no matter what the size and properties of the tumor are, it is inevitable to arrange several parallel needle channels. Therefore, when parallel puncture is required, there is no need to perform new spatial positioning. Any parallel needle puncture can be performed on the multiple puncture slots with equal spacing. In order to cover the layout range of commonly used radioactive particles, the distance between any two adjacent puncture slots in this application is 5mm-8mm. Of course, based on clinical needs, or when radioactive particles with larger or smaller radiation radii are developed later, the distance between the puncture slots can also be adaptively changed. Therefore, the above-mentioned parallel puncture slots have given sufficient technical inspiration for adjusting the puncture slot distance in order to adapt to the effective radiation range of radioactive particles. Those skilled in the art can obtain theoretically endless adjustment ranges for the puncture slot distances based on the above-mentioned technical solutions, but they should all fall within the scope disclosed in this application.

[0014] More preferably, the laser guide unit provided on the side of the guide frame close to the needle holder includes a point laser head, and the point-shaped linear laser emitted by the point laser head coincides with the straight line where one of the puncture holes or puncture grooves is located. The point laser head emits a linear laser beam with a circular point cross section, which can maintain an almost equal cross-sectional size over a fairly long range, which plays an outstanding role in determining the puncture point on the patient's body surface. It is preferred to use a laser head with an effective visible laser cross section not greater than a plane millimeter. Under the premise of satisfying visual observation, the smaller the laser beam cross section, the more conducive to precision control.

[0015] Still more preferably, the laser guiding unit further comprises two linear laser heads respectively arranged on both sides of the point laser head, and the linear lasers emitted by the two linear laser heads intersect in space, and the intersection angle is 90°. The premise of precise puncture is the precise position installation of the equipment initialization. When installing the equipment, the center point of the system needs to coincide with the center point of the puncture auxiliary device so that the laser beam emitted by the point laser head can pass through the center point of the system. The system described here refers to the carrier on which the puncture auxiliary device provided in the present application is installed, such as the aforementioned spatial positioning device. When performing isocenter debugging, since there is only a very small point between the point laser head and the system center reference plane, it is impossible to locate whether there is a rotation or pitch angle in the entire spatial state. Therefore, in order to solve this problem, the two linear laser heads installed on both sides of the point laser head can solve this problem well. Since the laser image formed by the fan-shaped laser surface emitted by the two linear laser heads on the system center reference plane is two cross lines intersecting at 90°, it is convenient to align the horizontal and vertical directions of the system center reference plane and the center intersection point, which can facilitate the installation of this application on any spatial positioning device to achieve rapid zeroing and initialization installation. It is worth noting that the intersection line of the fan-shaped laser beam between the linear laser heads does not overlap with the laser beam emitted by the point laser head, so as to achieve more independent initialization zeroing. When performing laser guidance later, the spatial offset between the intersection line between the linear laser heads and the laser beam emitted by the point laser head is compensated by the system's software control algorithm. Thereby, zero-error guidance can be achieved during actual laser guidance. It should be emphasized here that what the present application seeks to protect is the puncture assist device itself. Therefore, only a hardware structure that is convenient for installation and initialization of zeroing is provided here. The software design part belongs to the content that the carrier that needs to be installed in this application needs to have, and has nothing to do with the solution that the present application seeks to protect. Therefore, the control logic and algorithm content of the software will not be elaborated one by one here.

[0016] Further preferably, in order to further expand the application scope of the present application and enhance the independence of the application, preferably, the spatial positioning device includes a supporting base, an arc guide rail rotatably mounted on the supporting base, an angle offset mechanism slidably mounted on the arc guide rail, and the parallel guiding mechanism is fixedly mounted on the angle offset mechanism.

[0017] Still further preferably, a bendable harness rail is installed between the laser guiding unit and the translation bracket along the length direction of the translation bracket, and a communication harness for providing electrical signals to the laser guiding unit is installed in the harness rail.

[0018] In order to improve the puncture smoothness, extend the effective service life of the needle holder, and avoid wear errors caused by long-term puncture, preferably, the inner wall of the puncture hole or puncture groove is provided with a smooth wear-resistant layer. The wear-resistant layer is strengthened by surface plating, carburizing, heat treatment, etc.

[0019] In order to further enhance the restraint of the needle holder on the puncture needle and reduce the puncture deflection error, preferably, two needle holders are installed in parallel along the direction of the guiding laser emitted by the laser guiding unit.

[0020] Beneficial Effects

[0021] The puncture assist device provided in the present application can greatly reduce or even eliminate the deviation caused by the doctor's manual puncture, so that the puncture needle can perform the predetermined puncture completely in the direction guided by the laser, realize the precise implantation of radioactive particles, and achieve the purpose of precise radiation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative labor.

[0023] Figure 1 It is a stereogram of the use state of the present invention;

[0024] Figure 2 yes Figure 1 The main view;

[0025] Figure 3 is a rear view of the parallel guide mechanism;

[0026] Figure 4 yes Figure 3 Stereoscopic image of

[0027] Figure 5 yes Figure 4A magnified view of the structure of the middle A area;

[0028] Figure 6 yes Figure 3 Bottom view;

[0029] Figure 7 is a schematic diagram of a concentric calibration guide using a double-layer needle holder structure;

[0030] Figure 8 It is a schematic diagram of a non-concentric calibration guide using a double-layer needle holder structure.

[0031] In the figure: 1-support base; 2-arc guide rail; 3-angle offset mechanism; 4-parallel guide mechanism; 5-bracket; 6-needle holder; 7-puncture groove; 8-V-shaped opening; 41-servo motor; 42-translation bracket; 43-screw rod; 44-guide frame; 45-point laser head; 46-linear laser head; 47-wire rail. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0034] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0035] In the description of this application, it should be noted that if the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the product of the application is usually placed when in use. It is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, if the terms "first", "second", etc. appear in the description of this application, they are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0036] In addition, if the terms "horizontal" or "vertical" appear in the description of this application, it does not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0037] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0038] Before elaborating on the embodiments of the present application in detail, the applicant first gives a general overview of the present application. The puncture assist device provided in the present application is used in the field of medical puncture, and common application scenarios include biopsy puncture and radioactive particle placement puncture for tumors. The puncture assist device provided in the present application is intended to ensure that the actual puncture angle and direction can be strictly performed in accordance with the needle path indicated by the laser guidance, avoiding deflection during the puncture process, which may cause the puncture site to be lost, making it impossible to achieve the purpose of the puncture. At the same time, a deflected puncture position may also cause damage to blood vessels and organs. Therefore, the puncture assist device provided in the present application can ensure that the puncture needle is always inserted according to the established needle path during the puncture process, and will not deflect, so that the puncture surgery plan can be implemented completely, accurately and quickly.

[0039] Based on the above purpose, in order to more clearly illustrate the technical solution adopted in this application, it is described below in conjunction with specific embodiments.

[0040] Embodiment 1:

[0041] In conjunction with the instruction manual Figure 1-Figure 4 As shown, this embodiment provides a puncture assisting device based on laser guidance, including a parallel guiding mechanism 4 installed on a spatial positioning device, wherein the parallel guiding mechanism 4 includes a translation bracket 42 fixedly installed with the spatial positioning device, a servo motor 41 is installed at one end of the translation bracket 42, and the servo motor 41 is driven and connected to a screw rod 43 installed in the translation bracket 42; and a guide frame 44 slidably installed on the translation bracket 42 and driven and connected to the screw rod 43, wherein a laser guiding unit and a needle holder 6 for assisting puncture are installed on the guide frame 44.

[0042] Principle brief description:

[0043] The parallel guide mechanism 4 drives the screw rod 43 to rotate through the servo motor 41, so that the guide frame 44 can move back and forth on the translation bracket 42. This drives the laser guide unit and the needle holder 6 to move in parallel at the same spatial angle, so as to facilitate parallel puncture during the puncture process. The laser guide unit guides the preset needle path through the laser to visualize the invisible needle path. The doctor can use the imaging point of the laser on the patient's body surface as the puncture point, and overlap the tail of the puncture needle with the laser so that the spatial direction of the puncture needle is always consistent with the laser guidance direction, so as to achieve precise puncture. Because manual puncture is not stable, even the most experienced surgeons will always have more or less deviation when performing puncture. Therefore, even under the guidance of the laser guide unit through the beam laser, precise operation cannot be achieved, and it will also be affected by human operation. However, the needle holder 6 used to assist puncture can constrain or limit the deflection of the puncture needle in the radial direction. During the puncture process, the doctor only needs to puncture along the needle holder 6 toward the patient. Due to the constraint of the needle holder 6, the problem of needle track deviation caused by the doctor's hand shaking and deflection is avoided, thereby reducing the doctor's burden during the puncture process and improving the direction accuracy of the puncture needle track. It is worth noting that the puncture auxiliary device provided in the present application is installed on a spatial positioning device, which belongs to the prior art. For example, it can be implemented by the control system provided in the announcement number CN110755142B applied by the applicant on December 30, 2019, and the subject name is: Control system and method for realizing spatial multi-point positioning using three-way laser positioning. At the same time, it can also be implemented by the positioning device provided by the invention patent with patent number 2021103115223 and the subject name of a kind of invention patent for CT puncture auxiliary guidance positioning device. The principle is as follows:

[0044] like Figure 1 and Figure 2 As shown, the support base 1 is hinged with the arc guide rail 2 to achieve spatial pitch transformation; the angle offset mechanism 3 slides along the arc guide rail 2 to achieve 360° rotation in space, thereby achieving adjustment of any angle in space. The specific control principle can be found in the detailed description of the patent. The above part is already a prior art and will not be repeated in this embodiment. Of course, in addition to the above two types of spatial positioning devices that can be used, other positioning devices that can achieve spatial positioning effects can also be used. This positioning part is not the technical content claimed for protection by this patent, but only belongs to related technology. This description is helpful for those skilled in the art to more quickly understand the core of the technical solution of this application; therefore, the spatial positioning devices are not listed one by one in detail here.

[0045] Embodiment 2:

[0046] As a preferred embodiment of the present application, based on Example 1, further combined Figure 3-Figure 6As shown, the needle holder 6 is fixedly connected to the guide frame 44 through the bracket 5. The needle holder 6 is provided with a plurality of puncture holes or puncture grooves 7 for slidingly accommodating the puncture needle in parallel. The guide laser emitted by the laser guide unit coincides with the axis of at least one of the puncture holes or puncture grooves 7. When puncture is required, the doctor inserts the puncture needle into the puncture hole or puncture groove 7. When performing precise puncture, the puncture needle can only be inserted into the puncture hole or puncture groove irradiated by the laser emitted by the laser guide unit. Since the puncture hole or puncture groove 7 is adapted to the size of the puncture needle, the puncture needle cannot shake. The doctor only needs to insert the puncture needle axially into the patient. At the same time, the doctor can also judge the insertion depth of the puncture needle at any time by the displacement between the scale marked on the puncture needle and the needle holder 6. It is convenient and quick, and avoids the deflection caused by manual puncture.

[0047] In order to facilitate puncture, the puncture groove 7 has a V-shaped opening 8. Figure 5 As shown, the V-shaped opening 8 is smoothly connected to the puncture groove 7. The puncture groove 7 provided with a V-shaped opening can greatly reduce the doctor's alignment work under the guidance of the laser, and the puncture needle can be conveniently placed in the V-shaped opening 8, and then the puncture needle can be pressed inward to fit with the puncture groove 7. During puncture, the puncture needle will always move along the direction of the puncture groove 7. Since the puncture groove 7 coincides with the guided linear laser beam, the puncture needle can achieve accurate puncture.

[0048] In the actual clinical puncture process, no matter what the size and properties of the tumor are, it is inevitable to arrange several parallel needle channels. Therefore, when parallel puncture is required, there is no need to perform new spatial positioning. Any parallel needle puncture can be performed on the puncture slots 7 with multiple puncture slots 7 arranged at equal intervals. In order to cover the layout range of commonly used radioactive particles, the distance between any two adjacent puncture slots 7 in this application is 5mm-8mm. Of course, based on clinical needs, or when radioactive particles with larger or smaller radiation radii are developed later, the distance between the puncture slots 7 can also be adaptively changed. Therefore, the above-mentioned parallel puncture slots 7 have given sufficient technical inspiration for adjusting the distance of the puncture slots 7 in order to adapt to the effective radiation range of radioactive particles. Those skilled in the art can obtain theoretically endless adjustment ranges for the distance of the puncture slots 7 based on the above-mentioned technical solutions, but they should all fall within the scope disclosed in this application.

[0049] More preferably, the laser guide unit provided on the side of the guide frame 44 close to the needle holder 6 includes a point laser head 45, and the point-shaped linear laser emitted by the point laser head 45 coincides with the straight line where one of the puncture holes or puncture grooves 7 is located. The point laser head 45 emits a linear laser beam with a circular point cross section, which can maintain an almost equal cross-sectional size over a fairly long range, which plays an outstanding role in determining the puncture point on the patient's body surface. It is preferred to use a laser head with an effective visible laser cross section of no more than 2 plane millimeters. Under the premise of satisfying visual inspection, the smaller the laser beam cross section, the more conducive to precision control.

[0050] Further preferably, the laser guiding unit further comprises two linear laser heads 46 respectively arranged on both sides of the point laser head 45, and the linear lasers emitted by the two linear laser heads 46 intersect in space, and the intersection angle is 90°, see Figure 7 and Figure 8 The content shown. The premise of precise puncture is the precise position installation of the equipment initialization. When installing the equipment, the center point of the system needs to coincide with the center point of the puncture auxiliary device so that the laser beam emitted by the point laser head 45 can pass through the center point of the system. The system described here refers to the carrier on which the puncture auxiliary device provided by the present application is installed, such as the aforementioned spatial positioning device. When performing isocenter debugging, since there is only a very small point between the point laser head 45 and the system center reference plane, it is impossible to locate whether there is a rotation or pitch angle in the entire spatial state. Therefore, in order to solve this problem, the two linear laser heads 46 installed on both sides of the point laser head 45 can solve this problem well. Since the fan-shaped laser surfaces emitted by the two linear laser heads 46 form two cross lines intersecting at 90° on the system center reference plane, it is convenient to align the horizontal and vertical directions of the system center reference plane and the center intersection, which can facilitate the installation of the present application on any spatial positioning device to achieve rapid zeroing and initialization installation. It is worth noting that the intersection line of the fan-shaped laser beams between the linear laser heads 46 may not overlap with the laser beams emitted by the point-shaped laser heads 45. Figure 8 As shown, this is to achieve initialization zeroing more independently. In the subsequent laser guidance, the spatial offset between the intersection line between the linear laser heads 46 and the laser beam emitted by the point laser head 45 is compensated by the system software control algorithm. Thus, zero error guidance can be achieved in actual laser guidance. Of course, it is also possible to use the intersection line of the fan-shaped laser beam between the linear laser heads 46 to coincide with the laser beam emitted by the point laser head 45, such as Figure 7As shown, different installation methods will only change the way the device is installed and zeroed, but will not affect the auxiliary function of puncture. It should be emphasized here that the present application claims to protect the puncture auxiliary device itself, therefore, only a hardware structure that facilitates installation and initialization of zeroing is provided here, and the software design part belongs to the content that the carrier that needs to be installed in this application needs to have, which has nothing to do with the solution claimed by this application, so the control logic and algorithm content of the software will not be elaborated one by one here.

[0051] Further preferably, in order to further expand the application scope of the present application and enhance the independence of the application, preferably, the spatial positioning device includes a supporting base 1, an arc guide rail 2 rotatably installed on the supporting base 1, an angle offset mechanism 3 slidably installed on the arc guide rail 2, and the parallel guide mechanism 4 is fixedly installed on the angle offset mechanism 3.

[0052] Still further preferably, a bendable harness rail 47 is installed between the laser guiding unit and the translation bracket 42 along the length direction of the translation bracket 42, and a communication harness for providing electrical signals to the laser guiding unit is installed in the harness rail 47.

[0053] In order to improve the puncture smoothness, extend the effective service life of the needle holder 6, and avoid wear errors caused by long-term puncture, preferably, a smooth wear-resistant layer is provided on the inner wall of the puncture hole or puncture groove 7. The wear-resistant layer is strengthened by surface plating, carburizing, heat treatment, etc.

[0054] In order to further enhance the constraint of the needle holder 6 on the puncture needle and reduce the puncture deflection error, preferably, two needle holders 6 are installed in parallel along the direction of the guiding laser emitted by the laser guiding unit, such as Figure 7 and Figure 8 The structure shown.

[0055] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A laser-guided puncture assist device, comprising a parallel guiding mechanism (4) mounted on a spatial positioning device, characterized in that: The parallel guiding mechanism (4) comprises a translation bracket (42) fixedly mounted on the spatial positioning device, a servo motor (41) being mounted on one end of the translation bracket (42), the servo motor (41) being drivingly connected to a screw rod (43) mounted in the translation bracket (42); and a guide bracket (44) being slidably mounted on the translation bracket (42) and drivingly connected to the screw rod (43), the guide bracket (44) being mounted with a laser guiding unit and a needle holder (6) for assisting puncture; The needle holder (6) is fixedly connected to the guide frame (44) via the bracket (5), and the needle holder (6) is provided with a plurality of puncture holes or puncture grooves (7) for slidably accommodating the puncture needle in parallel; The laser guide unit arranged on one side of the guide frame (44) close to the needle holder (6) comprises a point laser head (45), the point-shaped linear laser emitted by the point-shaped laser head (45) coincides with the straight line where one of the puncture holes or puncture grooves (7) is located; the laser guide unit also comprises two linear laser heads (46) respectively arranged on both sides of the point-shaped laser head (45), the linear lasers emitted by the two linear laser heads (46) intersect in space, and the intersection angle is 90°; the spatial positioning device comprises a support base (1), an arc guide rail (2) rotatably mounted on the support base (1), an angle deviation mechanism (3) slidably mounted on the arc guide rail (2), and the parallel guide mechanism (4) is fixedly mounted on the angle deviation mechanism (3).

2. The laser-guided puncture assist device according to claim 1, characterized in that: The puncture groove (7) has a V-shaped opening (8), and the V-shaped opening (8) is smoothly connected to the puncture groove (7).

3. The laser-guided puncture assist device according to claim 2, characterized in that: The puncture grooves (7) are arranged at equal intervals, and the distance between any two adjacent puncture grooves (7) is 5 mm to 8 mm.

4. The laser-guided puncture assist device according to claim 1, characterized in that: A bendable harness rail (47) is also installed between the laser guiding unit and the translation bracket (42) along the length direction of the translation bracket (42), and a communication harness for providing an electrical signal to the laser guiding unit is installed in the harness rail (47).

5. The laser-guided puncture assisting device according to claim 1, characterized in that: The inner wall of the puncture hole or puncture groove (7) is provided with a smooth wear-resistant layer.

6. The laser-guided puncture assist device according to claim 1, characterized in that: Two needle holders (6) are installed in parallel along the direction of the guiding laser emitted by the laser guiding unit.

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