Ultrasonic device, puncture device and puncture method

Abstract

The present invention relates to an ultrasonic device, a puncture device and a puncture method. The puncture device includes: a fixing mechanism detachably mounted on an ultrasonic probe; an adjusting mechanism fixedly mounted on the fixing mechanism; a puncture mechanism disposed on the adjusting mechanism and movable along the adjusting mechanism to adjust the position of the puncture mechanism; the puncture mechanism is used for clamping a puncture needle and performing a needle insertion or needle withdrawal operation; a control component disposed in the puncture mechanism. The control component can adjust the angle of the puncture mechanism through the adjusting mechanism and control the puncture mechanism to perform a puncture operation, so that the puncture needle can avoid obstacles, accurately penetrate into the lesion position, and avoid causing damage to the patient, with a wide range of applications. At the same time, the puncture mechanism can drive the puncture needle to automatically perform a puncture operation, and medical staff only need to confirm the lesion position, which simplifies the puncture process, improves the puncture efficiency, and reduces the burden on doctors and patients.

Description

Technical Field

[0001] The present invention relates to the technical field of puncture devices, and particularly to an ultrasonic device, a puncture device and a puncture method. Background Art

[0002] Ultrasonic puncture is a very mature and important diagnostic and treatment technology at present. Puncture based on ultrasonic guidance can achieve real-time diagnosis, providing important clues for clinical diagnosis, such as detecting and extracting living tissues for examination; it can also be used for treatment, such as aspiration treatment of pleural effusion and ascites, and at the same time drugs can be injected for treatment.

[0003] For puncture based on ultrasonic guidance, generally a doctor uses ultrasonic diagnosis to detect the lesion position on the patient, and then the doctor holds a puncture device with a syringe and a puncture needle to perform puncture, including operations such as needle insertion, needle stop and needle withdrawal during the puncture process. At present, the puncture device can control the rotation of the puncture cylinder and the puncture depth of the puncture needle, and can achieve automatic puncture according to the lesion position and the initial position of the puncture needle, with high puncture accuracy and fast speed, ensuring the puncture effect. However, the operation of the puncture device is relatively single and cannot cope with relatively complex puncture environments such as obstacle avoidance, which affects its use. Summary of the Invention

[0004] Based on this, in view of the problem that the current puncture device cannot adapt to complex puncture environments, it is necessary to provide an ultrasonic device, a puncture device and a puncture method that can be applied to complex environments.

[0005] A puncture device includes:

[0006] A fixing mechanism detachably installed on an ultrasonic probe;

[0007] An adjusting mechanism fixedly installed on the fixing mechanism;

[0008] A puncture mechanism arranged on the adjusting mechanism and movable along the adjusting mechanism to adjust the position of the puncture mechanism; and

[0009] A control component arranged in the puncture mechanism, the control component is electrically connected to the puncture mechanism, and the control component is also electrically connected to the adjusting mechanism.

[0010] In one embodiment, the control component is transmission-connected to an ultrasonic host of an ultrasonic device, and the control component can obtain obstacle information of the puncture path of the puncture needle to control the adjusting mechanism to adjust the angle of the puncture needle and control the puncture mechanism to perform a puncture operation.

[0011] In one embodiment, the fixing mechanism includes a first clamping plate and a second clamping plate that mates with the first clamping plate. After the first clamping plate and the second clamping plate are mated, a clamping space is formed therebetween for clamping and installing the ultrasonic probe.

[0012] In one embodiment, the fixing mechanism further includes a tension adjusting member. At least one end of the first clamping plate and the second clamping plate is connected by the tension adjusting member for adjusting the tightness between the first clamping plate and the second clamping plate.

[0013] In one embodiment, the adjusting mechanism includes a connecting member and an adjusting assembly. One end of the connecting member is connected to the fixing mechanism, and the other end of the connecting member is connected to the adjusting assembly. The adjusting assembly is used for installing the puncturing mechanism and enabling the puncturing mechanism to slide along the adjusting assembly.

[0014] In one embodiment, the adjusting assembly includes a guiding member and a sliding member that cooperates with the guiding member. The sliding member is disposed on the puncturing mechanism, and the puncturing mechanism slides along the guiding member through the sliding member.

[0015] In one embodiment, the guiding member is arc-shaped.

[0016] In one embodiment, the guiding member is a guiding chute, which includes a first chute and a second chute communicating with the first chute. The cross-sectional area of the first chute is larger than that of the second chute.

[0017] The sliding member includes a slider and a connecting shaft connecting the slider and the puncturing mechanism. The slider is movably disposed in the first chute, and the connecting shaft is movably disposed in the second chute.

[0018] In one embodiment, the connecting shaft is rotatably installed on the puncturing mechanism. The inner wall of the second chute has a first tooth portion, and the outer wall of the connecting shaft has a second tooth portion meshing with the first tooth portion.

[0019] In one embodiment, the adjusting mechanism further includes an adjusting power source disposed in the puncturing mechanism. The adjusting power source is connected to the connecting shaft for driving the connecting shaft to rotate.

[0020] In one embodiment, the puncturing mechanism includes a puncturing cylinder and a puncturing assembly disposed in the puncturing cylinder. The puncturing cylinder has a needle hole penetrating axially, through which a puncturing needle passes and the needle tip of the puncturing needle is exposed. The puncturing assembly is connected to the puncturing needle in the puncturing cylinder to control the puncturing needle to perform a needle insertion or needle withdrawal operation.

[0021] In one embodiment, the puncture cylinder includes a first cylinder body, a second cylinder body, and a third cylinder body that are sequentially connected. The first cylinder body and the second cylinder body are in the shape of a frustum, and the third cylinder body is in the shape of a partial sphere. The puncture cylinder can rotate around the third cylinder body.

[0022] In one embodiment, the puncture assembly includes a puncture power source and a transmission group. The puncture power source is connected to the transmission group and drives the transmission group to rotate. The transmission group is used to clamp the puncture needle, and when the transmission group rotates, it can drive the puncture needle to perform a needle insertion or retraction operation.

[0023] In one embodiment, the transmission group includes a first roller and a second roller. The first roller and the second roller are respectively connected to the puncture power source, and the rotation directions of the first roller and the second roller are opposite. The first roller and the second roller can clamp the puncture needle, and when the first roller and the second roller rotate, they can drive the puncture needle to perform a needle insertion or retraction operation.

[0024] In one embodiment, the puncture assembly further includes a clip. The clip connects the first roller and the second roller and is used to make the first roller and the second roller approach each other to clamp the puncture needle.

[0025] A puncture method is applied to the puncture device as described in any of the above technical features; the puncture method includes the following steps:

[0026] Install the puncture mechanism on the ultrasonic probe through the adjustment mechanism and the fixing mechanism, and determine the initial position of the puncture mechanism;

[0027] Determine the lesion position and feedback it to the puncture mechanism;

[0028] Calculate the puncture path according to the lesion position;

[0029] Control the puncture mechanism to drive the puncture needle to automatically puncture according to the puncture path;

[0030] After puncture, the puncture mechanism drives the puncture needle to perform a needle retraction operation according to the puncture path.

[0031] In one embodiment, the controlling the puncture mechanism to drive the puncture needle to automatically puncture according to the puncture path includes the following steps:

[0032] Confirm whether there is an obstacle in the puncture path;

[0033] If there is no obstacle in the puncture path, control the puncture mechanism to drive the puncture needle to perform a puncture operation along the puncture path;

[0034] If an obstacle is encountered in the puncture path, an obstacle avoidance path is set, the angle of the puncture mechanism is adjusted, the puncture needle is controlled to move along the obstacle avoidance path to the target position, and then the adjustment mechanism is controlled to adjust the angle of the puncture mechanism so that the puncture mechanism returns to the puncture path, and the puncture needle is controlled to move along the puncture path to the lesion position.

[0035] An ultrasonic device includes an ultrasonic main unit, an ultrasonic probe connected to the ultrasonic main unit, and a puncture device as described in any one of the above technical features;

[0036] The ultrasonic main unit is connected to the puncture device in a transmission manner. The puncture device is installed on the ultrasonic probe, and a puncture needle is installed in the puncture device. The puncture device controls the puncture needle to perform a needle insertion or needle withdrawal operation;

[0037] The ultrasonic main unit calculates the puncture path of the puncture needle, or the puncture device calculates the puncture path of the puncture needle.

[0038] After adopting the above technical solution, the present invention has at least the following technical effects:

[0039] In the ultrasonic device, puncture device and puncture method of the present invention, the fixing mechanism is clamped at the end of the ultrasonic probe, the adjusting mechanism is installed on the fixing device, the puncture mechanism is installed on the adjusting mechanism and can move along the adjusting mechanism. After the puncture mechanism installs the puncture needle, the puncture mechanism drives the puncture needle to perform a needle insertion or needle withdrawal operation; moreover, the control component is arranged in the puncture mechanism, and the control component can adjust the angle of the puncture mechanism through the adjusting mechanism and control the puncture mechanism to perform a puncture operation, effectively solving the problem that the current puncture device cannot adapt to a complex puncture environment, enabling the puncture needle to avoid obstacles, accurately penetrate into the lesion position, and avoid causing damage to the patient, with a wide range of applications. At the same time, the puncture mechanism can drive the puncture needle to automatically perform a puncture operation, and medical staff only need to confirm the lesion position, simplifying the puncture process, improving the puncture efficiency, and reducing the burden on doctors and patients. Description of the Drawings

[0040] Figure 1 Schematic diagram of the puncture device of an embodiment of the present invention installed on the ultrasonic probe;

[0041] Figure 2 For Figure 1 Schematic diagram of the adjusting mechanism in the puncture device shown;

[0042] Figure 3 For Figure 1 External appearance schematic diagram of the puncture mechanism in the puncture device shown;

[0043] Figure 4 For Figure 1Internal schematic diagram of the puncture mechanism in the shown puncture device;

[0044] Figure 5 is Figure 1 Enlarged view of the mating part of the connecting shaft and the second groove in the shown puncture device;

[0045] Figure 6 is Figure 4 Schematic diagram of the cooperation between the clip, the first roller and the second roller in the shown puncture mechanism;

[0046] Figure 7 is Figure 6 Schematic diagram of the first roller and the second roller driving the puncture needle to descend in the shown;

[0047] Figure 8 is Figure 1 Control flow chart of the shown puncture device;

[0048] Figure 9 Schematic diagram of the puncture path;

[0049] Figure 10 Schematic diagram of obstacles on the puncture path.

[0050] Wherein: 100, puncture device; 110, fixing mechanism; 111, first clamping plate; 112, tension adjusting member; 120, adjusting mechanism; 121, connecting member; 122, adjusting assembly; 1221, guiding member; 12211, first chute; 12212, second chute; 122121, first tooth portion; 1222, sliding member; 12221, connecting shaft; 122211, second tooth portion; 12222, slider; 1223, mounting body; 123, adjusting power source; 130, puncture mechanism; 131, puncture cylinder; 1311, needle hole; 1312, first cylinder body; 1313, second cylinder body; 1314, third cylinder body; 132, puncture assembly; 1321, puncture power source; 1322, transmission group; 13221, first roller; 13222, second roller; 1323, clip; 1324, control component; 1325, power supply; 200, ultrasonic probe; 300, puncture needle. Detailed implementation manners

[0051] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the following detailed description of the specific implementation manners of the present invention will be given with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0052] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and 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 thus should not be construed as a limitation on the present invention.

[0053] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0054] In the present invention, unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0056] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are only for illustrative purposes and do not represent the only implementation.

[0057] See Figures 1 to 4 , the present invention provides a puncture device 100. The puncture device 100 is applied to an ultrasonic device. By guiding the puncture device 100 to perform a puncture operation through the ultrasonic device, real-time diagnosis and treatment can be achieved. It can be understood that the puncture device 100 can also be applied to other imaging devices to achieve puncture with real-time imaging guidance. The present invention is only illustrated by taking the puncture device 100 applied to an ultrasonic device as an example.

[0058] At present, the puncture device can achieve automatic puncture according to the position of the lesion and the initial position of the puncture needle, ensuring the puncture effect. However, the current puncture device cannot achieve automatic obstacle avoidance, which affects the use. Therefore, the present invention provides a new type of puncture device 100. The puncture device 100 can avoid obstacles, can be applied to diagnostic scenarios with different complexities, simplifies the puncture operation process, and improves the puncture efficiency. The specific structure of the puncture device 100 is introduced in detail below.

[0059] See Figures 1 to 4 , in an embodiment, the puncture device 100 includes a fixing mechanism 110, an adjusting mechanism 120, and a puncturing mechanism 130. The fixing mechanism 110 is detachably installed on the ultrasonic probe 200. The adjusting mechanism 120 is fixedly installed on the fixing mechanism 110. The puncturing mechanism 130 is disposed on the adjusting mechanism 120 and can move along the adjusting mechanism 120 to adjust the position of the puncturing mechanism 130; the puncturing mechanism 130 is used to hold the puncture needle 300 and perform the operation of advancing or retracting the needle.

[0060] The fixing mechanism 110 is the installation main body 1223 of the puncture device 100, and is used to fix the puncture device 100 on the ultrasonic probe 200. At the same time, the fixing mechanism 110 can also ensure that the puncture device 100 is reliably fixed on the ultrasonic probe 200, avoiding the position movement of the puncture device 100 on the ultrasonic probe 200, so that the position of the puncture device 100 is fixed, which is convenient for subsequent puncture operations.

[0061] Optionally, the fixing mechanism 110 is detachably connected to the ultrasonic probe 200. The fixing mechanism 110 can be directly mounted on the outer wall of the ultrasonic probe 200 during use and can be detached from the ultrasonic probe 200 after use. When the ultrasonic probe 200 does not perform a puncture operation, the fixing device is detached from the ultrasonic probe 200, which will not affect the performance of the ultrasonic probe 200. Moreover, the fixing mechanism 110 can be fixed to the outer wall of any model of ultrasonic probe 200, which is convenient for use.

[0062] One end of the adjusting mechanism 120 is connected to the fixing mechanism 110, and the other end of the adjusting mechanism 120 is mounted with the puncturing mechanism 130. The adjusting mechanism 120 is the adjustment main body of the ultrasonic probe 200. After the puncturing mechanism 130 is mounted on the adjusting mechanism 120, the puncturing mechanism 130 can move along the adjusting mechanism 120 to adjust the angle of the puncturing mechanism 130, so that the puncturing mechanism 130 can avoid obstacles and facilitate the puncturing mechanism 130 to drive the puncture needle 300 to align with the lesion position.

[0063] The puncturing mechanism 130 is the puncturing main body of the puncturing device 100, and is used to drive the puncture needle 300 to perform the needle insertion and needle withdrawal operations. The puncture needle 300 is mounted in the puncturing mechanism 130. During puncture, the puncturing mechanism 130 drives the puncture needle 300 to move, so that the puncture needle 300 can penetrate into the lesion position of the patient along the preset puncture path to achieve the purpose of puncture examination and treatment. After the puncture is completed, the puncturing mechanism 130 can drive the puncture needle 300 to withdraw along the puncture path.

[0064] After the puncture operation is completed, the puncture needle 300 is detached from the puncturing mechanism 130, and the puncturing mechanism 130 is detached from the adjusting mechanism 120, and the puncturing mechanism 130 is disinfected and cleaned. In this way, a new puncture needle 300 can be mounted on the puncturing mechanism 130 to facilitate the next puncture operation.

[0065] When using the puncturing device 100 of the present invention for a puncture operation, the fixing mechanism 110 is fixed on the ultrasonic probe 200, and the adjusting mechanism 120 is fixedly mounted on the fixing mechanism 110. Subsequently, the puncture needle 300 is mounted in the puncturing mechanism 130, so that the end of the puncture needle 300 protrudes from the puncturing mechanism 130, and the puncturing mechanism 130 is mounted on the adjusting mechanism 120. The angle of the puncturing mechanism 130 in the adjusting mechanism 120 is adjusted so that the puncturing mechanism 130 is arranged along the puncture path and aligned with the lesion position of the patient. During the puncture operation, the puncturing mechanism 130 controls the puncture needle 300 to extend to perform the needle insertion operation, and the puncture needle 300 moves along the puncture path and penetrates into the lesion position of the patient. After the puncture operation is completed, the puncturing mechanism 130 controls the puncture needle 300 to withdraw from the patient along the puncture path. The puncture operation is completed.

[0066] The puncture device 100 of the above embodiment can effectively solve the problem that the current puncture device cannot adapt to complex puncture environments by moving the puncture mechanism 130 along the adjustment mechanism 120. This enables the puncture needle 300 to avoid obstacles, accurately penetrate into the lesion location, avoid causing damage to the patient, and has a wide range of applications. At the same time, the puncture mechanism 130 can drive the puncture needle 300 to automatically perform the puncture operation. Medical staff only need to confirm the lesion location, which simplifies the puncture process, improves the puncture efficiency, and reduces the burden on doctors and patients.

[0067] It should be noted that after the puncture device 100 is installed on the ultrasonic probe 200 through the fixing mechanism 110, the positions of the fixing mechanism 110 and the puncture mechanism 130 need to be appropriately adjusted so that the top of the puncture mechanism 130 and the central vertex of the ultrasonic probe 200 are at the same horizontal position, which is convenient for determining the starting position of the puncture needle 300 in the later stage, and then facilitating the planning of the puncture path of the puncture needle 300 to ensure that the puncture needle 300 can accurately move to the lesion location.

[0068] It can be understood that the specific structure of the fixing mechanism 110 is not restricted in principle as long as it can fix the puncture device 100 on the ultrasonic probe 200. Optionally, the fixing mechanism 110 can be installed on the ultrasonic probe 200 by means of clamping, snap-on installation, flange connection, interference fit, etc.

[0069] See Figure 1 and Figure 2 In one embodiment, the fixing mechanism 110 includes a first clamping plate 111 and a second clamping plate that mates with the first clamping plate 111. After the first clamping plate 111 and the second clamping plate are mated, they enclose a clamping space for clamping and installing the ultrasonic probe 200. The middle parts of the first clamping plate 111 and the second clamping plate are cavities, and the cavities of the first clamping plate 111 and the second clamping plate are mated to form a clamping space, and the ultrasonic probe 200 can be at least partially located in this clamping space.

[0070] Moreover, the edges of the first clamping plate 111 and the second clamping plate have fixed edges. After the first connecting plate and the second connecting plate are mated, the fixed edges of the first connecting plate and the second connecting plate are connected, which can realize reliable clamping of the ultrasonic probe 200 by the first clamping plate 111 and the second clamping plate.

[0071] In other embodiments of the present invention, the fixing mechanism 110 can also be clamped on the ultrasonic probe 200 by clamping jaws. Of course, snap components can be provided on the ultrasonic probe 200, and the fixing mechanism 110 includes a fixing plate and a mating component that mates with the snap component, thereby realizing the fixing of the fixing mechanism 110 on the ultrasonic probe 200.

[0072] Optionally, the fixing mechanism 110 and the adjusting mechanism 120 are detachably connected. In this way, different fixing structures can be equipped for different types of ultrasonic probes 200, so that the puncture device 100 can be adapted to different types of ultrasonic probes 200.

[0073] In one embodiment, the fixing mechanism 110 further includes a tension adjusting member 112. At least one end of the first clamping plate 111 and the second clamping plate is connected by the tension adjusting member 112 for adjusting the tightness between the first clamping plate 111 and the second clamping plate. The tension adjusting member 112 is connected to the fixed edges of the first clamping plate 111 and the second clamping plate. By tightening or loosening the tension adjusting member 112, the distance between the fixed plate of the first clamping plate 111 and the fixed edge of the second clamping plate is adjusted, and the tightness of the first clamping plate 111 and the second clamping plate for clamping the ultrasonic probe 200 is adjusted to ensure that the fixing mechanism 110 is reliably fixed on the ultrasonic probe 200.

[0074] Optionally, after the first clamping plate 111 and the second clamping plate clamp the ultrasonic probe 200, there is a certain distance between the fixed edge of the first clamping plate 111 and the fixed edge of the second clamping plate. That is to say, the cavities of the first clamping plate 111 and the second clamping plate can only contact part of the surface of the ultrasonic probe 200 and accommodate part of the ultrasonic probe 200. In this way, after the first clamping plate 111 and the second clamping plate cooperate, they can be applicable to ultrasonic probes 200 of different sizes and models, and the tightness of the first clamping plate 111 and the second clamping plate for clamping the ultrasonic probe 200 is adjusted through the tension adjusting member 112 to ensure reliable clamping of the first clamping plate 111 and the second clamping plate.

[0075] Optionally, the tension adjusting member 112 is a hand-tightening screw or other components that are convenient for loosening and tightening.

[0076] Optionally, the first clamping plate 111 and the second clamping plate are made of a ductile hard material. In this way, it can ensure the reliable connection between the fixing mechanism 110 and the adjusting mechanism 120, ensure the accurate position of the puncture mechanism 130, and avoid displacement. At the same time, it can also ensure the close fit between the first clamping plate 111 and the second clamping plate and the ultrasonic probe 200, and ensure that the fixing mechanism 110 is reliably fixed on the ultrasonic probe 200.

[0077] Exemplarily, one end of the first clamping plate 111 and the second clamping plate is connected by the tension adjusting member 112, and the other end of the first clamping plate 111 and the second clamping plate is rotatably connected. In other embodiments of the present invention, the other end of the first clamping plate 111 and the second clamping plate can also be connected by the tension adjusting member 112. Of course, the other end of the first clamping plate 111 and the second clamping plate can also be directly fixedly connected by a connecting plate, that is, the first clamping plate 111 and the second clamping plate are an integral structure.

[0078] See Figure 1 and Figure 2, in one embodiment, the adjusting mechanism 120 includes a connecting member 121 and an adjusting component 122. One end of the connecting member 121 is connected to the fixing mechanism 110, and the other end of the connecting member 121 is connected to the adjusting component 122. The adjusting component 122 is used to mount the puncturing mechanism 130, so that the puncturing mechanism 130 slides along the adjusting component 122.

[0079] The connecting member 121 plays a connecting role and is used to connect the adjusting component 122, so that there is a certain space between the adjusting component 122 and the fixing mechanism 110. It can be understood that the shape of the connecting member 121 is not limited in principle, as long as it can support the adjusting component 122. Exemplarily, the connecting member 121 is a connecting plate. Optionally, the connecting member 121 is fixed to the end of the adjusting mechanism 120 by a threaded member or the like.

[0080] The adjusting component 122 is used to realize the angle adjustment of the puncturing mechanism 130. After the adjusting component 122 is connected to the puncturing mechanism 130, the puncturing mechanism 130 can move along the adjusting mechanism 120 to adjust the angle of the puncturing mechanism 130, and then adjust the puncturing path of the puncturing needle 300, so that the puncturing needle 300 can avoid obstacles in the patient's body and avoid causing damage to the patient.

[0081] Optionally, the connecting member 121 and the adjusting component 122 are processed by an integral molding method. Of course, in other embodiments of the present invention, the connecting member 121 and the adjusting component 122 can also be fixedly connected by welding, snap connection, or threaded connection.

[0082] In one embodiment, the adjusting component 122 further includes a mounting body 1223, and the guiding member 1221 is arranged on the mounting body 1223. One end of the mounting body 1223 is connected to the connecting member 121, and the other end of the mounting body 1223 is arranged in a suspended manner. The guiding member 1221, the sliding member 1222, and the puncturing mechanism 130 are carried by the mounting body 1223.

[0083] In one embodiment, the adjusting component 122 includes a guiding member 1221 and a sliding member 1222 that cooperates with the guiding member 1221. The sliding member 1222 is arranged on the puncturing mechanism 130, and the puncturing mechanism 130 slides along the guiding member 1221 through the sliding member 1222. The guiding member 1221 plays a guiding role and is used to guide the sliding member 1222 to slide along the guiding member 1221. The sliding member 1222 is connected to the puncturing mechanism 130 and also cooperates with the guiding member 1221. The puncturing mechanism 130 can slide along the guiding member 1221 through the sliding member 1222 to adjust the angle of the puncturing mechanism 130, and then adjust the puncturing path of the puncturing needle 300, so that the puncturing needle 300 can avoid obstacles in the patient's body and avoid causing damage to the patient.

[0084] In one embodiment, the guide member 1221 is arranged in an arc shape. That is, the puncture mechanism 130 can make an arc motion along the guide member 1221 to adjust the angle of the puncture mechanism 130 so that the puncture needle 300 avoids obstacles. Of course, in other embodiments of the present invention, the guide member 1221 can also be other structural forms that can make the puncture mechanism 130 rotate around a fixed point. Optionally, the extension direction of the guide member 1221 is the same as the extension direction of the installation body 1223. That is, the shape of the installation body 1223 is also arc-shaped.

[0085] In one embodiment, the guide member 1221 is a guide slot that is provided in the mounting body 1223 , and the sliding member 1222 can be movably mounted in the guide member 1221 and can move along the guide member 1221 to adjust the angle of the puncture mechanism 130 .

[0086] See also Figure 1 and Figure 2 Further, the guide chute includes a first chute 12211 and a second chute 12212 connected to the first chute 12211, and the cross-sectional area of ​​the first chute 12211 is larger than the cross-sectional area of ​​the second chute 12212. In addition, the first chute 12211 is located at the bottom of the second chute 12212. The sliding member 1222 includes a slider 12222 and a connecting shaft 12221 connecting the slider 12222 and the puncture mechanism 130, the slider 12222 can be movably disposed in the first chute 12211, and the connecting shaft 12221 can be movably disposed in the second chute 12212.

[0087] That is to say, the cross-sectional shape of the guide slot is T-shaped. The cross-sectional shape of the sliding member 1222 is consistent with the cross-sectional shape of the guide slot. The slider 12222 is installed in the first slot 12211, and the connecting shaft 12221 is installed in the second slot 12212. The slider 12222 is limited by the step between the first slot 12211 and the second slot 12212 to prevent the slider 12222 from being separated from the first slot 12211, so as to ensure that the slider 12222 can reliably move in the first slot 12211.

[0088] Of course, in other embodiments of the present invention, the guide member 1221 and the sliding member 1222 may also be a matching structure of a slide rail and a slider, or a matching structure of a slide rail and a slide groove provided in the puncture mechanism 130 .

[0089] See also Figure 1 , Figure 2 , Figure 3 and Figure 5, in one embodiment, the connecting shaft 12221 is rotatably mounted on the puncturing mechanism 130. The inner wall of the second chute 12212 has a first tooth portion 122121, and the outer wall of the connecting shaft 12221 has a second tooth portion 122211 that meshes with the first tooth portion 122121. That is to say, the cooperation structure between the connecting shaft 12221 and the guiding member 1221 is a gear-rack structure. The connecting shaft 12221 is equivalent to a gear, and the second chute 12212 of the guiding member 1221 is equivalent to a rack.

[0090] The puncturing mechanism 130 has a through hole for the connecting shaft 12221 to extend out. When the connecting shaft 12221 rotates, it will not drive the puncturing mechanism 130 to rotate. At the same time, when the connecting shaft 12221 rotates, through the meshing action of the first tooth portion 122121 and the second tooth portion 122211, the connecting shaft 12221 can be driven to move in the second chute 12212, realizing the angle adjustment of the puncturing mechanism 130. After the puncturing mechanism 130 is adjusted to the required position, the connecting shaft 12221 stops rotating. At this time, the meshing of the first tooth portion 122121 and the second tooth portion 122211 can lock the position of the connecting shaft 12221, avoiding the position of the connecting shaft 12221 from shifting, and further realizing the position locking of the puncturing mechanism 130, ensuring that the puncturing mechanism 130 is aligned with the lesion position of the patient.

[0091] Moreover, when the connecting shaft 12221 rotates, the connecting shaft 12221 drives the slider 12222 to rotate. When the connecting shaft 12221 moves along the second chute 12212 through the meshing of the first tooth portion 122121 and the second tooth portion 122211, the slider 12222 can move along the first chute 12211 while rotating. Optionally, the cross section of the slider 12222 is circularly arranged. This can avoid interference between the slider 12222 and the first chute 12211, ensure the smooth movement of the slider 12222, and further ensure the smooth angle adjustment of the puncturing mechanism 130.

[0092] In one embodiment, at least one inner wall of the second chute 12212 has a first tooth portion 122121. Optionally, one inner wall of the second chute 12212 has a first dimension. Of course, in other embodiments of the present invention, both inner walls of the second chute 12212 have a first tooth portion 122121, which can ensure the smooth rotation of the connecting shaft 12221.

[0093] See Figure 1 and Figure 4, in one embodiment, the adjusting mechanism 120 further includes an adjusting power source 123. The adjusting power source 123 is disposed in the puncturing mechanism 130 and is connected to the connecting shaft 12221 for driving the connecting shaft 12221 to rotate. The output end of the adjusting power source 123 is connected to the connecting shaft 12221. When the adjusting power source 123 rotates, it can drive the connecting shaft 12221 to rotate, thereby realizing the adjustment of the angle of the puncturing mechanism 130. Optionally, the adjusting power source 123 is a micro motor. Of course, in other embodiments of the present invention, the adjusting power source 123 may also be other micro power components capable of outputting power.

[0094] See Figure 1 , Figure 3 and Figure 4 , in one embodiment, the puncturing mechanism 130 includes a puncturing cylinder 131 and a puncturing assembly 132 disposed in the puncturing cylinder 131. The puncturing cylinder 131 has a needle hole 1311 penetrating along the axial direction. The needle hole 1311 allows the puncturing needle 300 to pass through and exposes the needle tip of the puncturing needle 300. The puncturing assembly 132 is connected to the puncturing needle 300 inside the puncturing cylinder 131 to control the puncturing needle 300 to perform a needle insertion or retraction operation.

[0095] The puncturing cylinder 131 is the outer shell of the puncturing mechanism 130 for installing various components of the puncturing mechanism 130. Moreover, the sliding member 1222 of the adjusting mechanism 120 is installed on the outer wall of the puncturing cylinder 131, the adjusting power source 123 is installed in the puncturing cylinder 131. The puncturing cylinder 131 has a through hole. One end of the connecting shaft 12221 is rotatably installed in the through hole and extends into the puncturing cylinder 131 to connect the adjusting power source 123, and the other end of the connecting shaft 12221 is connected to the slider 12222.

[0096] The needle hole 1311 penetrates through the puncturing cylinder 131. The puncturing needle 300 can be installed in the puncturing cylinder 131, and the puncturing needle 300 can be exposed from the top end of the puncturing cylinder 131. After the puncture is completed, the puncturing needle 300 can be removed from the needle hole 1311. After disinfecting and cleaning the puncturing mechanism 130, the next puncturing needle 300 can be installed. It can be understood that the top end of the puncturing cylinder 131 refers to the end of the puncturing cylinder 131 close to the patient. The puncturing assembly 132 is the main structure for the puncturing mechanism 130 to perform the puncturing operation. The puncturing assembly 132 is disposed inside the puncturing cylinder 131. The puncturing assembly 132 can contact the puncturing needle 300 and drive the puncturing needle 300 to move, so that the puncturing needle 300 performs a needle insertion or retraction operation.

[0097] It can be understood that the shape of the puncture cylinder 131 is not limited in principle as long as it can carry the components of the puncture mechanism 130. In one embodiment, the puncture cylinder 131 includes a first cylinder body 1312, a second cylinder body 1313, and a third cylinder body 1314 that are sequentially connected. The first cylinder body 1312 and the second cylinder body 1313 are trapezoidal bodies, and the third cylinder body 1314 is a partial sphere. The puncture cylinder 131 can rotate around the third cylinder body 1314.

[0098] One end of the second cylinder body 1313 is connected to the first cylinder body 1312, and the other end of the second cylinder body 1313 is connected to the third cylinder body 1314. Moreover, the third cylinder body 1314 is the top of the puncture mechanism 130 and can contact the patient's body surface. When adjusting the angle of the puncture mechanism 130, the puncture cylinder 131 abuts against the patient's body surface through the third cylinder body 1314. When the connecting shaft 12221 drives the puncture mechanism 130 to rotate along the guide member 1221, the puncture cylinder 131 can rotate relative to the body surface with the third cylinder body 1314 as the rotation vertex to adjust the angle of the puncture cylinder 131.

[0099] Moreover, both the first cylinder body 1312 and the second cylinder body 1313 are trapezoidal bodies, and the cross-sectional areas of the first cylinder body 1312 and the second cylinder body 1313 gradually decrease from the end far from the top of the puncture cylinder 131 to the end close to the top of the puncture cylinder 131. The third cylinder body 1314 is a partial sphere, which facilitates the rotation of the puncture cylinder 131 and reduces the rotation resistance.

[0100] In one embodiment, the puncture assembly 132 includes a puncture power source 1321 and a transmission group 1322. The puncture power source 1321 is connected to the transmission group 1322 and drives the transmission group 1322 to rotate. The transmission group 1322 is used to clamp the puncture needle 300. When the transmission group 1322 rotates, it can drive the puncture needle 300 to perform a needle insertion or needle withdrawal operation.

[0101] The puncture power source 1321 is the driving component for the puncture needle 300 to achieve needle insertion and needle withdrawal. The output end of the puncture power source 1321 is connected to the transmission group 1322. The transmission group 1322 can clamp the puncture needle, and the needle insertion and needle withdrawal operations of the puncture needle 300 are realized through the transmission group 1322. Specifically, when the puncture power source 1321 drives the transmission group 1322 to rotate, the transmission group 1322 can drive the puncture needle 300 to penetrate into the lesion position of the patient along the puncture path. After the puncture is completed, the puncture power source 1321 drives the transmission group 1322 to rotate, and the transmission group 1322 can drive the puncture needle 300 to withdraw from the patient's body along the puncture path.

[0102] See Figure 3 、 Figure 4 、 Figure 6 and Figure 7, in one embodiment, the transmission group 1322 includes a first roller 13221 and a second roller 13222. The first roller 13221 and the second roller 13222 are respectively connected to the puncture power source 1321, and the rotation directions of the first roller 13221 and the second roller 13222 are opposite. The first roller 13221 and the second roller 13222 can clamp the puncture needle 300, and when the first roller 13221 and the second roller 13222 rotate, they can drive the puncture needle 300 to perform a needle insertion or needle withdrawal operation.

[0103] There is a gap between the first roller 13221 and the second roller 13222 for the puncture needle 300 to pass through. The outer surfaces of the first roller 13221 and the second roller 13222 can contact the outer wall of the puncture needle 300 to achieve the clamping operation of the puncture needle 300. Moreover, when the first roller 13221 and the second roller 13222 rotate, they will drive the puncture needle 300 to move synchronously, so that the puncture needle 300 performs a needle insertion or needle withdrawal operation.

[0104] The first roller 13221 and the second roller 13222 are respectively connected to the puncture power source 1321. The puncture power source 1321 drives the first roller 13221 and the second roller 13222 to rotate in opposite directions, so that the first roller 13221 and the second roller 13222 can synchronously drive the puncture needle 300 to rise or fall to achieve a needle insertion or needle withdrawal operation. Optionally, the first roller 13221 and the second roller 13222 are driven by the same power source. Of course, in other embodiments of the present invention, the first roller 13221 and the second roller 13222 can also be driven by two power sources. Optionally, the puncture power source 1321 is a micro motor; of course, in other embodiments of the present invention, the puncture power source 1321 can also be other micro drive components capable of outputting power.

[0105] The puncture mechanism 130 controls the movement of the puncture needle 300 through the first roller 13221 and the second roller 13222. When the first roller 13221 and the second roller 13222 rotate at the same speed in different directions, the needle insertion and needle withdrawal operations of the puncture needle 300 can be achieved. When the first roller 13221 and the second roller 13222 stop, the puncture needle 300 stops.

[0106] See Figure 7, when performing the puncture operation, the puncture power source 1321 drives the first roller 13221 to rotate clockwise and the second roller 13222 to rotate counterclockwise. In this way, the first roller 13221 and the second roller 13222 drive the puncture needle 300 to descend, so that the puncture needle 300 penetrates into the lesion position of the patient along the puncture path. When the puncture needle 300 penetrates into the lesion position, the puncture power source 1321 stops working, that is, the first roller 13221 and the second roller 13222 stop rotating, and at this time the puncture needle 300 stops. After the puncture operation is completed, the puncture power source 1321 drives the first roller 13221 to rotate counterclockwise and the second roller 13222 to rotate clockwise. In this way, the first roller 13221 and the second roller 13222 drive the puncture needle 300 to rise, so that the puncture needle 300 moves out of the patient's body along the puncture path, completing the puncture operation.

[0107] Optionally, the puncture cylinder 131 is a detachable structure to facilitate the cleaning and disinfection of the puncture mechanism 130. Moreover, the components in the puncture mechanism 130 other than the first roller 13221, the second roller 13222, and the puncture needle 300 are sealed. The first roller 13221, the second roller 13222, and the puncture needle 300 are combined. According to the different diameters of the puncture needle 300, different models of the first roller 13221 and the second roller 13222 are selected. In this way, after each puncture, as long as the combination of the first roller 13221, the second roller 13222, and the puncture needle 300 is replaced, the cleaning and disinfection inside the puncture cylinder 131 are completed at the same time.

[0108] Of course, in other embodiments of the present invention, if the process and economy permit, all or part of the components of the puncture device 100 can be made into disposable devices, reducing the disinfection and cleaning work and avoiding cross-infection caused by insufficient disinfection and cleaning.

[0109] See Figure 3 , Figure 4 , Figure 6 and Figure 7 , in an embodiment, the puncture assembly 132 further includes a clip 1323. The clip 1323 connects the first roller 13221 and the second roller 13222 and is used to make the first roller 13221 and the second roller 13222 approach each other to clamp the puncture needle 300. The clip 1323 can be connected to the installation shaft positions of the first roller 13221 and the second roller 13222. The clip 1323 can adjust the distance between the first roller 13221 and the second roller 13222 to ensure that the first roller 13221 and the second roller 13222 can clamp the puncture needle 300, prevent the puncture needle 300 from falling, and ensure the accuracy of the puncture process.

[0110] Moreover, after the clip 1323 clamps the first roller 13221 and the second roller 13222 to the puncture needle 300, it can also ensure that the puncture needle 300 overcomes resistance when entering and retracting the needle in the patient's body, preventing the puncture needle 300 from being unable to penetrate the lesion site or withdraw from the lesion site, and ensuring the accuracy of the puncture operation. Optionally, the clip 1323 is made of an elastic metal material.

[0111] In addition, after the clip 1323 adjusts the distance between the first roller 13221 and the second roller 13222, the first roller 13221 and the second roller 13222 can clamp puncture needles 300 of any model, meeting the usage requirements of different working conditions. Optionally, the clip 1323 is arranged in a V shape. Of course, in other embodiments of the present invention, the clip 1323 can also be other components capable of adjusting the distance between the first roller 13221 and the second roller 13222.

[0112] It can be understood that the positions of the puncture mechanism 130 and the ultrasonic probe 200 are not restricted in principle. They can be arranged side by side or staggered, as long as the ultrasonic-guided puncture operation can be achieved. In one embodiment, after the fixing mechanism 110 clamps the ultrasonic probe 200 through the first clamping plate 111 and the second clamping plate, the fixing mechanism 110 can make the puncture cylinder 131 of the puncture mechanism 130 arranged side by side with the ultrasonic probe 200. This can simplify the operation and facilitate the implementation of ultrasonic-guided puncture. Of course, in other embodiments of the present invention, the puncture cylinder 131 of the puncture mechanism 130 and the ultrasonic probe 200 can also be staggered.

[0113] It can be understood that the positional relationship between the end of the ultrasonic probe 200 and the puncture needle 300 is not restricted in principle, as long as the ultrasonic-guided puncture operation can be achieved. In one embodiment, the end of the ultrasonic probe 200 and the tip of the puncture needle 300 are on the same horizontal plane. Of course, in other embodiments of the present invention, the end of the ultrasonic probe 200 can also be staggered.

[0114] In one embodiment, the puncture device 100 further includes a control component 1324. The control component 1324 is arranged in the puncture cylinder 131 of the puncture mechanism 130. The control component 1324 is electrically connected to the puncture mechanism 130 and is also electrically connected to the adjustment mechanism 120. The control component 1324 can obtain whether there are obstacles on the puncture path of the puncture needle 300, so as to control the adjustment mechanism 120 to adjust the puncture angle of the puncture needle 300 and control the puncture mechanism 130 to perform the puncture operation. The control component 1324 is used for transmission connection with the ultrasonic host to receive puncture information. The control component 1324 controls the movement of the puncture cylinder 131 along the adjustment mechanism 120, and the control component 1324 also controls the movement of the puncture needle 300.

[0115] The control component 1324 realizes the automatic control of the adjustment mechanism 120 and the puncture mechanism 130. The control component 1324 is electrically connected to the puncture power source 1321 and can automatically control the needle insertion and needle withdrawal operations of the puncture power source 1321. The control component 1324 can also be electrically connected to the adjustment power source 123 to realize the automatic adjustment of the angle of the puncture needle 300. The control component 1324 can also interact with the ultrasound host of the ultrasound device, receive the information of the ultrasound main body through the control component 1324, so as to control the puncture power source 1321 and the adjustment power source 123. It can be understood that the model of the control component 1324 is not limited, as long as it can meet the functional requirements and minimize the volume and mass of the puncture cylinder 131.

[0116] Optionally, the control component 1324 is a control chip or other components that can realize the automatic control of the puncture device 100, such as a PLC controller, etc. Optionally, after the control component 1324 receives the lesion position information fed back by the ultrasound host, it can calculate the puncture path of the puncture needle 300, and the control component 1324 controls the puncture needle 300 to perform the puncture operation according to the calculated puncture path. This can reduce the dependence of the puncture device 100 on the ultrasound host. Of course, in other embodiments of the present invention, the calculation of the puncture path can also be performed in the ultrasound host and fed back to the control component 1324, and the control component 1324 controls the puncture needle 300 to perform the puncture operation according to the received puncture path.

[0117] After the control component 1324 of the puncture device 100 of the present invention is encapsulated in the puncture cylinder 131, the entire puncture device 100 becomes more independent and can be applied to different types of ultrasound devices. At the same time, since the movement of the puncture mechanism 130 is simple, the amount of data for information interaction between the ultrasound main body and the puncture mechanism 130 is low, the calculation amount in the control component 1324 is small, the circuit structure in the puncture cylinder 131 is reduced, which is convenient for the production and control of the puncture mechanism 130.

[0118] Optionally, the puncture device 100 further includes a power supply 1325, and the power supply 1325 supplies power to the circuit of the puncture device 100. And the power supply 1325 has an interface connected to an external power source to realize the charging of the power supply 1325. Of course, the power supply mode of the puncture device 100 of the present invention is not limited to the charging type. In other embodiments of the present invention, the power supply 1325 can also be an internal power source, such as a button battery, etc., and the internal power source can improve the sealing performance of the puncture device 100.

[0119] See Figures 1 to 7When the puncture device 100 of the present invention is in use, the ultrasonic probe 200 is clamped by the first clamping plate 111 and the second clamping plate, and the first clamping plate 111 and the second clamping plate are connected by the tension adjusting member 112, and the tightness between the first clamping plate 111 and the second clamping plate is adjusted, so that the first clamping plate 111 and the second clamping plate reliably clamp the ultrasonic probe 200.

[0120] Then, the control component 1324 can control the movement of the puncture power source 1321. The puncture power source 1321 drives the puncture needle 300 to penetrate into the lesion position of the patient along the puncture path through the first roller 13221 and the second roller 13222. When the puncture needle 300 moves to the lesion position, the control component 1324 controls the puncture power source 1321 to stop moving. After the puncture is completed, the controller controls the puncture power source 1321 to move, so that the puncture power source 1321 drives the puncture needle 300 to withdraw from the patient's body along the puncture path through the first roller 13221 and the second roller 13222.

[0121] When an obstacle is encountered during the puncture process, the medical staff can manually set an obstacle avoidance path. Although it is impossible to move to the lesion position along the obstacle avoidance path, the control component 1324 controls the puncture needle 300 to move to the target position along the obstacle avoidance path. Subsequently, the control component 1324 controls the puncture cylinder 131 to rotate an angle, so that the puncture needle 300 returns to the puncture path, and the control component 1324 continues to control the puncture needle 300 to move to the lesion position along the puncture path to complete the puncture operation.

[0122] When the control component 1324 adjusts the angle of the puncture cylinder 131, the control component 1324 drives the adjustment power source 123 to drive the connecting shaft 12221 to slide along the guide member 1221 through the cooperation of the first tooth portion 122121 and the second tooth portion 122211, so as to realize the rotation of the puncture cylinder 131 on the guide member 1221. When the puncture cylinder 131 rotates in place, the adjustment power source 123 stops rotating, and the connecting shaft 12221 is locked through the engagement of the first tooth portion 122121 and the second tooth portion 122211 to limit the rotation of the puncture cylinder 131.

[0123] The puncture device 100 of the present invention controls the movement of the puncture needle 300 in a mechanical manner. Compared with traditional manual puncture, the control is more accurate, and the movement accuracy of the puncture needle 300 is higher, which can better meet the clinical needs. Moreover, the automatic puncture scheme is applicable to relatively simple puncture scenarios. Doctors only need to determine the lesion position through ultrasonic detection, which simplifies the traditional puncture process, reduces the puncture time, improves the puncture efficiency, and reduces the burden on patients and medical staff. At the same time, automatic puncture can also handle slightly complex scenarios, can achieve simple fine-tuning and obstacle avoidance, and saves the time of medical staff for ultrasonic examination. In addition, the puncture device 100 of the present invention is flexible in use, applicable to various scenarios of clinical diagnosis and treatment, and has a wide range of applications.

[0124] See Figure 1 and Figure 8 , the present invention also provides a puncture method, which is applied to the puncture device 100 in any of the above embodiments; the puncture method includes the following steps:

[0125] Install the puncture mechanism 130 on the ultrasonic probe 200 through the fixing mechanism 110, and determine the initial position of the puncture mechanism 130;

[0126] Determine the lesion position and feedback it to the puncture mechanism 130;

[0127] Calculate the puncture path according to the lesion position;

[0128] Control the puncture mechanism 130 to drive the puncture needle 300 to automatically puncture according to the puncture path;

[0129] After puncture, the puncture mechanism 130 drives the puncture needle 300 to perform a needle withdrawal operation according to the puncture path.

[0130] When the puncture device 100 of the present invention is in use, the fixing mechanism 110 is fixed on the ultrasonic probe 200, and the adjusting mechanism 120 is fixedly installed on the fixing mechanism 110. Subsequently, the puncture needle 300 is installed in the puncture mechanism 130 so that the end of the puncture needle 300 protrudes from the puncture mechanism 130, and the puncture mechanism 130 is installed on the adjusting mechanism 120. The angle of the puncture mechanism 130 in the adjusting mechanism 120 is adjusted so that the puncture mechanism 130 is arranged along the puncture path and aligned with the lesion position of the patient. During the puncture operation, the puncture mechanism 130 controls the puncture needle 300 to extend to perform the needle insertion operation, and the puncture needle 300 moves along the puncture path and penetrates into the lesion position of the patient. After the puncture operation is completed, the puncture mechanism 130 controls the puncture needle 300 to withdraw from the patient along the puncture path. The puncture operation is completed.

[0131] Install the puncture device 100 on the ultrasonic probe 200, appropriately adjust the position of the fixing mechanism 110 so that the top of the puncture cylinder 131 and the central vertex of the ultrasonic probe 200 are at the same horizontal position, and determine the starting position of the vertex of the puncture needle 300 according to the size of the ultrasonic probe 200 and the hardware size of the puncture device 100. Moreover, the puncture device 100 and the ultrasonic host are connected through wifi or Bluetooth to realize information transmission. The ultrasonic host can display the remaining power of the auxiliary device, which is convenient for monitoring the power of the puncture device 100.

[0132] When determining the location of the lesion, the doctor sets the examination items and examination mode, and sends the examination item information to the puncture device 100. Then, the doctor starts the ultrasonic examination. After the doctor finishes the examination, the lesion can be automatically detected by deep learning to determine the puncture range. Alternatively, the doctor manually outlines the puncture range on the display result and sends the position information of the puncture range to the control component 1324 of the puncture device 100. This position is in the coordinate system with the center vertex of the ultrasonic probe 200 as the coordinate origin. It can be understood that in this embodiment, the calculation of the puncture path by the control component 1324 is taken as an example for illustration.

[0133] When the control component 1324 calculates the puncture path, given the vertex position of the puncture needle 300 and the puncture range, the control component 1324 can calculate the puncture path and determine the puncture angle of the puncture needle 300. Then, the control component 1324 of the puncture device 100 sends the information of the calculated puncture path to the ultrasonic host and waits for the doctor to confirm.

[0134] See Figure 8 and Figure 9 , the specific calculation process of the puncture path is as follows:

[0135] First, calculate the center of the puncture range, denoted as T, with coordinates (T x , T y ). Given that the vertex position of the puncture needle 300 is O and the target tissue position is T, the angle θ that the puncture cylinder 131 needs to rotate is

[0136]

[0137] The puncture speed v is determined by the examination item, and the length of the puncture path OT is

[0138]

[0139] Puncturing requires information such as puncture distance, puncture angle, and puncture speed. The puncture distance and puncture angle can be obtained from the puncture path. The puncture speed has different gears and can be set by medical staff. The specific speed is adjusted according to the density of the tissue to be punctured. The tissue density information can be estimated through the examination item information. After all the information is obtained, the control component 1324 controls and adjusts the power source 123 to adjust the angle of the puncture cylinder 131 according to the puncture angle, so that the puncture needle 300 is aligned with the lesion position. Then, the control component 1324 controls the puncture power source 1321 to drive the puncture needle 300 to move along the puncture path through the first roller 13221 and the second roller 13222, so that the puncture needle 300 starts automatic puncture. After the puncture is completed, the puncture device 100 will perform the needle withdrawal operation according to the steps completely opposite to the previous puncture process.

[0140] See Figure 8 andFigure 10 , in one embodiment, controlling the puncture mechanism 130 to drive the puncture needle 300 to automatically puncture according to the puncture path includes the following steps:

[0141] Confirm whether there are obstacles in the puncture path;

[0142] If there are no obstacles in the puncture path, control the puncture mechanism 130 to drive the puncture needle 300 to perform a puncture operation along the puncture path;

[0143] If the puncture path encounters an obstacle, set an obstacle avoidance path, adjust the angle of the puncture mechanism 130, control the puncture needle 300 to move along the obstacle avoidance path to the target position, then control the adjustment mechanism 120 to adjust the angle of the puncture mechanism 130 so that the puncture mechanism 130 returns to the puncture path, and control the puncture needle 300 to move along the puncture path to the lesion position.

[0144] When the puncture situation is relatively complex, such as when there is tissue that needs to be avoided on the puncture path, that is, when obstacles need to be avoided, at this time, the doctor can manually set the obstacle avoidance path for fine-tuning. Assume that T is the lesion, O is the vertex of the puncture needle 300, and B is the obstacle on the puncture path. If puncture is to be performed in the current situation, an obstacle avoidance path that avoids the obstacle tissue needs to be selected.

[0145] The doctor can manually set the obstacle avoidance path OA. Although puncturing along this obstacle avoidance path cannot reach the target tissue, it can avoid the obstacle tissue. The puncture needle 300 will first perform puncture according to the obstacle avoidance path. When reaching the end of the target position, the control component 1324 controls the puncture cylinder 131 to automatically adjust the angle and perform puncture according to the original puncture path OT, and continue to puncture to reach the lesion position. Then the ultrasound host sends the adjusted plan to the control component 1324 to prepare for puncture.

[0146] It should be noted that the fine-tuning during obstacle avoidance is only applicable to the case where the puncture needle 300 rotates a small angle. When the rotation angle is too large, it will cause harm to the patient.

[0147] See Figure 8 and Figure 10 , the puncture path is specifically calculated as follows:

[0148] Given that the vertex position of the puncture needle 300 is O, the lesion position is T, and the end point of the obstacle avoidance path is A, then the puncture needle 300 needs to first perform puncture according to the obstacle avoidance path OA, and the angle θ1 by which the control component 1324 controls the puncture cylinder 131 to rotate is

[0149] The puncture speed v, and the length of the puncture path OA is

[0150]

[0151] After the puncture of the OA obstacle avoidance path is completed, the puncture needle 300 will be adjusted back to the original puncture path from the vertex of the puncture needle 300 to the lesion position, and the angle θ2 that the puncture cylinder 131 needs to rotate is

[0152]

[0153] The length of the puncture path AT is

[0154]

[0155] After determining the obstacle avoidance path and the puncture path, the control component 1324 controls the puncture needle 300 to perform an automatic needle insertion operation. The operations of the control component 1324 for controlling the needle insertion and needle withdrawal of the puncture needle 300 have been mentioned above and will not be elaborated here.

[0156] See Figure 1 , the present invention also provides an ultrasonic device, including an ultrasonic main unit, an ultrasonic probe 200 connected to the ultrasonic main unit, and the puncture device 100 in any of the above embodiments. The ultrasonic main unit is connected to the puncture device 100 for transmission. The puncture device 100 is installed on the ultrasonic probe 200, the puncture needle 300 is installed in the puncture device 100, and the puncture device 100 controls the puncture needle 300 to perform a needle insertion or needle withdrawal operation. After the ultrasonic device adopts the puncture device 100 of the above embodiment, it can be applicable to diagnostic scenarios with different complexities, simplify the puncture process, improve the puncture efficiency, and reduce the burden on patients and medical staff.

[0157] Moreover, the puncture device 100 is independently arranged relative to the ultrasonic main unit. When in use, the puncture device 100 is installed on the ultrasonic probe 200. After use, the puncture device 100 is disassembled from the ultrasonic main unit, which will not affect the use performance of the ultrasonic device. In addition, the puncture device 100 only needs to receive corresponding setting information and measurement information from the ultrasonic main unit, and is applicable to ultrasonic main units and ultrasonic probes 200 with different signals, with high practicability and a wide range of uses.

[0158] In one embodiment, the ultrasonic main unit calculates the puncture path of the puncture needle 300, or the puncture device 100 calculates the puncture path of the puncture needle 300. Optionally, after the control component 1324 receives the lesion position information fed back by the ultrasonic main unit, it can calculate the puncture path of the puncture needle 300, and the control component 1324 controls the puncture needle 300 to perform a puncture operation according to the calculated puncture path. This can reduce the dependence of the puncture device 100 on the ultrasonic main unit. Of course, in other embodiments of the present invention, the calculation of the puncture path can also be performed in the ultrasonic main unit and fed back to the control component 1324, and the control component 1324 controls the puncture needle 300 to perform a puncture operation according to the received puncture path.

[0159] SeeFigure 1 , the present invention further provides an ultrasonic device, including an ultrasonic main unit, an ultrasonic probe 200 connected to the ultrasonic main unit, a puncture mechanism 130, an adjustment mechanism 120, a display component, and a control component 1324. The ultrasonic probe 200 is connected to the ultrasonic main unit through a cable, the ultrasonic main unit is transmission-connected to the puncture device 100, and the puncture device 100 and the ultrasonic probe 200 are combined together. The puncture mechanism 130 includes a puncture cylinder 131 and a puncture needle 300 disposed in the puncture cylinder 131. The adjustment mechanism 120 is connected to the puncture cylinder 131 of the puncture mechanism 130 and / or the ultrasonic probe 200, and is used for adjusting the position of the puncture needle 300 in the puncture cylinder 131. The control component 1324 is disposed in the puncture cylinder 131, and the control component 1324 is electrically connected to the puncture mechanism 130, the adjustment mechanism 120, and the ultrasonic main unit respectively. The display component is electrically connected to the ultrasonic main unit, and is used for displaying ultrasonic images and the puncture path of the puncture needle 300.

[0160] It should be noted that the specific structures of the puncture mechanism 130, the adjustment mechanism 120, and the control component 1324 have been mentioned above, and will not be elaborated here one by one. After the ultrasonic device combines the puncture mechanism 130, the adjustment mechanism 120, the control component 1324 with the display component, it can display ultrasonic images and the puncture path of the puncture needle 300 in real time, ensuring the accuracy of the puncture process. Moreover, the ultrasonic device of the present invention can also be applicable to diagnostic scenarios with different complexities, simplifying the puncture process, improving the puncture efficiency, and reducing the burdens on patients and medical staff.

[0161] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of concise description, 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, it should be considered as the scope recorded in this specification.

[0162] The above-described embodiments only represent several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the invention patent should be subject to the appended claims.

Claims

1. A puncture device, characterized in that, Comprising: A fixing mechanism, detachably mounted on an ultrasonic probe; An adjusting mechanism, fixedly mounted on the fixing mechanism; A puncturing mechanism, disposed on the adjusting mechanism and movable along the adjusting mechanism to adjust the position of the puncturing mechanism; And A control component, disposed in the puncturing mechanism, electrically connected to the puncturing mechanism, and also electrically connected to the adjusting mechanism; The adjusting mechanism includes an adjusting assembly for mounting the puncturing mechanism to enable the puncturing mechanism to slide along the adjusting assembly; The adjusting assembly includes a guiding member and a sliding member cooperating with the guiding member, and the puncturing mechanism slides along the guiding member through the sliding member; The guiding member is a guiding chute, and the guiding chute includes a first chute and a second chute communicating with the first chute; The sliding member includes a slider and a connecting shaft connecting the slider and the puncturing mechanism. The slider is movably disposed in the first chute, and the connecting shaft is movably disposed in the second chute; The inner wall of the second chute has a first tooth portion, and the outer wall of the connecting shaft has a second tooth portion meshing with the first tooth portion. When the connecting shaft rotates, the connecting shaft can be driven to move in the second chute through the meshing of the first tooth portion and the second tooth portion. When the connecting shaft stops rotating, the meshing of the first tooth portion and the second tooth portion can lock the position of the connecting shaft.

2. The puncture device according to claim 1, wherein, The control component is transmission-connected to an ultrasonic main unit of an ultrasonic device, and the control component can obtain obstacle information of a puncturing path of a puncturing needle to control the adjusting mechanism to adjust the angle of the puncturing needle and control the puncturing mechanism to perform a puncturing operation.

3. The puncture device according to claim 1, characterized in that, The fixing mechanism includes a first clamping plate and a second clamping plate opposite to the first clamping plate. After the first clamping plate and the second clamping plate are combined, a clamping space is formed for clamping and mounting the ultrasonic probe.

4. The puncture device according to claim 1, characterized in that, The adjusting mechanism includes a connecting component, one end of the connecting component is connected to the fixing mechanism, and the other end of the connecting component is connected to the adjusting assembly.

5. The puncture device according to claim 4, characterized in that, The sliding member is disposed on the puncturing mechanism.

6. The puncture device according to claim 5, wherein The cross-sectional area of the first chute is larger than the cross-sectional area of the second chute.

7. The puncture device according to claim 1, characterized in that, The puncturing mechanism includes a puncturing cylinder and a puncturing assembly disposed in the puncturing cylinder. The puncturing cylinder has a needle hole axially penetrating therethrough, and the needle hole allows the puncturing needle to pass through and exposes the needle tip of the puncturing needle. The puncturing assembly is connected to the puncturing needle in the puncturing cylinder to control the puncturing needle to perform a needle inserting or needle withdrawing operation.

8. An ultrasonic device, characterized in that, Including an ultrasonic main unit, an ultrasonic probe connected to the ultrasonic main unit, and a puncturing device according to any one of claims 1 to 7; The ultrasonic main unit is transmission-connected to the puncturing device. The puncturing device is mounted on the ultrasonic probe, and a puncturing needle is mounted in the puncturing device. The puncturing device controls the puncturing needle to perform a needle inserting or needle withdrawing operation; The ultrasonic main unit calculates the puncturing path of the puncturing needle, or the puncturing device calculates the puncturing path of the puncturing needle.

Images