Intelligent control cryobiopsy device

Abstract

The application relates to an intelligent control low-temperature biopsy device, which integrates a sampling needle as a single consumable, installs a cut biopsy tool on a shell through a mounting cavity on the shell, can conveniently replace a biopsy needle head, and does not need to disassemble and assemble the shell, assemble a probe and a cutting sleeve back and forth when multiple lesion tissues need to be biopsied, thereby saving biopsy time and facilitating medical personnel operation. In addition, the technology replaces manual operation with an intelligent mechanical hand, can perform biopsy sampling through precise control of the mechanical hand, does not need to have technical requirements for manual operation, the intelligent robot cannot shake to cause inaccurate sampling of lesion tissues, perfectly replaces manual biopsy puncture, improves sampling efficiency, and through the intelligent mechanical hand, replaces manual operation to complete low-temperature biopsy sampling, improves accuracy, and reduces labor intensity.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent medical devices, and in particular to an intelligent controlled low-temperature biopsy device. Background Art

[0002] Biopsy, or tissue biopsy, is an important tool for diagnosing cancerous tumors, initial malignancies, and other diseases and disorders. Among existing biopsy techniques, the use of cryogenic biopsy needles to obtain biopsy samples of lesions is relatively common. Rotary coring biopsy is typically performed using an attached probe with a liquid cryogen. Patented technology with publication number CN100571649C, for example, provides a rotary coring biopsy device with an attached probe using a liquid cryogen.

[0003] The device has the following technical problems:

[0004] 1. The device includes a shell with a canister mounted on it, and an attachment probe and a cutting cannula for biopsy are integrally installed inside. After the needle is used, the shell needs to be disassembled, the cutting cannula and probe inside need to be taken out, and after replacement or disinfection, a new cutting assembly is assembled inside the shell of the device. Such a biopsy device requires constant replacement of the probe, which is inconvenient. When biopsy sampling of multiple lesions is required, disassembling and assembling the shell, and assembling the probe and cutting cannula back and forth is extremely time-consuming.

[0005] 2. During use, biopsy sampling is performed manually, with medical personnel holding the device's outer shell to puncture and sample. The tissue sampled is relatively small, requiring high skill. Even the slightest movement can result in inaccurate sampling of the lesion, and the energy consumption is substantial. Existing robots can perfectly replace manual biopsy punctures. Summary of the Invention

[0006] In view of this, the present application proposes an intelligent controlled low-temperature biopsy device, which uses the needle as a consumable material, which can be replaced once and used quickly, thereby improving sampling efficiency; and uses an intelligent robotic arm to replace human hands to complete low-temperature biopsy sampling, thereby improving accuracy and reducing labor intensity.

[0007] The present application provides an intelligent controlled low-temperature biopsy device, comprising a housing, a valve assembly, a canister, and a compressed gas tank. The compressed gas tank is fitted into the canister. The canister and the valve assembly are both fixed to the housing and connected via an air flow channel. The valve assembly includes a main valve, a forward valve, and a retract valve. The device also includes:

[0008] A mounting cavity, provided on the housing;

[0009] A biopsy instrument is fixed in the mounting cavity and is provided with a matching cutting cannula and an attachment probe;

[0010] a valve is arranged on the shell, and the low-temperature compressed gas is guided into the valve group through the valve;

[0011] an intelligent robot is arranged on one side of the shell and holds the shell through a mechanical hand, and automatic biopsy sampling is realized under the control of a computer control system.

[0012] As an optional embodiment of the present application, optionally, the present application further comprises:

[0013] an air inlet end is arranged at the right end of the shell and communicates with the piston cylinder of the biopsy device through a pipeline to provide air power for driving the movement of the cutting sleeve;

[0014] an air inlet hole is arranged on the biopsy device to guide the coolant output by the pipeline system into the attached probe;

[0015] a first air inlet pipe is connected between the valve and the air inlet;

[0016] a second air inlet pipe is connected between the valve and the air inlet end.

[0017] As an optional embodiment of the present application, optionally, the present application further comprises:

[0018] an air flow cavity is arranged in the valve group and communicates with the tank cylinder;

[0019] an air pipe is connected between the outlet of the air flow cavity and the valve, and the cooling gas is guided to the valve when the outlet of the air flow cavity is opened;

[0020] a pneumatic system is arranged in the valve group, air is supplied through the valve, and the low-temperature compressed gas is guided to the main valve, the forward valve, the retracting valve and the attached probe.

[0021] As an optional embodiment of the present application, optionally, the present application further comprises a valve opening and closing mechanism, comprising:

[0022] a spring is matched in the air flow cavity;

[0023] a threaded pair is matched in the valve group on one side of the air flow cavity;

[0024] a valve screw is limited in the air flow cavity by the spring;

[0025] a motor driving system is fixedly arranged on the shell, and the valve screw is driven by the motor driving system.

[0026] As an optional embodiment of the present application, optionally, the valve screw comprises:

[0027] a valve block, which is limited inside the right end of the airflow cavity by the spring, and closes the outlet of the airflow cavity;

[0028] a transmission screw, which is horizontally fixed on the valve block, and the right end of which is matched through the threaded pair and connected with the output end of the motor driving system;

[0029] the transmission screw is driven to move by the motor driving system, and pushes away the valve block to open or close the outlet of the airflow cavity.

[0030] As an optional embodiment of the present application, optionally further comprising:

[0031] a tank head, which is matched with the top of the tank barrel and elastically limits the compressed gas tank;

[0032] a piercing pin connector, which is arranged in the airflow passage, and the gas outlet of the compressed gas tank is matched on the piercing pin connector;

[0033] when the compressed gas tank is matched in the tank barrel, the gas outlet of the compressed gas tank is pierced by the piercing pin connector, and the compressed gas is released into the airflow cavity of the valve group through the airflow passage.

[0034] As an optional embodiment of the present application, optionally further comprising:

[0035] an air outlet hole, which is arranged on the biopsy device, and the airflow of the piston cylinder of the biopsy device is sent to the gas circulation system through the pipeline for circulation.

[0036] As an optional embodiment of the present application, optionally further comprising:

[0037] a tissue marker, which is arranged at the lesion position, and is used for marking the lesion position;

[0038] a delivery needle, which is used for delivering the tissue marker to the lesion position, and taking out the tissue marker after biopsy is completed.

[0039] As an optional embodiment of the present application, optionally further comprising:

[0040] a contrast system, which is arranged on one side of the intelligent robot, and is used for contrasting the marked lesion tissue, and real-time acquiring the lesion position image and sending to the computer control system;

[0041] a display, which is arranged on one side of the intelligent robot, and is used for receiving and displaying the contrast image;

[0042] the contrast system and the display are respectively electrically connected with the computer control system.

[0043] As an optional implementation of the present application, optionally, further comprising:

[0044] A cutting head is arranged at the end of the cutting sleeve for rotary cutting sampling; the cutting head comprises at least three rotary cutting blades.

[0045] Technical effects of the present application:

[0046] The present application integrates the sampling needle as a separate consumable, installs the cutting biopsy device on the shell through a mounting cavity on the shell, can conveniently replace the biopsy needle, and when multiple lesion tissues need to be biopsied, no longer needs to disassemble and assemble the shell, the probe and the cutting sleeve, saves time for biopsy, and is convenient for medical personnel to operate. In addition, the present application can replace manual operation with an intelligent mechanical arm, can perform biopsy sampling through precise control of the mechanical arm, does not need to have technical requirements for manual operation, the intelligent robot does not shake to cause inaccurate sampling of the lesion tissue, perfectly replaces manual biopsy puncture, improves sampling efficiency, and completes low-temperature biopsy sampling through the intelligent mechanical arm instead of manual operation, improves accuracy, and reduces labor intensity. BRIEF DESCRIPTION OF DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the present application and serve to explain the principles of the present application.

[0048] Figure 1 A cross-sectional structure schematic diagram of the present application when the biopsy device is installed as a separate consumable is shown;

[0049] Figure 2 A cross-sectional structure schematic diagram of the present application when the biopsy device is not installed as a separate consumable is shown;

[0050] Figure 3 A three-dimensional structure schematic diagram of the present application is shown; Figure 2

[0051] Figure 4 A front view structure schematic diagram of the biopsy device of the present application as a separate consumable is shown;

[0052] Figure 5 A composition system schematic diagram of the intelligent control low-temperature biopsy device of the present application is shown;

[0053] Figure 6 A state schematic diagram of the present application for conveying a tissue marker to a lesion is shown. DETAILED DESCRIPTION

[0054] ​Various exemplary embodiments, features, and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

[0055] It should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention or simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0056] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0057] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0058] In addition, numerous specific details are provided in the detailed description below to better illustrate the present application. Those skilled in the art will appreciate that the present application can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art are not described in detail in order to highlight the main purpose of the present application.

[0059] like Figure 1 As shown, the present application provides an intelligent controlled low-temperature biopsy device according to one embodiment of the present application, comprising a housing 1, a valve group 15, a canister 5, and a compressed gas tank 18. The compressed gas tank 18 is fitted into the canister 5. The canister and the valve group 15 are both fixed to the housing and connected via an air flow channel. The valve group 15 includes a main valve, a forward valve, and a retract valve.

[0060] In this embodiment, the housing where the cylinder 5 is located and the valve group 15 are integrated as a housing, and the two are communicated, and a piercing pin connector 4 is installed at the bottom of the cylinder 5, which is used to pierce the gas outlet of the compressed gas cylinder 18 through the piercing pin connector 4 when the compressed gas cylinder 18 is fitted in the cylinder 5, and release the compressed gas through the airflow channel into the airflow cavity 11 of the valve group 15. When the valve screw rod sealing the outlet of the airflow cavity is driven to open by the motor drive system, the low-temperature compressed gas is left to the valve, and then flows to different control valve bodies respectively. The valve group 15 includes a main valve, an advance valve and a retract valve, and the specific structure and corresponding pneumatic system are described in the patent embodiment with the publication number CN100571649C, which will not be described here.

[0061] As an optional embodiment of the present application, optionally further comprising:

[0062] A cylinder head is fitted at the top of the cylinder and elastically limits the compressed gas cylinder. The cylinder head is used to tightly press the compressed gas cylinder 18 in the cylinder 5 by tightening when the compressed gas cylinder 18 is fitted in the cylinder 5, so that the piercing pin connector 4 pierces the gas outlet of the compressed gas cylinder.

[0063] In this embodiment, the biopsy needle is installed on the shell as a consumable alone, compared with the above-mentioned prior art, the technology no longer needs to disassemble the shell for cutting the sleeve and attaching the probe for assembly and replacement, but directly screws the biopsy device to the mounting position on the outside, so as to communicate the airway for working sampling.

[0064] As shown in Figure 2 and 3 Further comprising:

[0065] A mounting cavity is provided on the shell 1;

[0066] As shown in Figure 2 The shell 1 of the sampling device of the present application is a cylindrical body with an open left end and a lumen structure, and the right end is gradually tapered; the valve group 15 is fixed on the upper outer side surface of the shell and is integrally connected with the cylinder 5. A mounting cavity with an open left end is provided on the outer side, and an external thread 2 is provided on the left inner side surface for screwing the biopsy device.

[0067] The biopsy device 16 is fitted and fixed in the mounting cavity, and a matched cutting sleeve 17 and an attached probe are provided in it; as shown in Figure 4The biopsy instrument, shown as a standalone consumable, has a body that fits within the mounting cavity. Its head features a conical connector with internal threads that mate with external threads 2 on the outer surface of the left end of the mounting cavity. Once installed, some cooling gas enters through a pipe 3, then passes through the biopsy instrument's air inlet port, connecting to the piston cylinder within the instrument to provide air power for the cutting cannula. Coolant from the coolant supply piping system is directed into the attached probe through a matching air inlet port on the biopsy instrument, where it is expelled through the biopsy instrument's exhaust port.

[0068] Valve 6 is provided on the outer shell, specifically fixedly mounted on the outer side of the top of the valve group 15, and guides the low-temperature compressed gas from the air flow chamber into the valve group through the valve, first entering the main valve, and then driven by the cam of the motor drive system, respectively controlling the entry into the forward valve and the retraction valve; after the compressed gas is output from the air flow chamber of the valve group 15, it is guided to the valve through the pipeline, and safety control is performed through the valve. Under automatic control, the low-temperature cooling gas is guided to the main valve and then distributed, and the cooling compressed gas circulates in the forward valve and the retraction valve respectively according to the gas path setting. For details, please refer to the description of the above-mentioned patent embodiment.

[0069] like Figure 5 As shown, in addition to the cryogenic biopsy device composed of the above-mentioned components, in this embodiment, an intelligent robot is used to replace human hands. The housing 1 of the cryogenic biopsy device is grasped by the manipulator of the intelligent robot, and the movement of the cryogenic biopsy device can be controlled by the manipulator to achieve precise movement and puncture biopsy.

[0070] An intelligent robot is positioned on one side of the housing and grasps the housing via a manipulator. Under the control of a computer control system, it performs automated biopsy sampling. The model and design of the intelligent robot are not limited herein; as long as it can grasp or clamp the housing via its manipulator, and then, through computer control, position and move the biopsy instrument it holds, enabling the probe to penetrate near the lesion. Specific programming and spatial positioning are calculated based on system data from the imaging system and the robot, and are not limited or detailed herein.

[0071] To further optimize the system, imaging of the lesion tissue using an imaging system such as a color Doppler ultrasound system can be used to calculate the location of the lesion tissue to be biopsied. After conversion, the specific location coordinates can be obtained. The display can display the lesion location in real time during the biopsy process, allowing for direct viewing of the biopsy process.

[0072] As an optional embodiment of the present application, optionally, it further includes:

[0073] Air inlet end, provided on the right end of the shell, connected with the piston cylinder of the biopsy device through pipeline, providing air power for driving the movement of the cutting sleeve;

[0074] Air inlet hole, provided on the biopsy device, guiding the coolant output by the pipeline system into the attached probe;

[0075] First air inlet pipe, connected between the valve and the air inlet;

[0076] Second air inlet pipe, connected between the valve and the air inlet end.

[0077] As shown in Figures 1-3 the air inlet end 10 is provided on the right end of the shell 1, connected with the piston cylinder of the biopsy device 16 through pipeline, providing air power for driving the movement of the attached probe; the air is converted into the movement force of the lead screw through the piston cylinder, so that the lead screw gas enters the piston cylinder 2 through the air inlet end 10, driving the movement of the lead screw. Through air circulation, the reciprocating motion of the lead screw can be realized. Here is not described in detail.

[0078] Air inlet hole 12, provided on the biopsy device 16, guiding the coolant output by the pipeline system into the probe in the biopsy device 16;

[0079] Valve 6, provided on the valve group 15, with first air inlet pipe 3 and second air inlet pipe 7 connected in parallel; wherein the air outlet end of the first air inlet pipe 3 is connected into the shell 1 and communicates with the air inlet 12, providing cooling gas for the attached probe 17; the second air inlet pipe 7 is connected with the air inlet end 10, providing pneumatic gas for the attached probe 17; the outlet of the valve group 15 is opened and closed by a screw driven by a motor, after opening, the gas passes through the air pipe 8 to the valve 6, and is distributed to the first air inlet pipe 3 and the second air inlet pipe 7, and then the respective air circulation systems cool and guide, the air outlet end of the first air inlet pipe 3 is connected into the shell 1 and communicates with the air inlet 12, providing cooling gas for the attached probe 17; the second air inlet pipe 7 is connected with the air inlet end 10, providing pneumatic gas for the attached probe 17.

[0080] As an optional embodiment of the present application, optionally further comprising:

[0081] Air flow cavity 11, provided in the valve group 15, and communicating with the tank 5;

[0082] Air pipe 8, connected between the outlet of the air flow cavity and the valve, guiding the cooling gas to the valve when the outlet of the air flow cavity is opened;

[0083] A pneumatic system is provided in the valve group, which supplies compressed gas through the valve and directs the low-temperature compressed gas to the main valve, the forward valve, the retracting valve and the probe.

[0084] As shown in the drawings, when the compressed gas tank 18 is fitted in the tank cylinder 5, the gas outlet of the compressed gas tank 18 is pierced by the piercing pin connector 4 to release the compressed gas into the airflow cavity 11 of the valve group 15. Figure 1

[0085] After the valve opening mechanism is opened, the low-temperature compressed gas flows from the airflow cavity 11 to the valve 6 through the air pipe 8, and then is directed to the main valve, the forward valve, the retracting valve and the probe by the pneumatic system. The technical principle of the pneumatic system is described in the existing patent.

[0086] As an optional embodiment of the present application, the valve opening mechanism is optionally provided, which comprises:

[0087] A spring is fitted in the airflow cavity;

[0088] A threaded pair 21 is fitted in the valve group on one side of the airflow cavity;

[0089] A valve screw is limited in the airflow cavity by the spring;

[0090] A motor driving system is fixedly arranged on the housing, and the valve screw is driven by the motor driving system.

[0091] The present application provides a valve opening mechanism between the airflow cavity 11 and the valve group 15, which opens and closes the valve by the screw system driven by the electric drive, as shown in the drawings. Figure 1 2 A valve screw is arranged inside the airflow cavity to open and close the gas outlet at the right end of the airflow cavity. The valve screw is connected by the valve block 14 and the transmission screw 13, which will be described in detail below.

[0092] ​​In order to make the valve screw tightly seal the outlet, a spring is used to press against the left end face of the valve screw, so as to press the valve block 14 of the valve screw against the outlet. In order to separate the valve block 14 of the valve screw and open the outlet, a transmission screw 13 driven by a servo pneumatic system is used to push the valve block 14 out. The right end of the valve screw is a horizontally arranged transmission screw 13 connected with the output end 9 of the pneumatic system. The rotation of the output end 9 is converted into linear motion by a nut pair. A mounting cavity corresponding to the left and right airflow cavities is arranged in the right side of the valve group 15. A block-shaped threaded pair 21 is fixed in the mounting cavity. The transmission screw 13 penetrates through the threaded pair 21 and extends out of the valve group 15 and is connected with the output end 9 of the pneumatic system. After starting, the pneumatic system is started to drive the output end 9 to drive the transmission screw 13, which is converted by the threaded pair 21 to drive the valve block 14 to move, so as to open and close the valve block 14 to release the cooling gas or liquid and deliver the gas to the valve 6 through the air pipe 8 for distribution.

[0093] As an optional embodiment of the present application, the pneumatic system is a servo drive system, which comprises a computer control system, a battery, a motor and a gear box. The battery is electrically connected with the computer control system and the motor respectively. The motor is connected with the gear box. The output end 9 is arranged on the gear box and rotates at a constant speed.

[0094] As an optional embodiment of the present application, the valve screw comprises:

[0095] A valve block which is limited to the right end inside the airflow cavity by the spring and closes the outlet of the airflow cavity;

[0096] A transmission screw which is horizontally fixed on the valve block and penetrates through the threaded pair at the right end and extends out of the valve group and is connected with the output end of the motor drive system;

[0097] The transmission screw is driven by the motor drive system to move and push the valve block to open or close the outlet of the airflow cavity.

[0098] As shown in Figure 3 The valve block 14 is a flexible cylindrical structure which can be closed by the spring and opened by the transmission screw 13. The transmission screw 13 penetrates through the threaded pair 21 and the left and right ends thereof are connected with the corresponding valve block 14 and the output end 9 of the motor drive system by screwing or welding or one-piece forming. The transmission screw is driven by the motor drive system to move and push the valve block to open or close the outlet of the airflow cavity.

[0099] As an optional embodiment of the present application, optionally further comprising:

[0100] The gas outlet hole 12 is provided on the biopsy device, and the gas flow of the piston cylinder of the biopsy device is sent to the gas circulation system through the pipeline for circulation. When the rocket device 16 is fitted in the mounting cavity, the cooling gas of the attached probe 17 is provided through the connection of the gas outlet hole 12 and the gas outlet end of the first gas inlet pipe 3, or through the pipeline cooperation.

[0101] In order to facilitate the positioning and marking of the lesion tissue, and to provide the cloud top target position point data for the intelligent robot, an organization marker is input at the lesion tissue under the contrast environment through the delivery needle, which is used for spatial marking of the lesion tissue position.

[0102] As shown in Figure 6 As an optional embodiment of the present application, optionally further comprising:

[0103] The organization marker is provided at the lesion position, and is used for marking the lesion position. The organization marker can be metal Ti, which is easy to be detected by the contrast system, and is convenient for imaging to display the specific position of the lesion tissue. By placing the organization marker, the lesion repositioning in the later treatment can be avoided, and the marked position can be detected by the imaging system such as ultrasound, magnetic resonance imaging (MRI) or x-ray, so that the biopsy can be positioned. The columnar and externally hooked organization marker 101 is placed in the lesion 103 through a delivery needle 102. In this embodiment, the specific shape of the organization marker is not limited herein.

[0104] The delivery needle is used for delivering the organization marker to the lesion position, and taking out the organization marker after the biopsy is completed. The delivery needle 102 is used for delivering the organization marker 101 in the biopsy data visualization system to the lesion 103 position under the assistance of the biopsy data visualization system, and moving the organization marker in the biopsy data visualization system from the lesion tissue position to the body surface under the assistance of the biopsy data visualization system after the biopsy is completed. The specific type of the delivery needle 102 is not limited herein.

[0105] The material of the delivery needle or the needle tip part of the delivery needle is a material that can be imaged under the illumination of the contrast system of the biopsy data visualization system. Preferably, it is Ti.

[0106] As an optional embodiment of the present application, optionally further comprising:

[0107] The imaging system, located on one side of the intelligent robot, uses the imaging system to image the marked lesion tissue, acquiring real-time images of the lesion location and transmitting them to the computer control system. The imaging system is used to image the lesion tissue, acquiring real-time images of the lesion location and biopsy sample image data, and transmitting them to the computer control system. The imaging system is primarily used to visualize the tissue markers on the lesion tissue. After processing, the images are sent to a display for real-time display, allowing the physician to identify the lesion tissue location in real time. Furthermore, the imaging system also images multiple steps in the process, enabling real-time imaging of the placement of the delivery needle on the tissue marker, as well as the biopsy cutting cannula and probe. Therefore, the tip of the cutting cannula and the distal end of the puncture section of the attached probe need to be made of a special material that can be identified by imaging. In this embodiment, titanium is preferred. This allows the imaging system to image both the pre- and post-biopsy stages, enabling a visual biopsy procedure and facilitating accurate biopsy location identification.

[0108] A display, provided on one side of the intelligent robot, for receiving and displaying angiographic images;

[0109] The imaging system and the display are electrically connected to the computer control system respectively. The display is used to receive and display the images processed by the computer control system, and to display the biopsy process in real time.

[0110] As an optional embodiment of the present application, optionally, it further includes:

[0111] The cutting head is arranged at the end of the cutting sleeve and is used for rotary cutting and sampling; the cutting head comprises at least three rotary cutting blades.

[0112] As in Figure 4 The enlarged diagram of the cutting head's distal end shows the cutting head with multiple rotary cutting blades, which, driven by the valve body, advance and rotary cut. The rotary cutting blades at the head rotary cut sample the lesion tissue fixed by the probe, and the sample is recovered after sampling. Three centrally symmetrical rotary cutting blades are preferably used for rotary cutting sampling.

[0113] This embodiment is an example of sampling lesion tissue, but it can also be applied to sampling other parts or even non-lesion tissue, just by changing the sampling environment and corresponding parameters.

[0114] Having described various embodiments of the application, it is to be understood that the above description is meant not to limit and not to encompass all of the possible embodiments. Many modifications and variations of this application can be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. It is intended that the scope of the application be defined by the scope of the patent and by the claims as allowed by the patent office, which can include adaptations based on the description, equivalents, and / or substitutions of elements individually or collectively to the entire disclosure.

Claims

1. An intelligent controlled cryogenic biopsy device, comprising a housing, a valve assembly, a canister, and a compressed gas tank, wherein the compressed gas tank fits within the canister, the canister and the valve assembly are both fixed to the housing and connected via an air flow channel, the valve assembly comprising a main valve, a forward valve, and a retract valve, characterized in that: Also includes: The shell is a cylindrical body with an open left end and a tubular structure; the valve group is fixed on the outer surface of the shell and is integrally connected to the barrel; A mounting cavity, provided on the housing; A biopsy instrument is fixed in the mounting cavity and is provided with a matching cutting cannula and attachment probe. The biopsy instrument is an independent consumable, and its body is matched with the mounting cavity. The head is a conical connector with an internal thread for connecting to the external thread on the outer surface of the left end of the mounting cavity. An air inlet end is provided at the right end of the housing and is connected to the piston cylinder of the biopsy instrument through a pipeline to provide air power for driving the movement of the cutting cannula; an air inlet, provided on the biopsy instrument, for guiding the coolant output from the coolant supply pipeline system into the attachment probe through a pipeline; a valve, disposed on the housing, for guiding cryogenic compressed gas into the valve group through the valve; The intelligent robot is arranged on one side of the shell and holds the shell through a manipulator to realize automated biopsy sampling under the control of a computer control system.

2. The intelligent controlled low-temperature biopsy device according to claim 1, characterized in that: Also includes: an airflow chamber, disposed in the valve assembly and communicated with the tank barrel; an air pipe connected between the outlet of the air flow chamber and the valve, and guiding the cooling gas to the valve when the outlet of the air flow chamber is opened; The pneumatic system is arranged in the valve group, supplies gas through valves, and guides the low-temperature compressed gas to the main valve, the forward valve, the retract valve and the attachment probe respectively.

3. The intelligent controlled low-temperature biopsy device according to claim 2, characterized in that: It also includes the valve opening and closing mechanism, including: a spring, fitted in the airflow cavity; a threaded pair, engaged in the valve assembly on one side of the airflow chamber; a valve screw, constrained in the airflow chamber by the spring; The motor drive system is fixed on the housing, and the valve screw is driven by the motor drive system.

4. The intelligent controlled low-temperature biopsy device according to claim 3, characterized in that: The valve screw comprises: a valve block, which is restricted to the right end of the airflow chamber by the spring, and closes the outlet of the airflow chamber; A transmission screw is horizontally fixed on the valve block, with its right end fitting through the threaded pair and extending out of the valve group to connect with the output end of the motor drive system; The motor drive system drives the transmission screw to move, pushing the valve block to open or close the outlet of the air flow chamber.

5. The intelligent controlled low-temperature biopsy device according to claim 3 or 4, characterized in that: Also includes: The tank body cover is matched with the top of the tank barrel and elastically restricts the compressed gas tank; a piercing pin connector, disposed in the air flow channel, the gas outlet of the compressed gas tank being fitted on the piercing pin connector; When the compressed gas tank is fitted into the tank barrel, the piercing pin connector pierces the gas outlet of the compressed gas tank, and the compressed gas is released into the gas flow chamber of the valve assembly through the gas flow channel.

6. The intelligent controlled low-temperature biopsy device according to claim 1, characterized in that: Also includes: The air outlet is provided on the biopsy instrument, and sends the airflow of the piston cylinder of the biopsy instrument to the gas circulation system through the pipeline for circulation.

7. The intelligent controlled low-temperature biopsy device according to any one of claims 1 to 6, characterized in that: Also includes: A tissue marker is placed at the lesion site to mark the lesion site; The delivery needle is used to deliver the tissue marker to the lesion location and remove the tissue marker after the biopsy is completed.

8. The intelligent controlled low-temperature biopsy device according to claim 7, characterized in that: Also includes: An angiography system is provided on one side of the intelligent robot, and performs angiography on the marked lesion tissue through the angiography system, obtains an image of the lesion position in real time, and transmits the image to the computer control system; A display, provided on one side of the intelligent robot, for receiving and displaying angiographic images; The imaging system and the display are electrically connected to a computer control system respectively.

9. The intelligent controlled low-temperature biopsy device according to claim 1 or 8, characterized in that: Also includes: The cutting head is arranged at the end of the cutting sleeve and is used for rotary cutting and sampling; the cutting head comprises at least three rotary cutting blades.

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