A remote control device for breast biopsy

Abstract

The present application belongs to the technical field of medical equipment, and discloses a breast rotary cutting remote control device, which comprises an ultrasonic probe movement assembly, a breast rotary cutting movement assembly and a remote controller. The ultrasonic probe movement assembly and the breast rotary cutting movement assembly are fixedly connected through elastic members, and are fixed around the breast in a circular shape. The remote controller controls the ultrasonic probe movement assembly to move to a lesion site, and controls the breast rotary cutting movement assembly to move to the lesion site for cutting. The annular horizontal and pitch up and down motor rotation enables the ultrasonic probe to obtain a satisfactory image through the remote controller. The encoder feedback of the motor can automatically remotely control the rotary cutting device to an ideal puncture angle, reduces the difficulty of manual adjustment, saves manpower, improves the puncture biopsy accuracy, and further improves the puncture accuracy through the adhesive material, elastic members and annular bandage.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of medical equipment, and particularly relates to a breast rotary cutting remote control device. BACKGROUND

[0002] Breast cancer is one of the most common malignant tumors in women, and its incidence rate increases year by year. Traditional open breast cancer surgery refers to making an incision on the surface of a breast tumor and directly removing the tumor, which causes great trauma to the patient and requires a long recovery time. Breast minimally invasive surgery is a surgery using ultrasonic positioning and a vacuum-assisted minimally invasive rotary cutting system, which is less traumatic and faster in recovery, and is applied more and more. In the surgery, an ultrasonic probe is first used to detect and position a lesion site, and then a vacuum-assisted minimally invasive rotary cutting system is used to perform a puncture surgery on the lesion part according to the position displayed by the ultrasonic probe. However, the breast is easily deformed under force, and sliding occurs during ultrasonic positioning, resulting in inaccurate puncture position. Therefore, the traditional breast minimally invasive surgery often needs to be completed by multiple doctors. The angle of the ultrasonic probe and the rotary cutting head during the surgery greatly affects the quality of the ultrasonic image, and the operation method of the doctor is also relatively high. The doctor needs to constantly adjust the angle and position of the ultrasonic probe, and the rotary cutting effect cannot be reliably guaranteed. SUMMARY

[0003] The application aims to provide a breast rotary cutting remote control device to solve the technical problems of difficult fixation of a lesion position and inaccurate ultrasonic positioning in the existing breast minimally invasive surgery.

[0004] To solve the above technical problems, the specific technical scheme of the breast rotary cutting remote control device is as follows:

[0005] A breast rotary cutting remote control device, comprising an ultrasonic probe movement assembly, a breast rotary cutting movement assembly and a remote controller, the ultrasonic probe movement assembly and the breast rotary cutting movement assembly are fixedly connected through an elastic member, the ultrasonic probe movement assembly and the breast rotary cutting movement assembly are enclosed into a circular shape and fixed around a breast, and the remote controller controls the ultrasonic probe movement assembly to move to a lesion site and controls the breast rotary cutting movement assembly to move to the lesion site for cutting.

[0006] Further, the ultrasonic probe movement assembly and the breast rotary cutting movement assembly respectively comprise a circular motion part and an up-down pitching motion part, and can respectively perform circular motion and up-down pitching motion, and the horizontal motion positions of the ultrasonic probe movement assembly and the breast rotary cutting movement assembly can be automatically synchronized.

[0007] Furthermore, the ultrasonic probe motion assembly includes a left annular motion component, which includes a left annular seat, a left moving block, a probe horizontal motor, and gear one. The left annular seat is a semicircular structure, and the left annular seat has a left annular gear and a left annular track. The left moving block moves along the left annular track on the left annular track. The probe horizontal motor is fixedly installed on one side of the left moving block, and the other side of the left moving block has gear one. The gear one is fixedly connected to the probe horizontal motor through the motor shaft, and the gear one is engaged with the left annular gear. The rotation of the probe horizontal motor drives gear one to rotate, thereby driving the left moving block to move along the left annular track.

[0008] Furthermore, the ultrasonic probe motion assembly includes a left pitch motion component, which is installed on the left annular motion component and moves with the left annular motion component. At the same time, the left pitch motion component can move up and down along the radius of the semicircle; the left pitch motion component includes a probe pitch motor, gear 2, gear 3, an ultrasonic probe mounting frame, and an ultrasonic probe. The probe pitch motor is fixed on the left moving block and is arranged perpendicular to the probe horizontal motor. The inner side of the left moving block is provided with gear 2, which is fixedly connected to the probe pitch motor through the motor shaft. The gear 3 is fixedly connected to the side of the ultrasonic probe mounting frame. The gear 2 and gear 3 are engaged with each other. The ultrasonic probe is installed on the ultrasonic probe mounting frame. The rotation of the probe pitch motor drives gear 2 to rotate, thereby driving the ultrasonic probe mounting frame to move up and down.

[0009] Furthermore, the breast peeling motion assembly includes a right annular motion component; the right annular motion component includes a right annular seat, a right moving block, a peeling horizontal motor, and gear four. The right annular seat is a semi-circular structure. The right annular seat has a right annular gear and a right annular track. The right moving block moves along the right annular track. The peeling horizontal motor is fixedly installed on one side of the right moving block, and the other side of the right moving block has gear four. The gear four is fixedly connected to the peeling horizontal motor through the motor shaft, and the gear four is engaged with the right annular gear. The rotation of the peeling horizontal motor drives gear four to rotate, thereby driving the right moving block to move along the right annular track.

[0010] Further, the breast rotation cutting movement component includes a right pitch movement part, which is installed on the right annular movement part and moves with the right annular movement part, and the right pitch movement part can move up and down along the radius direction of the semicircular ring; the right pitch movement part includes a rotation cutting pitch motor, a gear five, a gear six, a rotation cutting device mounting rack, and a rotation cutting device, the rotation cutting pitch motor is fixed on the right moving block and is arranged vertically to the rotation cutting horizontal motor, the right moving block has the gear five on the inner side, the gear five is fixedly connected with the rotation cutting pitch motor through a motor shaft, the gear six is fixedly connected with the side surface of the rotation cutting device mounting rack, the gear five and the gear six are in gear engagement, and the rotation cutting device is installed on the rotation cutting device mounting rack.

[0011] Further, the left annular seat and the right annular seat are fixedly connected through elastic members, the left annular seat and the right annular seat are fixed on the human body through annular bands on the bottom, the left annular seat and the right annular seat have adhesive materials on the bottom for sticking to the skin, and the annular bands are provided with adjusting devices for adjusting the length and tightness of the bands.

[0012] Further, the ultrasonic probe mounting rack and the rotation cutting device mounting rack are respectively provided with MEMS inclination sensors for detecting the angle position information of the ultrasonic probe and the rotation cutting device, and the probe horizontal motor and the rotation cutting horizontal motor are motors provided with encoders, which can feed back the position information of the ultrasonic probe and the rotation cutting device in the annular horizontal space in real time.

[0013] Further, the breast rotation cutting remote control device is provided with a motor control board, the motor control board is electrically connected with the probe horizontal motor, the probe pitch motor, the rotation cutting horizontal motor, the rotation cutting pitch motor, and the MEMS inclination sensor, the remote controller establishes communication with the motor control board through a wired or wireless interface, the motor control board is used for receiving the signal of the MEMS inclination sensor, the remote controller controls the operation of the probe horizontal motor, the probe pitch motor, the rotation cutting horizontal motor, and the rotation cutting pitch motor through the motor control board, and records the movement position and angle information.

[0014] Further, the rotation cutting device includes a rotation cutting knife rod and a gear eight installed on the rotation cutting device mounting rack, the rotation cutting knife rod and the gear eight are in abutment, the gear eight is provided with a rotation encoder, the rotation encoder on the gear eight is electrically connected with the motor control board, the forward and backward movement of the rotation cutting knife rod can drive the gear eight to rotate, and the motor control board can calculate the penetration depth and angle of the rotation cutting knife rod according to the number of pulses output by the rotation encoder on the gear eight and the rotation angle output by the MEMS inclination sensor, so as to feed back the position and angle information of the rotation cutting knife rod in the space in real time.

[0015] The breast rotatory cutting remote control device has the following advantages: the breast rotatory cutting remote control device of the present application encloses and fixes the ultrasonic probe movement assembly and the breast rotatory cutting movement assembly around the breast, so as to fix the breast and prevent the movement of the lesion position, and the ultrasonic probe movement assembly and the breast rotatory cutting movement assembly can be controlled by the remote controller to perform the operation, thereby saving the human resources.

[0016] The ultrasonic probe movement assembly and the breast rotatory cutting movement assembly of the device respectively include annular movement components and up-down pitching movement components, can respectively perform annular movement and pitching movement, are flexible to operate, and can accurately position the lesion position.

[0017] The device is respectively provided with a MEMS inclination sensor on the ultrasonic probe mounting frame and the rotatory cutting device mounting frame, can real-time detect the angle position information of the ultrasonic probe and the rotatory cutting device, and further improves the positioning accuracy.

[0018] In summary, the breast rotatory cutting remote control device of the present application can greatly save the human resources, improve the puncture accuracy and the operation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a whole structure schematic view of the breast rotatory cutting remote control device of the present application;

[0020] Figure 2 It is a structure schematic view of the left pitching movement component of the present application;

[0021] Figure 3 It is a structure schematic view of the right pitching movement component of the present application;

[0022] Figure 4 It is a structure schematic view of the rotatory cutting device of the present application;

[0023] Figure 5 It is a sectional structure schematic view of the rotatory cutting device of the present application;

[0024] Figure 6 It is a module connection schematic view of the motor control board of the present application.

[0025] Explanation of marks in the figure: 11. Left annular seat; 12. Left moving block; 13. Probe horizontal motor; 14. Gear one; 111. Left annular gear; 112. Left annular track; 21. Probe pitch motor; 22. Gear two; 23. Gear three; 24. Ultrasonic probe mounting bracket; 25. Ultrasonic probe; 31. Right annular seat; 32. Right moving block; 33. Peeling horizontal motor; 34. Gear four; 311. Right annular gear; 312. Right annular track; 41. Peeling pitch motor; 42. Gear five, 43. Gear six; 44. Peeling device mounting bracket; 45. Peeling device; 451. Peeling knife rod; 452. Gear eight; 5. Remote control; 6. Elastic piece; 7. Annular strap; 8. Motor control board. DETAILED DESCRIPTION

[0026] In order to better understand the purpose, structure and function of the present invention, the following is a further detailed description of a remote control device for breast rotational resection of the present invention in conjunction with the accompanying drawings.

[0027] like Figure 1 As shown, a remote control device for breast peeling of the present invention includes an ultrasonic probe motion component, a breast peeling motion component and a remote control 5. The ultrasonic probe motion component and the breast peeling motion component are fixedly connected by an elastic member 6. The ultrasonic probe motion component and the breast peeling motion component form a circle and are fixed around the breast. The remote control 5 controls the ultrasonic probe motion component to move to the lesion site and controls the breast peeling motion component to move to the lesion site for cutting.

[0028] The ultrasonic probe motion assembly includes a left annular motion component and a left pitch motion component. The left annular motion component includes a left annular seat 11, a left moving block 12, a probe horizontal motor 13, and a gear 14. The left annular seat 11 is a semicircular structure. The left annular seat 11 is provided with a left annular gear 111 and a left annular track 112. The left moving block 12 moves along the left annular track 112. The probe horizontal motor 13 is fixedly installed on one side of the left moving block 12. The other side of the left moving block 12 is provided with a gear 14. The gear 14 is fixedly connected to the probe horizontal motor 13 through the motor shaft. The gear 14 is meshed with the left annular gear 111. The rotation of the probe horizontal motor 13 drives the gear 14 to rotate, thereby driving the left moving block 12 to move along the left annular track 112. The left pitch motion component is installed on the left annular motion component and moves with the left annular motion component. At the same time, the left pitch motion component can move up and down along the radius of the semicircular ring. As shown Figure 2As shown, the left pitch movement component includes a probe pitch motor 21, a gear two 22, a gear three 23, an ultrasonic probe mounting rack 24, and an ultrasonic probe 25. The probe pitch motor 21 is fixed on the left moving block 12 and is arranged perpendicularly to the probe horizontal motor 13. The left moving block 12 has the gear two 22 on the inner side. The gear two 22 is fixedly connected with the probe pitch motor 21 through a motor shaft. The gear three 23 is fixedly connected with the ultrasonic probe mounting rack 24 on the side. The gear two 22 and the gear three 23 are in gear engagement. The ultrasonic probe 25 is mounted on the ultrasonic probe mounting rack 24. The probe pitch motor 21 rotates to drive the gear two 22 to rotate, thereby driving the ultrasonic probe mounting rack 24 to move up and down.

[0029] The breast rotation movement assembly includes a right annular movement component and a right pitch movement component. The right annular movement component includes a right annular seat 31, a right moving block 32, a rotation horizontal motor 33, and a gear four 34. The right annular seat 31 is a semi-circular ring structure. The right annular seat 31 has a right annular gear 311 and a right annular track 312. The right moving block 32 moves along the right annular track 312 on the right annular track 312. The right moving block 32 has the rotation horizontal motor 33 fixedly installed on one side. The right moving block 32 has the gear four 34 on the other side. The gear four 34 is fixedly connected with the rotation horizontal motor 33 through a motor shaft. The gear four 34 is in gear engagement with the right annular gear 311. The rotation horizontal motor 33 rotates to drive the gear four 34 to rotate, thereby driving the right moving block 32 to move along the right annular track 312. The right pitch movement component is installed on the right annular movement component and moves with the right annular movement component. Meanwhile, the right pitch movement component can move up and down along the radius direction of the semi-circular ring. As shown, Figure 3 The right pitch movement component includes a rotation pitch motor 41, a gear five 42, a gear six 43, a rotation device mounting rack 44, and a rotation device 45. The rotation pitch motor 41 is fixed on the right moving block 32 and is arranged perpendicularly to the rotation horizontal motor 33. The right moving block 32 has the gear five 42 on the inner side. The gear five 42 is fixedly connected with the rotation pitch motor 41 through a motor shaft. The gear six 43 is fixedly connected with the rotation device mounting rack 44 on the side. The gear five 42 and the gear six 43 are in gear engagement. The rotation device 45 is mounted on the rotation device mounting rack 44. The rotation pitch motor 41 rotates to drive the gear four 34 to rotate, thereby driving the rotation device mounting rack 44 to move up and down.

[0030] The left annular seat 11 and the right annular seat 31 are fixedly connected through elastic members 6. The left annular seat 11 and the right annular seat 31 are fixed on the human body through annular bandages 7 on the bottom. The left annular seat 11 and the right annular seat 31 have adhesive materials on the bottom for sticking to the skin. The annular bandages 7 have adjusting devices for adjusting the length and tightness of the bandages. According to needs, multiple annular bandages 7 can be provided.

[0031] The ultrasonic probe mounting frame 24 and the peeling device mounting frame 44 are respectively equipped with MEMS tilt sensors for detecting the angular position information of the ultrasonic probe 25 and the peeling device 45. The probe horizontal motor 13 and the peeling horizontal motor 33 are hollow cup motors with encoders, which can provide real-time feedback on the position information of the ultrasonic probe 25 and the peeling device 45 in the annular horizontal space. Figure 4 、 Figure 5 As shown, the peeling device 45 includes a peeling knife rod 451 and a gear eight 452 mounted on the peeling device mounting frame 44. The peeling knife rod 451 and the gear eight 452 are in contact with each other. The gear eight 452 is provided with a rotary encoder. The peeling knife rod 451 can drive the gear eight 452 to rotate when it moves forward and backward. The puncture depth and angle of the peeling knife rod 451 in space can be calculated based on the number of pulses output by the rotary encoder on the gear eight 452 and the rotation angle output by the MEMS inclination sensor, so as to provide real-time feedback on the position and angle information of the peeling device 45 in space.

[0032] The remote control device for breast rotational cutting has a motor control board 8, such as Figure 6 As shown, the motor control board 8 is electrically connected to the probe horizontal motor 13, the probe pitch motor 21, the peeling horizontal motor 33, the peeling pitch motor 41, the MEMS tilt sensor, and the rotary encoder on the gear eight 452, as shown in FIG. Figure 1 As shown, the motor control board 8 is installed on the side of the left moving block 12. Of course, the motor control board 8 can also be installed in other suitable positions, which is not limited here. The remote control 5 establishes communication with the motor control board 8 through a wired or wireless interface. The motor control board 8 is used to receive signals from the MEMS tilt sensor and the rotary encoder on the gear eight 452, and control the rotary cutting horizontal motor 33 to move synchronously according to the movement of the probe horizontal motor 13, so that the positions of the ultrasound probe motion component and the breast rotary cutting motion component are on a straight line passing through the center of the circle enclosed by them. The remote control 5 controls the operation of the probe horizontal motor 13, the probe pitch motor 21, the rotary cutting horizontal motor 33, and the rotary cutting pitch motor 41 through the motor control board 8, and records the movement position and angle information.

[0033] When in use, first pull open the elastic piece 6 and put it on the bottom of the patient's breast, confining the entire breast in the space enclosed by the left annular seat 11 and the right annular seat 31, and then fix it to the patient's body after adjusting the length and tightness of the annular strap 7. The left annular seat 11 and the right annular seat 31 stick to the human skin, completing the first step of limiting and fixing.

[0034] Second, the ultrasonic coupling agent is applied on the breast, the ultrasonic probe 25 is adjusted to be fixed on the ultrasonic probe mounting rack 24, the remote controller 5 is operated to make the probe horizontal motor 13 and the probe pitch motor 21 rotate, the annular horizontal position and the up-down pitch angle of the ultrasonic probe 25 are adjusted until the lesion is clearly shown in the ultrasonic image, the confirmation button of the remote controller 5 is clicked, and the remote controller 5 will record the annular motion horizontal position and the pitch angle of the ultrasonic probe after the motor stops rotating. When the position and angle of the ultrasonic probe 25 are determined, the motor control panel 8 controls the breast rotation and cutting motion assembly to automatically synchronize to the opposite side of the other side of the center, the doctor operates the remote controller 5 to control the rotation and cutting pitch motor 41 to rotate and adjust the rotation and cutting device 45 to the appropriate position according to experience, and manually opens the puncture point, and then the rotation and cutting knife rod is punctured through the rotation and cutting device mounting rack 44 to align the target point under the real-time image monitoring of the ultrasonic, and then the normal rotation and cutting process is performed to take a biopsy.

[0035] Compared with the traditional manual rotation and cutting biopsy of the doctor, the device has the following advantages: first, the manpower is saved, and the traditional operation needs the complex operation of the doctor to be completed, and the device is used, and the doctor can complete the operation simply. Second, the device is intelligently operated, the annular horizontal and pitch up-down motor rotation makes the ultrasonic probe easy to obtain a satisfactory image through the remote controller, and the encoder of the motor can automatically control the rotation and cutting device to the ideal puncture angle in the ultrasonic probe sector scanning surface, reduces the difficulty of manual adjustment, and improves the puncture biopsy accuracy. Third, based on the particularity of the breast structure, the device fixes the breast tissue through the adhesive material, the elastic member and the annular band, and the fixing mode provides a good operation space for the doctor, and further improves the puncture accuracy.

[0036] It can be understood that the present application is described through some embodiments, and those skilled in the art know that various changes or equivalent replacements can be made to the features and embodiments without departing from the spirit and scope of the present application. In addition, the features and embodiments can be modified to adapt to specific conditions and materials under the guidance of the present application without departing from the spirit and scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application belong to the scope of protection of the present application.

Claims

1. A remote control device for breast biopsy, comprising an ultrasonic probe movement assembly, a breast biopsy movement assembly and a remote controller (5), characterized in that, The ultrasonic probe movement assembly and the breast rotary cutting movement assembly are fixedly connected through the elastic element (6), the ultrasonic probe movement assembly and the breast rotary cutting movement assembly are enclosed into a circular shape and fixed around the breast, the remote controller (5) controls the ultrasonic probe movement assembly to move to the lesion site, controls the breast rotary cutting movement assembly to move to the lesion site for cutting; the ultrasonic probe movement assembly and the breast rotary cutting movement assembly respectively include annular movement components and up-down pitching movement components, and can respectively perform annular movement and up-down pitching movement; horizontal movement positions of the ultrasonic probe movement assembly and the breast rotary cutting movement assembly can be automatically synchronized; the ultrasonic probe movement assembly includes a left annular movement component and a left pitching movement component, the left pitching movement component is installed on the left annular movement component and moves with the left annular movement component, and simultaneously the left pitching movement component can move up and down along the radius direction of the semicircular ring; the breast rotary cutting movement assembly includes a right annular movement component and a right pitching movement component, the right pitching movement component is installed on the right annular movement component and moves with the right annular movement component, and simultaneously the right pitching movement component can move up and down along the radius direction of the semicircular ring; the breast rotary cutting remote control device is provided with a motor control board (8), the left pitching movement component and the right pitching movement component are provided with MEMS inclination sensors, the left annular movement component and the right annular movement component are provided with motors with encoders, and the remote controller (5) establishes communication with the motor control board (8) through a wired or wireless interface; the motor control board (8) is used for receiving signals of the MEMS inclination sensors and the encoders, the remote controller (5) controls the operation of the left annular movement component, the right annular movement component, the left pitching movement component and the right pitching movement component through the motor control board (8), and records the movement position and angle information.

2. The remote control for a breast biopsy device of claim 1, wherein, The left annular movement component includes a left annular seat (11), a left moving block (12), a probe horizontal motor (13) and a gear one (14), the left annular seat (11) is a semicircular ring structure, the left annular seat (11) is provided with a left annular gear (111) and a left annular track (112), the left moving block (12) moves along the left annular track (112) on the left annular track (112), one side of the left moving block (12) is fixedly provided with the probe horizontal motor (13), the other side of the left moving block (12) is provided with the gear one (14), the gear one (14) is fixedly connected with the probe horizontal motor (13) through a motor shaft, the gear one (14) is in gear with the left annular gear (111), and the probe horizontal motor (13) rotates to drive the gear one (14) to rotate, so as to drive the left moving block (12) to move along the left annular track (112).

3. The remote control for a breast biopsy device of claim 2, wherein, The left pitch movement component comprises a probe pitch motor (21), a gear two (22), a gear three (23), an ultrasonic probe mounting rack (24), and an ultrasonic probe (25), the probe pitch motor (21) is fixed on the left moving block (12) and is arranged perpendicularly to the probe horizontal motor (13), the left moving block (12) has the gear two (22) on the inner side, the gear two (22) is fixedly connected with the probe pitch motor (21) through a motor shaft, the gear three (23) is fixedly connected with the side of the ultrasonic probe mounting rack (24), the gear two (22) and the gear three (23) are in gear engagement, the ultrasonic probe (25) is mounted on the ultrasonic probe mounting rack (24), and the probe pitch motor (21) rotates to drive the gear two (22) to rotate, thereby driving the ultrasonic probe mounting rack (24) to move up and down.

4. The remote control for a breast biopsy device of claim 3, wherein, The right annular movement component comprises a right annular seat (31), a right moving block (32), a rotary cutting horizontal motor (33), and a gear four (34), the right annular seat (31) is a semicircular ring structure, the right annular seat (31) has a right annular gear (311) and a right annular track (312) thereon, the right moving block (32) moves along the right annular track (312) on the right annular track (312), the right moving block (32) has the rotary cutting horizontal motor (33) fixedly installed on one side, the right moving block (32) has the gear four (34) on the other side, the gear four (34) is fixedly connected with the rotary cutting horizontal motor (33) through a motor shaft, the gear four (34) is in gear engagement with the right annular gear (311), and the rotary cutting horizontal motor (33) rotates to drive the gear four (34) to rotate, thereby driving the right moving block (32) to move along the right annular track (312).

5. The remote control for a breast biopsy device of claim 4, wherein, The right pitch movement component comprises a rotary cutting pitch motor (41), a gear five (42), a gear six (43), a rotary cutting device mounting rack (44), and a rotary cutting device (45), the rotary cutting pitch motor (41) is fixed on the right moving block (32) and is arranged perpendicularly to the rotary cutting horizontal motor (33), the right moving block (32) has the gear five (42) on the inner side, the gear five (42) is fixedly connected with the rotary cutting pitch motor (41) through a motor shaft, the gear six (43) is fixedly connected with the side of the rotary cutting device mounting rack (44), the gear five (42) and the gear six (43) are in gear engagement, the rotary cutting device (45) is mounted on the rotary cutting device mounting rack (44), and the rotary cutting pitch motor (41) rotates to drive the gear four (34) to rotate, thereby driving the rotary cutting device mounting rack (44) to move up and down.

6. The remote control for a breast biopsy device of claim 4, wherein, The left annular seat (11) and the right annular seat (31) are fixedly connected through elastic members (6), the left annular seat (11) and the right annular seat (31) are fixed on the human body through annular binding belts (7) at the bottom, the left annular seat (11) and the right annular seat (31) have adhesive materials at the bottom and are used for sticking to the skin, and the annular binding belts (7) have adjusting devices for adjusting the length and tightness of the binding belts.

7. The remote control for a breast biopsy device of claim 5, wherein, The ultrasonic probe mounting rack (24) and the rotary cutting device mounting rack (44) are respectively provided with MEMS tilt sensors for detecting the angle position information of the ultrasonic probe (25) and the rotary cutting device (45), and the probe horizontal motor (13) and the rotary cutting horizontal motor (33) are motors provided with encoders, which can feed back the position information of the ultrasonic probe (25) and the rotary cutting device (45) in the annular horizontal space in real time.

8. The remote control for a breast biopsy device of claim 5, wherein, The motor control board (8) is electrically connected with the probe horizontal motor (13), the probe pitching motor (21), the rotary cutting horizontal motor (33), the rotary cutting pitching motor (41) and the MEMS tilt sensors, the remote controller (5) controls the operation of the probe horizontal motor (13), the probe pitching motor (21), the rotary cutting horizontal motor (33) and the rotary cutting pitching motor (41) through the motor control board (8), and records the motion position and angle information.

9. The remote control for a breast biopsy device of claim 8, wherein, The rotary cutting device (45) comprises a rotary cutting knife rod (451) and a gear eight (452) mounted on the rotary cutting device mounting rack (44), the rotary cutting knife rod (451) and the gear eight (452) abut, the gear eight (452) is provided with a rotary encoder, the rotary encoder on the gear eight (452) is electrically connected with the motor control board (8), the rotary cutting knife rod (451) can drive the gear eight (452) to rotate when advancing or retreating, and the motor control board (8) can calculate the penetration depth and angle of the rotary cutting knife rod (451) according to the number of pulses output by the rotary encoder on the gear eight (452) and the rotation angle output by the MEMS tilt sensor, and feed back the position and angle information of the rotary cutting knife rod (451) in the space in real time.

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