A lancing device
By integrating detection and positioning mechanisms into the puncture device, the puncture path and point can be determined, solving the problem of relying on physician experience in existing technologies, improving the efficiency and accuracy of puncture biopsy, and shortening the patient's recovery time.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- XIANGYA HOSPITAL CENT SOUTH UNIV
- Filing Date
- 2022-07-15
- Publication Date
- 2026-07-21
Smart Images
Figure CN115192147B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of medical device technology, and in particular to a puncture device. Background Technology
[0002] In clinical practice, we frequently encounter clinical problems requiring puncture biopsy or preoperative localization techniques. Puncture biopsy can clarify the histological type of lesions, confirm the pathological diagnosis, and guide clinical treatment. Taking liver biopsy as an example, the liver is located in the right upper quadrant of the abdomen, behind the right costal arch. The patient needs to lie supine with their right arm above their head, and remain still during the biopsy. Before the biopsy, various imaging methods such as CT scans, MRI, and ultrasound are used to observe the area of the lesion in the organ to be biopsied, thereby designing and determining the puncture path and puncture point. The procedure relies entirely on the physician's experience, and inexperienced physicians may need to repeat the procedure multiple times to succeed, leading to longer surgery times and a longer recovery period for the patient. Summary of the Invention
[0003] The main objective of this invention is to provide a puncture device that addresses the problem of relying on a doctor's personal experience to determine the puncture path and puncture point.
[0004] To achieve the above objectives, the technical solution proposed by this invention is as follows:
[0005] A puncture device includes a main body, a controller, a moving mechanism, a detection mechanism, a positioning mechanism, and a needle. The moving mechanism is disposed on the main body, and a working position is provided on one side of the main body. The moving mechanism is located on the side of the main body where the working position is located. The detection mechanism and the positioning mechanism are respectively disposed on the moving mechanism. The needle is detachably disposed on the positioning mechanism. The moving mechanism is used to control the detection mechanism and the positioning mechanism to enter and exit the working position. The controller is electrically connected to the moving mechanism, the detection mechanism, and the positioning mechanism. The detection mechanism is used to detect the location of the lesion of the organ to be punctured on the patient's abdomen after entering the working position and send it to the controller, and then exit the working position. The controller is used to determine the puncture point and the internal puncture path according to the location of the lesion, and then control the moving mechanism to drive the positioning mechanism into the working position, so that the positioning mechanism forms an external puncture path on the outside of the patient and a puncture point position abutting the patient's body surface, allowing the needle to puncture the human body along the external puncture path through the puncture point a preset distance.
[0006] Preferably, the main body has two moving slides on one side of the moving mechanism, the two moving slides are vertically arranged and parallel to each other; a connecting slide is provided on the top side of the two moving slides, the connecting slide is horizontally arranged, one end of the connecting slide is connected to the top of one of the moving slides, and the other end of the connecting slide is connected to the top of the other moving slide; a positioning slide is provided on the side of the connecting slide away from the two moving slides, the positioning slide is vertically arranged, the end of the positioning slide near the two moving slides is connected to the connecting slide, and the end of the positioning slide away from the connecting slide forms the working position; the moving mechanism includes a first electrically controlled slide and a second electrically controlled slide, the positioning mechanism is disposed on the first electrically controlled slide, and the first electrically controlled slide is slidably connected to one of the moving slides; the detection mechanism is disposed on the second electrically controlled slide, and the second electrically controlled slide is slidably connected to the other moving slide.
[0007] Preferably, a limiting mechanism is also provided on one side of the main body where the working position is located. The limiting mechanism includes a first telescopic member, a first limiting plate, and two support frames. The two support frames are arranged in parallel and spaced apart, forming a passage space between them. The passage space is used for the first electrically controlled slide to drive the positioning mechanism to pass through or the second electrically controlled slide to drive the detection mechanism to pass through. The first limiting plate and the first telescopic member are located on the side of one of the support frames away from the positioning groove. The first limiting plate is arranged laterally, and the first telescopic member is located on the side of the first limiting plate away from the positioning groove. The output end of the first telescopic member is connected to the first limiting plate. The controller is electrically connected to the first telescopic member. The controller is used to control the first telescopic member to drive the end of the first limiting plate away from the first telescopic member to pass through the two support frames in sequence, so that after the two support frames support the first limiting plate, the first limiting plate supports the positioning mechanism or the detection mechanism entering the working position.
[0008] Preferably, the detection mechanism includes a detector, a mounting plate, and a second telescopic device, wherein the second telescopic device is disposed on the second electrically controlled slide; the output end of the second telescopic device is connected to the mounting plate, and the detector is disposed on the side of the mounting plate opposite to the second telescopic device; the controller is electrically connected to the detector and the second telescopic device respectively, and the controller is used to control the second telescopic device to drive the detector to abut against the patient's abdomen, so that the detector can acquire the location of the lesion and send it to the controller.
[0009] Preferably, the side of the mounting plate opposite to the second telescopic device is an arc surface, which is used to bend and extend along the side of the human body to the front of the human body; a connecting rail is provided in the arc surface, the first rail extends along the extension direction of the arc surface, a third electrically controlled slide is slidably mounted on the connecting rail, the detector is disposed on the side of the third electrically controlled slide opposite to the mounting plate, the third electrically controlled slide is electrically connected to the controller, and the controller is used to control the third electrically controlled slide to drive the detector to slide along the connecting rail, so that the detector can obtain the lesion location at different positions and send each lesion location to the controller.
[0010] Preferably, the positioning mechanism includes an adjustment structure, a fixing structure, a third telescopic device, a fixed frame, an adjusting gear, a housing, and a first motor. The third telescopic device is disposed on the first electrically controlled slide, and its output end is connected to the fixed frame. The third telescopic device is used to drive the fixed frame closer to the patient. The fixed frame has a vertically oriented mounting through hole, and a bearing is disposed within the mounting through hole. The upper end of the housing is connected to the inner edge of the bearing. The adjusting gear is sleeved on the housing, and the adjusting gear and the bearing are coaxially arranged. The first motor is disposed on the fixed frame, and its output end has a drive gear that meshes with the adjusting gear. The first motor is used to control the drive gear to drive... The adjusting gear rotates to drive the housing to rotate along the inner edge of the bearing; the adjusting structure is disposed inside the housing, and the fixing structure is disposed outside the housing. The adjusting structure is connected to the fixing structure, and the fixing structure is used to form an external puncture path; the controller is electrically connected to the third telescopic device, the first motor, and the adjusting structure respectively. The controller is used to control the third telescopic device and the adjusting structure according to the lesion data, drive the fixing structure to abut against the puncture point on the patient's body surface, and then control the first motor to drive the housing to rotate circumferentially to adjust the tilt angle of the positioning mechanism so that the external puncture path and the internal puncture path are coaxial and pass through and are connected through the puncture point.
[0011] Preferably, the adjustment structure includes a fourth telescopic device, a second motor, and two fixed plates. The two fixed plates are disposed within the housing, and are arranged parallel to each other, forming an adjustment space between them. The fourth telescopic device is disposed within the adjustment space, which also contains two connecting shafts. The fourth telescopic device is located between the two connecting shafts, which are coaxial. The ends of the two connecting shafts furthest from the nearest fixed plate are respectively connected to the fourth telescopic device. One connecting shaft is rotatably connected to one of the fixed plates at its furthest end, and the other connecting shaft is rotatably connected to the other fixed plate at its furthest end. The second motor is disposed on the side of one of the fixed plates facing away from the adjustment space, and its output end is connected to the end of the nearest connecting shaft furthest from the fourth telescopic device. The output end of the fourth telescopic device is connected to the fixed-point structure. The controller is electrically connected to both the fourth telescopic device and the second motor. The controller controls the fourth telescopic device and the third telescopic device to drive the fixed-point structure to abut against the patient's puncture point, and then controls the second motor to drive the fourth telescopic device to rotate in coordination with the first motor to adjust the tilt angle of the external puncture path.
[0012] Preferably, the positioning structure includes a first connecting rod and a limiting tube. The output end of the fourth telescopic device, the limiting tube, and the first connecting rod are axially aligned. One end of the first connecting rod is connected to the output end of the fourth telescopic device, and the other end of the first connecting rod is connected to the end of the limiting tube near the fourth telescopic device. The end of the limiting tube away from the first connecting rod is used to abut against the patient's puncture point.
[0013] Preferably, a flexible ring is provided at the end of the limiting tube away from the first connecting rod.
[0014] Compared with the prior art, the present invention has at least the following beneficial effects:
[0015] By integrating the detection and positioning mechanisms, and using a mobile mechanism to control the movement of the detection and positioning mechanisms in and out of the work position, the procedure can be assisted in determining the internal and external puncture paths and puncture points for patients, thereby reducing the reliance on physician experience during the surgical process. Attached Figure Description
[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.
[0017] Figure 1This is a schematic diagram of the structure of an embodiment of a puncture device according to the present invention;
[0018] Figure 2 for Figure 1 A structural diagram viewed from the right;
[0019] Figure 3 This is a top view of the structure of the shell.
[0020] Explanation of icon numbers:
[0021] 1-Main body; 11-Working position; 12-Moving slide; 13-Connecting slide; 14-Positioning slide; 15-Limiting slide;
[0022] 2-Moving mechanism; 21-First electrically controlled slide; 22-Second electrically controlled slide;
[0023] 3-Detection mechanism; 31-Detector; 32-Mounting plate; 33-Second expansion joint; 34-Connecting rail; 35-Third electrically controlled slide; 36-Connecting seat; 37-Slide rail; 38-Fifth electrically controlled slide;
[0024] 4-Positioning mechanism; 41-Third telescopic device; 42-Fixed frame; 43-Housing shell; 44-Sealing box; 45-First connecting rod; 46-Limiting tube;
[0025] 5-Limiting mechanism; 51-First telescopic device; 52-First limiting plate; 53-Support frame; 54-Second limiting plate; 55-Second connecting rod; 56-Third electrically controlled slide; 57-Lifting device; 58-Third limiting plate;
[0026] 6-Adjustment structure; 61-Fourth expansion joint; 62-Second motor; 63-Fixing plate; 64-Connecting shaft;
[0027] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.
[0029] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.
[0030] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0031] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0032] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.
[0033] This invention proposes a puncture device.
[0034] Figures 1 to 3 The illustrated puncture device includes a main body 1, a controller (not shown), a moving mechanism 2, a detection mechanism 3, a positioning mechanism 4, and a needle body (not shown). The moving mechanism 2 is disposed on the main body 1, and a working position 11 is provided on one side of the main body 1. The moving mechanism 2 is disposed on the side of the main body 1 where the working position 11 is located. The detection mechanism 3 and the positioning mechanism 4 are respectively disposed on the moving mechanism 2. The needle body is detachably disposed on the positioning mechanism 4. The moving mechanism 2 is used to control the detection mechanism 3 and the positioning mechanism 4 to enter and exit the working position 11 respectively. The controller is electrically connected to the moving mechanism 2, the detection mechanism 3, and the positioning mechanism respectively. The detection mechanism 3 is used to enter the working position 11, detect the location of the lesion of the organ to be punctured in the patient's abdomen, and send it to the controller, and then exit the working position 11. The controller is used to determine the puncture point and the internal puncture path according to the location of the lesion, and then control the moving mechanism 2 to drive the positioning mechanism 4 into the working position 11, so that the positioning mechanism 4 forms an external puncture path on the outside of the patient and a puncture point position abutting the patient's body surface, so that the needle body can puncture the human body along the external puncture path through the puncture point a preset distance.
[0035] The detection mechanism 3 and the positioning mechanism 4 are integrated. The moving mechanism 2 controls the detection mechanism 3 and the positioning mechanism 4 to move in and out of the working position 11 to perform operations, which helps to determine the internal and external puncture paths and puncture points of the patient and reduces the dependence of the surgical process on the doctor's experience.
[0036] Specifically, the patient lies on the operating table, which is set up next to the main body 1, and the working position 11 is positioned for the organ to be punctured on the patient lying on the operating table.
[0037] Specifically, the preset distance is entered into the hospital system by the physician, the controller obtains the preset distance from the hospital system, and the preset distance is confirmed by the physician based on the image data at the time of the patient's diagnosis.
[0038] Workflow: The patient lies on the operating table, with the working position facing the patient's organ to be punctured. First, the moving mechanism 2 drives the detection structure 3 into the working position 11 to detect the location of the lesion and send it to the controller. Then, the moving mechanism 2 drives the detection structure 3 to reset. The controller determines the puncture point and the internal puncture path based on the lesion location. The moving mechanism 2 drives the positioning structure 4 to move to the working position. The positioning structure 4 abuts against the puncture point on the patient's body surface and forms an external puncture path on the patient's outside, so that the needle can pass through the puncture point along the external puncture path and extend into the human body a preset distance to complete the puncture biopsy. Finally, the moving mechanism 2 drives the positioning structure to reset.
[0039] Specifically, a display (not shown in the figure) is installed on one side of the main body 1. The display is electrically connected to a controller. The controller is used to send the lesion location, puncture path, puncture point and preset distance of puncture into the human body to the display so that the physician can view it.
[0040] Two vertical sliding grooves 12 are respectively provided on one side of the main body 1 where the moving mechanism 2 is located. The two sliding grooves 12 are arranged vertically and are parallel and spaced apart. A connecting groove 13 is provided on the top side of the two sliding grooves 12. The connecting groove 13 is arranged horizontally, with one end of the connecting groove 13 connected to the top of one of the sliding grooves 12 and the other end connected to the top of the other sliding groove 12. A positioning groove 14 is provided on the side of the connecting groove 13 away from the two sliding grooves 12. The positioning slide 14 is vertically arranged, with its end near the two movable slides 12 connected to the connecting slide 13, and its end away from the connecting slide 13 forming a working position 11. The moving mechanism 2 includes a first electrically controlled slide 21 and a second electrically controlled slide 22. The positioning mechanism 4 is disposed on the first electrically controlled slide 21, and the first electrically controlled slide 21 is slidably connected to one of the movable slides 12. The detection mechanism 3 is disposed on the second electrically controlled slide 22, and the second electrically controlled slide 22 is slidably connected to the other movable slide 12. When the first electrically controlled slide 21 and the second electrically controlled slide 22 are not in use, they are respectively located in their respective movable slides 12. When in use, the second electrically controlled slide 22 first controls the detection mechanism 3 to enter the working position 11, and after detection, it returns from the working position 11 to the exited movable slide 12. Then, the first electrically controlled slide 21 controls the positioning mechanism 4 to enter the working position 11 to determine the puncture path and puncture point of the needle.
[0041] Specifically, the two movable chute 12 can prevent the detection mechanism 3 and the positioning mechanism 4 from colliding during operation.
[0042] Specifically, each movable slide 12 has a receiving box (not shown in the figure) at the end away from the connecting slide 13. The top side of each receiving box is open. One receiving box is used to house the positioning mechanism 4, and the other receiving box is used to house the detection mechanism. The two receiving boxes are used to seal and house the positioning mechanism 4 and the detection mechanism 3, which can effectively protect each mechanism and avoid accidental damage caused by impact and external liquids.
[0043] A limiting mechanism 5 is also provided on one side of the main body 1 where the working position 11 is located. The limiting mechanism 5 includes a first telescopic device 51, a first limiting plate 52, and two support frames 53. The two support frames 53 are arranged in parallel and spaced apart, forming a first passage space between them. The first passage space is used for the first electrically controlled slide 21 to drive the positioning mechanism 4 to pass through or the second electrically controlled slide 22 to drive the detection mechanism 3 to pass through. The first limiting plate 52 and the first telescopic device 51 are located on the side of one of the support frames 53 away from the positioning slide groove 14. 2. The first telescopic device 51 is positioned laterally on the side of the first limiting plate 52 away from the positioning slide groove 14. The output end of the first telescopic device 51 is connected to the first limiting plate 52. The controller is electrically connected to the first telescopic device 51. The controller controls the first telescopic device 51 to drive the end of the first limiting plate 52 away from the first telescopic device 51 through the two support frames 53 in sequence. After the two support frames 53 support the first limiting plate 52, the first limiting plate 52 supports the positioning mechanism 4 or the detection mechanism 3 entering the working position 11. The first limiting plate 52 is used to abut against the first electrically controlled slide 21 or the second electrically controlled slide 22 that enters the working position 11, preventing the first electrically controlled slide 21 or the second electrically controlled slide 22 from sliding down during treatment.
[0044] Specifically, the support frame 53 includes a horizontal support plate and a vertical support plate. One end of the horizontal support plate is connected to the main body 1, and the other end is connected to the vertical support plate. The vertical support plate is located on the side of the horizontal support plate away from the connecting groove 13. When the support frame 53 supports the first limiting plate 52, the first limiting plate 52 is respectively attached to the side of the horizontal support plate away from the connecting groove 13 and the side of the vertical support plate close to the main body 1. The horizontal support plate is used to support the first limiting plate 52, and the vertical support plate is used to prevent the first limiting plate 52 from shifting when it moves.
[0045] Specifically, the limiting mechanism 5 also includes a second limiting plate 54, a second connecting rod 55, a fourth electrically controlled slide block 56, and a limiting groove 15. The limiting groove 15 is located on one side of the positioning groove 14, and the fourth electrically controlled slide block 56 is slidably disposed within the limiting groove 15. The limiting groove 15 and the positioning groove 14 are arranged parallel to each other, forming a second passage space between them. This second passage space is used for the first electrically controlled slide block 21 and the second electrically controlled slide block 22 to move through, respectively, preventing the positioning mechanism 4 and the detection mechanism 3 from touching the fourth electrically controlled slide block 56. The second limiting plate 54 is laterally positioned at the opening of the positioning groove 14. A second connecting rod 55 is disposed between the second limiting plate 54 and the fourth electrically controlled slide block 56. One end of the second connecting rod 55 is connected to the second limiting plate 54, and the other end of the second connecting rod 55 is connected to the fourth electrically controlled slide block 56. The fourth electrically controlled slide 56 is used to drive the second limiting plate 54 to slide vertically via the second connecting rod 55. The first limiting plate 52 has an installation groove (not shown in the figure) on the side facing the working position 11. A lifter 57 is installed in the installation groove. A third limiting plate 58 is installed between the first limiting plate 52 and the second limiting plate 54. The output end of the lifter 57 is connected to the third limiting plate 58. The second limiting plate 54 and the third limiting plate 58 are arranged in parallel and spaced apart. When the first limiting plate 52 is attached to each support frame 53, the working position 11 is formed between the second limiting plate 54 and the third limiting plate 58. The controller is electrically connected to the fourth electrically controlled slide 56 and the lifter 57 respectively. The controller is used to control the fourth electrically controlled slide 56 and the lifter 57, and at the same time adjust the horizontal height of the second limiting plate 54 and the third limiting plate 58 so that the horizontal height of the working position 11 changes. The relative positions of the second limiting plate 54 and the third limiting plate 58 remain unchanged. By simultaneously raising the second limiting plate 54 and the third limiting plate 58, the height of the working position 11 can be adjusted under special circumstances (such as when the patient is particularly obese or when the height of the operating table changes).
[0046] Specifically, the end of the positioning slide 14 away from the connecting slide 13 is higher than the horizontal height of the second limiting plate 54 in the initial state.
[0047] The detection mechanism 3 includes a detector 31, a mounting plate 32, and a second telescopic device 33. The second telescopic device 33 is disposed on the second electrically controlled slide 22. The output end of the second telescopic device 33 is connected to the mounting plate 32. The detector 31 is disposed on the side of the mounting plate 32 away from the second telescopic device 33. The controller is electrically connected to the detector 31 and the second telescopic device 33 respectively. The controller is used to control the second telescopic device 33 to drive the detector 31 to abut against the patient's abdomen so that the detector 31 can obtain the location of the lesion and send it to the controller.
[0048] Specifically, detector 31 is an ultrasound detector 31, which uses ultrasound to detect the location of the patient's lesion multiple times.
[0049] Specifically, the controller is also used to acquire image data of the patient's lesion within the hospital system, and to determine the preset distance, puncture point, and internal / external puncture path based on the image data and the lesion location acquired by the detector 31. This allows for more accurate determination of the lesion location. The image data includes X-ray images, CT images, and MRI images of the patient's organ to be punctured.
[0050] The mounting plate 32 has an arc-shaped surface on the side opposite to the second telescopic member 33. This arc-shaped surface is designed to bend and extend along the side of the human body towards the front. A connecting rail 34 is provided within the arc-shaped surface. A first rail extends along the extension direction of the arc-shaped surface. A third electrically controlled slide 35 is slidably mounted on the connecting rail 34. A detector 31 is located on the side of the third electrically controlled slide 35 opposite to the mounting plate 32. The third electrically controlled slide 35 is electrically connected to a controller, which controls the third electrically controlled slide 35 to drive the detector 31 to slide along the connecting rail 34. This allows the detector 31 to acquire lesion locations at different positions and send each lesion location to the controller. The arc-shaped surface allows the detector 31 to change its movement path according to the curvature of the human body, enabling the detector 31 to perform multi-point detection from the right side of the patient to the abdomen, further improving the accuracy of the detection.
[0051] Specifically, the detection mechanism 3 also includes a connecting seat 36, which is positioned between the second telescopic member 33 and the mounting plate 32. A slide rail 37 is provided on the side of the connecting seat 36 facing the mounting plate 32, parallel to the connecting groove 13. A fifth electrically controlled slide block 38 is slidably mounted on the slide rail 37. The side of the fifth electrically controlled slide block 38 facing away from the connecting seat 36 is connected to the mounting plate 32. A controller is electrically connected to the fifth electrically controlled slide block 38 and controls it to drive the mounting plate 32 to move along the slide rail 37, enabling the detector 31 to perform multi-point detection along the patient's height. The arrangement of the fifth electrically controlled slide block 38 and the slide rail 37 further expands the detection area and can further improve the accuracy of the detection.
[0052] Specifically, the controller is used to determine the initial detection point of the organ to be punctured based on the location of the lesion, and controls the third and fifth electrically controlled slides to move circumferentially from the initial detection point to the edge of the organ to be punctured for sequential detection, acquiring at least two detection data. The controller also uses the detection data to form a human body model of the puncture area, and generates at least one optimal puncture plan based on the location of the lesion and the human body model. The optimal puncture plan includes the puncture point and the puncture path that avoids important human tissues (important human tissues include at least arteries, veins, and internal organs).
[0053] The positioning mechanism 4 includes an adjustment structure 6, a fixing structure, a third telescopic device 41, a fixing frame 42, an adjusting gear (not shown in the figure), a housing 43, and a first motor (not shown in the figure). The third telescopic device 41 is disposed on the first electrically controlled slide 21, and the output end of the third telescopic device 41 is connected to the fixing frame 42. The third telescopic device 41 is used to drive the fixing frame 42 closer to the patient. The fixing frame 42 has a vertically opened mounting through hole (not shown in the figure), and a bearing (not shown in the figure) is disposed in the mounting through hole. The upper end of the housing 43 is connected to the inner edge of the bearing 64. The adjusting gear is sleeved on the housing 43, and the adjusting gear and the bearing are coaxially arranged. The first motor is disposed on the fixing frame 42, and the output end of the first motor is provided with a drive gear. A gear meshing adjustment gear, with a first motor controlling the drive gear to rotate the adjustment gear, causing the adjustment gear to drive the housing 43 to rotate along the inner edge of the bearing; an adjustment structure 6 is located inside the housing 43, and a fixing structure is located outside the housing 43. The adjustment structure 6 connects to the fixing structure, which forms the external puncture path; a controller electrically connects the third telescopic device 41, the first motor, and the adjustment structure 6. The controller controls the third telescopic device 41 and the adjustment structure 6 respectively, driving the fixing structure to abut against the puncture point on the patient's body surface, and then controls the first motor to drive the housing 43 to rotate circumferentially to adjust the tilt angle of the positioning mechanism, so that the external puncture path and the internal puncture path are coaxial, pass through, and connect through the puncture point. The first motor drives the gear to rotate, thereby adjusting the tilt direction of the puncture path, and the gear linkage structure increases the adjustment range.
[0054] Specifically, a sealing box 44 is provided on the outside of the housing 43. The sealing box 44 is used to accommodate the first motor and the adjusting gear to prevent foreign objects from entering the connection and affecting normal operation.
[0055] Specifically, the initial puncture path is the initial state of the fixed-point structure, which has no practical significance. Only through the coordinated adjustment of the third telescoping device 41, the fixed-point structure, and the adjustment structure 6 can the puncture path and puncture point used for puncture biopsy surgery be obtained.
[0056] Specifically, the fixing frame 42 includes a fixing vertical plate and a fixing horizontal plate. The fixing vertical plate is located between the third expansion joint 41 and the fixing horizontal plate. The end of the fixing horizontal plate near the third expansion joint 41 is connected to the top of the fixing vertical plate, and a mounting through hole is provided in the fixing horizontal plate.
[0057] Specifically, the shell 43 is a cylindrical body with open ends. The outer edge of the upper end of the cylindrical body is connected to the inner edge of the shaft 64 bearing. The adjusting gear is sleeved in the middle of the cylindrical body, and the adjusting structure 6 is set at the bottom end of the cylindrical body.
[0058] The adjustment structure 6 includes a fourth telescopic device 61, a second motor 62, and two fixed plates 63. Two fixed brackets 42 are disposed within the housing 43, and the two fixed plates 63 are arranged parallel and spaced apart, forming an adjustment space between them. The fourth telescopic device 61 is disposed within the adjustment space, and two connecting shafts 64 are also disposed within the adjustment space. The fourth telescopic device 61 is located between the two connecting shafts 64, which are coaxially arranged. The ends of the two connecting shafts 64 furthest from the nearest fixed plate 63 are respectively connected to the fourth telescopic device 61. One connecting shaft 64 is rotatably connected to one of the fixed plates 63 at its furthest end from the fourth telescopic device 61, while the other connecting shaft 64 is rotatably connected to the other fixed plate 63 at its furthest end from the fourth telescopic device 61. One end of the fourth telescopic joint 61 is rotatably connected to another fixed plate 63. A second motor 62 is located on one of the fixed plates 63, away from the adjustment space. The output end of the second motor 62 is connected to the end of the nearest connecting shaft 64 furthest from the fourth telescopic joint 61. The output end of the fourth telescopic joint 61 is connected to a fixed-point structure. A controller is electrically connected to both the fourth telescopic joint 61 and the second motor 62. The controller controls the fourth telescopic joint 61 and the third telescopic joint 41 to drive the fixed-point structure to abut the patient's puncture point. It then controls the second motor 62 to drive the fourth telescopic joint 61 to rotate, coordinating with the first motor to adjust the tilt angle of the external puncture path. The second motor 62 adjusts the tilt angle of the fixed-point structure, and the third telescopic joint 41 drives the fixed-point structure to a preset position based on the lesion location. Finally, the fourth telescopic joint 61 causes the fixed-point structure to abut the puncture point on the patient's body surface, thus determining the puncture point and the external puncture path.
[0059] Specifically, both the first motor and the second motor 62 are miniature stepper motors.
[0060] The positioning structure includes a first connecting rod 45 and a limiting tube 46. The output end of the fourth telescopic device 61, the limiting tube 46, and the first connecting rod 45 are axially aligned. One end of the first connecting rod 45 is connected to the output end of the fourth telescopic device 61, and the other end of the first connecting rod 45 is connected to the end of the limiting tube 46 near the fourth telescopic device 61. The end of the limiting tube 46 away from the first connecting rod 45 is used to abut against the patient's puncture point. An external puncture path is formed inside the limiting tube 46, which is used for the needle body to pass through.
[0061] A flexible ring is provided at the end of the limiting tube 46 away from the first connecting rod 45. The flexible ring can prevent the limiting tube 46 from rigidly contacting the patient surface.
[0062] The puncture device used for human puncture is mainly used for puncture of the liver, but it can also be used for puncture of other parts of the human body. The size of the mounting plate 32 can be adjusted according to the actual situation.
[0063] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.
Claims
1. A puncture device, characterized in that, The device includes a main body, a controller, a moving mechanism, a detection mechanism, a positioning mechanism, and a needle body. The moving mechanism is disposed on the main body, and a working position is provided on one side of the main body. The moving mechanism is located on the side of the main body where the working position is located. The detection mechanism and the positioning mechanism are respectively disposed on the moving mechanism. The needle body is detachably disposed on the positioning mechanism. The moving mechanism is used to control the detection mechanism and the positioning mechanism to enter and exit the working position. The controller is electrically connected to the moving mechanism, the detection mechanism, and the positioning mechanism. The detection mechanism is used to enter the working position, detect the location of the lesion of the organ to be punctured in the patient's abdomen, send the information to the controller, and then exit the working position. The controller is used to determine the puncture point and the internal puncture path according to the location of the lesion, and then control the moving mechanism to drive the positioning mechanism into the working position, so that the positioning mechanism forms an external puncture path on the outside of the patient and a puncture point position that abuts the patient's body surface, so that the needle body can puncture the human body along the external puncture path through the puncture point and a preset distance. The main body has two vertically arranged sliding grooves on one side of the moving mechanism, and the two sliding grooves are arranged parallel and spaced apart. A connecting groove is provided on the top side of the two sliding grooves, and the connecting groove is arranged horizontally. One end of the connecting groove connects to the top of one of the sliding grooves, and the other end connects to the top of the other sliding groove. A positioning groove is provided on the side of the connecting groove away from the two sliding grooves, and the positioning groove is vertically arranged. The end of the positioning groove near the two sliding grooves connects to the connecting groove, and the end of the positioning groove away from the connecting groove forms the working position. The moving mechanism includes a first electrically controlled slide and a second electrically controlled slide. The positioning mechanism is disposed on the first electrically controlled slide, and the first electrically controlled slide is slidably connected to one of the sliding grooves. The detection mechanism is disposed on the second electrically controlled slide, and the second electrically controlled slide is slidably connected to the other sliding groove. A limiting mechanism is also provided on one side of the main body where the working position is located. The limiting mechanism includes a first telescopic member, a first limiting plate, and two support frames. The two support frames are arranged in parallel and spaced apart, forming a passage space between them. The passage space is used for the first electrically controlled slide to drive the positioning mechanism to pass through or the second electrically controlled slide to drive the detection mechanism to pass through. The first limiting plate and the first telescopic member are located on the side of one of the support frames away from the positioning slide groove. The first limiting plate is arranged laterally, and the first telescopic member is located on the side of the first limiting plate away from the positioning slide groove. The output end of the first telescopic member is connected to the first limiting plate. The controller is electrically connected to the first telescopic member. The controller is used to control the first telescopic member to drive the end of the first limiting plate away from the first telescopic member to pass through the two support frames in sequence, so that after the two support frames support the first limiting plate, the first limiting plate supports the positioning mechanism or the detection mechanism entering the working position. The support frame includes a horizontal support plate and a vertical support plate. One end of the horizontal support plate is connected to the main body, and the other end of the horizontal support plate is connected to the vertical support plate. The vertical support plate is located on the side of the horizontal support plate away from the connecting groove. When the support frame supports the first limiting plate, the first limiting plate is respectively attached to the side of the horizontal support plate away from the connecting groove and the side of the vertical support plate close to the main body. The limiting mechanism also includes a second limiting plate, a second connecting rod, a fourth electrically controlled slide block, and a limiting groove. The limiting groove is located on one side of the positioning groove, and the fourth electrically controlled slide block is slidably disposed within the limiting groove. The limiting groove and the positioning groove are arranged parallel to each other, forming a second passage space between them. This second passage space is used for the first and second electrically controlled slide blocks to move through respectively, preventing the positioning mechanism and the detection mechanism from touching the fourth electrically controlled slide block. The second limiting plate is laterally positioned at the opening of the positioning groove. A second connecting rod is provided between the second limiting plate and the fourth electrically controlled slide block. One end of the second connecting rod is connected to the second limiting plate, and the other end is connected to... A fourth electrically controlled slide is connected to the second limit plate, which is used to drive the second limit plate to slide vertically via the second connecting rod. A mounting groove is opened on the side of the first limit plate facing the working position, and a lifter is installed in the mounting groove. A third limit plate is installed between the first and second limit plates, and the output end of the lifter is connected to the third limit plate. The second and third limit plates are arranged in parallel and spaced apart. When the first limit plate is in contact with each support frame, a working position is formed between the second and third limit plates. The controller is electrically connected to the fourth electrically controlled slide and the lifter respectively. The controller is used to control the fourth electrically controlled slide and the lifter, and at the same time adjust the horizontal height of the second and third limit plates to change the horizontal height of the working position.
2. The puncture device according to claim 1, characterized in that, The detection mechanism includes a detector, a mounting plate, and a second telescopic device. The second telescopic device is disposed on the second electrically controlled slide. The output end of the second telescopic device is connected to the mounting plate. The detector is disposed on the side of the mounting plate opposite to the second telescopic device. The controller is electrically connected to the detector and the second telescopic device respectively. The controller is used to control the second telescopic device to drive the detector to abut against the patient's abdomen so that the detector can acquire the location of the lesion and send it to the controller.
3. The puncture device according to claim 2, characterized in that, The mounting plate has an arc surface on the side opposite to the second telescopic device. The arc surface is used to bend and extend along the side of the human body to the front of the human body. A connecting rail is provided in the arc surface. The connecting rail extends along the extension direction of the arc surface. A third electrically controlled slide is slidably mounted on the connecting rail. The detector is located on the side of the third electrically controlled slide opposite to the mounting plate. The third electrically controlled slide is electrically connected to the controller. The controller is used to control the third electrically controlled slide to drive the detector to slide along the connecting rail, so that the detector can obtain the lesion location at different positions and send each lesion location to the controller.
4. A puncture device according to any one of claims 1-3, characterized in that, The positioning mechanism includes an adjustment structure, a fixing structure, a third telescopic device, a fixed frame, an adjusting gear, a housing, and a first motor. The third telescopic device is disposed on the first electrically controlled slide, and its output end is connected to the fixed frame. The third telescopic device is used to drive the fixed frame closer to the patient. The fixed frame has a vertically formed mounting through hole, and a bearing is disposed within the mounting through hole. The upper end of the housing is connected to the inner edge of the bearing. The adjusting gear is sleeved on the housing, and the adjusting gear and the bearing are coaxially arranged. The first motor is disposed on the fixed frame, and its output end has a drive gear that meshes with the adjusting gear. The first motor is used to control the drive gear to drive the patient. The adjusting gear rotates to drive the housing to rotate along the inner edge of the bearing; the adjusting structure is disposed inside the housing, and the fixing structure is disposed outside the housing. The adjusting structure is connected to the fixing structure, and the fixing structure is used to form an external puncture path; the controller is electrically connected to the third telescopic device, the first motor, and the adjusting structure respectively. The controller is used to control the third telescopic device and the adjusting structure according to the location of the lesion, drive the fixing structure to abut against the puncture point on the patient's body surface, and then control the first motor to drive the housing to rotate circumferentially to adjust the tilt angle of the positioning mechanism, so that the external puncture path and the internal puncture path are coaxial and connected through the puncture point.
5. A puncture device according to claim 4, characterized in that, The adjustment structure includes a fourth telescopic device, a second motor, and two fixed plates. The two fixed plates are arranged in parallel and spaced apart, forming an adjustment space between them. The fourth telescopic device is disposed within the adjustment space, and two connecting shafts are also disposed within the adjustment space. The fourth telescopic device is located between the two connecting shafts, which are coaxially arranged. The ends of the two connecting shafts furthest from the nearest fixed plate are respectively connected to the fourth telescopic device. One connecting shaft is rotatably connected to one of the fixed plates at its end furthest from the fourth telescopic device, and the other connecting shaft is rotatably connected to the other fixed plate at its end furthest from the fourth telescopic device. The second motor is disposed on the side of one of the fixed plates away from the adjustment space, and its output end is connected to the end of the nearest connecting shaft furthest from the fourth telescopic device. The output end of the fourth telescopic device is connected to the fixed-point structure. The controller is electrically connected to the fourth telescopic device and the second motor respectively. The controller is used to control the fourth telescopic device and the third telescopic device to drive the fixed-point structure to abut against the patient's puncture point, and then control the second motor to drive the fourth telescopic device to rotate in coordination with the first motor to adjust the tilt angle of the external puncture path.
6. The puncture device according to claim 5, characterized in that, The fixed-point structure includes a first connecting rod and a limiting tube. The output end of the fourth telescopic device, the limiting tube, and the first connecting rod are axially aligned. One end of the first connecting rod is connected to the output end of the fourth telescopic device, and the other end of the first connecting rod is connected to the end of the limiting tube near the fourth telescopic device. The end of the limiting tube away from the first connecting rod is used to abut against the patient's puncture point.
7. A puncture device according to claim 6, characterized in that, A flexible ring is provided at the end of the limiting tube away from the first connecting rod.