Minimally invasive surgical puncture injection device with puncture force and depth perception functions

Abstract

The present invention provides a minimally invasive surgical puncture and injection device with puncture force and depth sensing functions, comprising a puncture and injection needle, a puncture force sensing module based on an optical fiber sensor, a puncture depth sensing module based on a capacitive grating sensor, a signal processor, and a display module. The puncture force sensing module, which is composed of an optical fiber sensor and is placed inside the puncture and injection needle, can convert the puncture force into a change in light intensity using the front-end FP cavity, and in combination with a reference optical fiber sensor to remove the influence of environmental noise. The puncture force magnitude is obtained by performing a wavelet transformation on the light intensity using a puncture force sensing signal analyzer. The puncture depth sensing module, which is etched circumferentially on the outside of the puncture needle and is based on a capacitive grating sensor, can transmit puncture depth information to the outside of the body through changes in electrical parameters caused by changes in dielectric constant, ultimately obtaining the tissue location of the puncture needle and displaying it on a display via a signal processor to assist doctors in performing puncture and injection surgeries.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a minimally invasive surgical puncture injection device with puncture force and depth perception functions. Background Art

[0002] The larynx is a highly specialized organ in the human body, responsible for regulating breathing, enabling speech, and assisting swallowing. Laryngeal insufficiency caused by vocal cord paralysis and atrophy can lead to significant laryngeal dysfunction, severely impacting the patient's quality of life and even posing a threat to their safety. Injection laryngoplasty, a minimally invasive treatment for laryngeal insufficiency, has been widely used clinically. It primarily involves injecting fillers such as adipose tissue and hyaluronic acid into the superficial or deep laryngeal tissue using a puncture needle to repair the vocal cords and improve glottal closure or vocal cord vibration. During injection laryngoplasty, the needle tip encounters the varying properties of the vocal cord soft tissue, subjecting the needle to complex and varying forces. Currently, the depth and dosage of injection laryngoplasty are primarily determined by the physician's experience under the guidance of a laryngoscopy. This allows the needle to deliver the filler material to a specific tissue layer. Injection that is too deep, too shallow, misplaced, or inappropriately dosed can easily lead to diffusion of the injected material, causing permanent hoarseness and potentially surgical failure.

[0003] Patent document CN112802185A discloses a method and system for 3D reconstruction of endoscopic images for spatial perception in minimally invasive surgery, relating to the field of 3D reconstruction technology. The method acquires an endoscopic image, estimates the depth of the current frame of the endoscopic image based on a preset multi-task neural network model, and obtains the point cloud depth of the current frame. Local point clouds are then acquired based on the point cloud depth and a camera model. The multiple local point clouds are then registered and fused. Finally, the registered and fused local point clouds are spliced together to form a global point cloud that flexibly transforms over time, and the global point cloud is then visualized.

[0004] Therefore, it is necessary to propose a new technical solution to improve the above technical problems. Summary of the Invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide a minimally invasive surgical puncture injection device with puncture force and depth perception functions.

[0006] According to the present invention, a minimally invasive surgical puncture injection device with puncture force and depth perception functions includes a puncture injection needle structure, a puncture force sensing module, a puncture depth sensing module, a signal processor, and a display module;

[0007] The puncture force sensing module and the puncture depth sensing module are arranged inside the puncture injection needle structure. The puncture force sensing module and the puncture depth sensing module are respectively connected to the signal processor signal, and the signal processor is connected to the display module.

[0008] Preferably, the puncture force sensing module is based on a force sensing optical fiber sensor, and a FP cavity is constructed at the front end of the force sensing optical fiber sensor. The FP cavity is composed of a closed space formed by two sections of optical fiber, a force transmission section and a force sensing section, and a capillary tube.

[0009] Preferably, the force transmission section and the capillary are sealed by welding, and the force sensing section and the capillary are fixed by resin glue.

[0010] Preferably, the puncture force sensing module has a reference optical fiber sensor and a force sensing optical fiber sensor, and the reference optical fiber sensor can directly measure the bending of the puncture needle during the puncture process and the interference of ambient noise caused by temperature changes on the optical signal.

[0011] Preferably, the puncture force sensing module includes an LED light source, an optical path composed of an optical fiber and an optical coupler, a force sensing optical fiber sensor, a reference optical fiber sensor and a puncture force sensing signal analyzer; the force sensing optical fiber sensor is fixedly arranged on the inner side of the puncture injection needle structure.

[0012] Preferably, the puncture depth perception module is based on a capacitive grating sensor, which is composed of a pair of evenly arranged comb gratings etched and symmetrically distributed along the outer surface of the puncture injection needle structure, and the teeth of the two comb gratings are staggered along the axis direction of the puncture injection needle.

[0013] Preferably, during the needle puncture process, the dielectric constant change between different teeth of the capacitive grating sensor caused by the change in puncture depth can be converted into an electrical signal change, which is amplified and filtered by a signal conditioner, and the depth of the puncture needle penetrated into the tissue is obtained by measuring the electrical properties.

[0014] Preferably, the penetration depth sensing module includes a low-voltage power supply, a capacitive sensor and a signal conditioner.

[0015] Preferably, the puncture force information obtained by the optical fiber sensor and the puncture depth information obtained by the capacitive sensor are combined and calculated and output in real time via a signal processor and a display module to assist doctors in performing puncture surgery.

[0016] Preferably, the puncture injection needle structure includes a force sensing optical fiber sensor, a reference optical fiber sensor, an optical fiber sensor fixing bracket, a grating sensor, and a puncture injection needle; the force sensing optical fiber sensor and the reference optical fiber sensor are placed side by side in the optical fiber sensor fixing bracket, and the force sensing end of the force sensing optical fiber sensor is placed at the top surface of the puncture device to sense the puncture force signal during the puncture process, and the assembled optical fiber sensor fixing bracket is fixed in the puncture injection needle;

[0017] The capacitive grid sensor is bonded along the outer surface of the puncture injection needle, and the left and right grids of the capacitive grid sensor are symmetrically arranged and staggered along the axial direction of the puncture injection needle.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention can sense the puncture depth and feed it back to the operating end, forming a closed control loop, increasing the accuracy and reliability of the puncture operation, and ensuring the first-time success rate of the operation and the patient's treatment effect;

[0020] 2. The present invention can actively sense the puncture depth of the injection needle during injection laryngoplasty surgery, and transmit the sensed information from the puncture site in real time, assisting doctors in making decisions and judgments, and ensuring accurate perception of the puncture depth and position during the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0022] Figure 1 This is a simplified diagram of the modular structure of the minimally invasive surgical puncture and injection device of the present invention;

[0023] Figure 2 This is a schematic diagram of the penetration force sensing module based on the optical fiber sensor of the present invention;

[0024] Figure 3 This is a schematic diagram of the penetration depth sensing module based on the capacitive barrier sensor of the present invention;

[0025] Figure 4 This is a structural diagram of the minimally invasive surgical puncture injection needle of the present invention;

[0026] Figure 5 This is a cross-sectional view of the minimally invasive surgical puncture injection needle of the present invention.

[0027] in:

[0028] First port 1 force sensing segment optical fiber 13

[0029] Second port 2 Second resin glue 14

[0030] Third port 3 First optical fiber reflection surface 15

[0031] Fourth port 4 FP cavity 16

[0032] First light beam 5 Second optical fiber reflection surface 17

[0033] First optical fiber 6 Comb-shaped grating teeth group 18

[0034] First capillary tube 7 wire 19

[0035] First resin glue 8 force sensing optical fiber sensor 20

[0036] Reflecting surface 9 Reference optical fiber sensor 21

[0037] Second beam 10 Fiber optic sensor fixing bracket 22

[0038] Force transmission section 11 Capacitive barrier sensor 23

[0039] Second capillary tube 12 puncture injection needle 24 DETAILED DESCRIPTION

[0040] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0041] Example 1:

[0042] According to the present invention, a minimally invasive surgical puncture injection device with puncture force and depth perception functions includes a puncture injection needle structure, a puncture force sensing module, a puncture depth sensing module, a signal processor and a display module; the puncture force sensing module and the puncture depth sensing module are arranged inside the puncture injection needle structure, the puncture force sensing module and the puncture depth sensing module are respectively connected to the signal processor signal, and the signal processor is connected to the display module.

[0043] The puncture force sensing module is based on a force-sensing fiber optic sensor. The front end of the force-sensing fiber optic sensor is constructed with an FP cavity, which is an enclosed space formed by two sections of optical fiber, a force transmission section and a force sensing section, and a capillary tube. The force transmission section and the capillary tube are sealed by fusion welding, and the force sensing section and the capillary tube are fixed with resin glue. The puncture force sensing module has a reference fiber optic sensor and a force sensing fiber optic sensor. The reference fiber optic sensor can directly measure the bending of the puncture needle during the puncture process and the interference of ambient noise caused by temperature changes on the optical signal. The puncture force sensing module includes an LED light source, an optical path composed of optical fiber and optical coupler, a force sensing fiber optic sensor, a reference fiber optic sensor, and a puncture force sensing signal analyzer. The force sensing fiber optic sensor is fixedly arranged on the inside of the puncture injection needle structure.

[0044] The puncture depth sensing module is based on a capacitive barrier sensor. This sensor consists of a pair of evenly spaced comb-shaped barriers etched symmetrically along the outer surface of the puncture needle structure, with the teeth staggered along the needle's axis. During the needle puncture process, the sensor converts the dielectric constant variation between the different teeth of the capacitive barrier sensor, caused by the change in puncture depth, into an electrical signal. This signal is amplified and filtered by a signal conditioner, and the measured electrical properties reveal the depth of the needle's penetration into the tissue. The puncture depth sensing module includes a low-voltage power supply, a capacitive barrier sensor, and a signal conditioner.

[0045] The puncture force information obtained by the optical fiber sensor and the puncture depth information obtained by the capacitive sensor are combined and calculated and output in real time through the signal processor and display module to assist doctors in performing puncture surgery.

[0046] The puncture injection needle structure includes a force-sensing optical fiber sensor, a reference optical fiber sensor, an optical fiber sensor fixing bracket, a capacitive grating sensor and a puncture injection needle; the force-sensing optical fiber sensor and the reference optical fiber sensor are placed side by side in the optical fiber sensor fixing bracket, and the force-sensing end of the force-sensing optical fiber sensor is placed at the top surface of the puncture device to sense the puncture force signal during the puncture process, and the assembled optical fiber sensor fixing bracket is fixed in the puncture injection needle; the capacitive grating sensor is bonded along the outer surface of the puncture injection needle, and the left and right grids of the capacitive grating sensor are symmetrically arranged and staggered along the axial direction of the puncture injection needle.

[0047] Example 2:

[0048] Example 2 is a preferred example of Example 1 and is used to illustrate the present invention in more detail.

[0049] Developing a puncture injection needle with sensing capabilities such as puncture depth has become a reliable solution. This allows the sensor to sense puncture depth and other information in real time during the puncture procedure, and this information can be fed back to the operating end, providing a reliable basis for the doctor to make real-time decisions and judgments, so as to adjust the puncture depth and other parameters, and ultimately complete the injection laryngoplasty. At the same time, the narrow surgical space in the pharynx, the cross-sectional dimensions of the puncture injection needle, and other factors place certain requirements on the size of the sensor that can be used, as well as the microscopic forces of muscle tissue on the sensor principle, size, and layout. Fiber optic sensors and capacitive grating sensors, as a small, high-precision, and highly reliable sensing method, have been widely used in various fields such as power systems and bridges. Therefore, it is of great significance to develop a minimally invasive surgical puncture injection device with puncture force and depth sensing capabilities to improve the success rate of injection laryngoplasty and ensure the postoperative effect.

[0050] The present invention provides a minimally invasive surgical puncture injection device with puncture force and depth perception functions, including a puncture injection needle, a puncture force perception module based on an optical fiber sensor, a puncture depth perception module based on a capacitive sensor, a signal processor, and a display module. The puncture injection depth perception device can actively sense the puncture depth of the injection needle during injection laryngeal plastic surgery, and transmit the perception information from the puncture site in real time to assist doctors in making decisions and judgments, thereby ensuring accurate perception of the puncture depth and position during surgery.

[0051] To address the difficulty in determining needle penetration depth during injection laryngoplasty, a device for detecting needle penetration depth was proposed, consisting of a needle, a penetration force sensing module based on a fiber optic sensor, a penetration depth sensing module based on a capacitive grating sensor, a signal processor, and a display module. The laryngeal needle serves as the sensor carrier, and the sensor is positioned inside or outside the needle. The fiber optic sensor-based penetration force sensing module consists of an LED light source, an optical fiber, and an optical coupler forming an optical path; a force sensing fiber optic sensor; a reference fiber optic sensor; and a penetration force sensing signal analyzer. The LED light source provides incoherent light for force sensing. The optical fiber and optical coupler ensure unidirectional light propagation along a specific optical path and can be split into different branch fibers. The force-sensing fiber sensor uses incoherent light to convert changes in the FP cavity length caused by changes in penetration force into changes in optical signal intensity. The reference fiber sensor serves as a benchmark to eliminate the effects of noise factors such as temperature and bending stress on the force-sensing fiber sensor, simplifying the force resolution process. The penetration force sensing signal analyzer calculates the light intensity reflected from the fiber sensor's reflective surface using an optical power meter. The force-sensing fiber sensor and the reference fiber sensor are then subtracted to eliminate the effects of noise factors. The optical signal is then analyzed to obtain the corresponding precise penetration force. The muscle layer where the needle is located is determined by combining the hardness differences between different tissues at the puncture site, and the penetration depth is sensed and determined. The penetration depth sensing module based on a capacitive grating sensor consists of a low-voltage power supply, a capacitive grating sensor, and a signal conditioner. A low-voltage power supply provides an electrical signal to the capacitive barrier sensor, which consists of a pair of evenly spaced comb-shaped barriers etched symmetrically along the outer surface of the puncture needle. The teeth of the two comb-shaped barriers are staggered along the axis of the needle. The capacitive barrier sensor converts the needle penetration depth into an electrical signal by measuring the dielectric constant variation between the different teeth of the barrier sensor caused by the change in penetration depth. This signal is amplified and filtered by a signal conditioner, and the depth of the needle's penetration into the tissue is measured by measuring the electrical properties. The signal processor and display module are responsible for real-time processing and graphically displaying the penetration force and depth information fed back by the fiber-optic sensor-based penetration force sensing module and the capacitive barrier sensor-based penetration depth sensing module.

[0052] Figure 1 The minimally invasive surgical puncture and injection device with puncture force and depth sensing capabilities consists of a puncture and injection needle, a puncture force sensing module based on an optical fiber sensor, a puncture depth sensing module based on a capacitive barrier sensor, a signal processor, and a display module. The optical fiber sensor-based puncture force sensing module and the capacitive barrier sensor-based puncture depth sensing module are placed on the inside and outside of the puncture and injection needle, respectively. The collected tissue puncture force and puncture depth signals are processed by the signal processor and output in real time on the display for the doctor's reference during the operation.

[0053] Figure 2 In the present invention, the puncture force sensing module based on the optical fiber sensor consists of an optical path composed of an LED light source, an optical fiber and an optical coupler, a force sensing optical fiber sensor, a reference optical fiber sensor and a puncture force sensing signal analyzer. The working principle of the puncture force sensing module based on the optical fiber sensor is as follows: the non-interference light emitted by the LED propagates along the optical fiber and is transmitted from the first port 1 to the 2:2 optical coupler. The light beam is split into two beams of equal intensity. Among them, the first light beam 5 is transmitted to the reference optical fiber sensor through the third port 3, transmitted by the first optical fiber 6 to the reflective surface 9 and reflected back, and is transmitted to the puncture force sensing signal analyzer through the third port 3 and the second port 2 to analyze the noise signal intensity such as temperature, which serves as a reference for calibrating the force sensing optical fiber sensor. The front end of the first optical fiber 6 is nested in the first capillary tube 7 and fixed with the first resin glue 8. The second light beam 10 is transmitted to the force sensing optical fiber sensor through the fourth port 4. This light beam is transmitted to the FP cavity 16 formed by the force transmission segment 11 and the force sensing segment optical fiber 13, a total of two optical fiber segments, nested in the capillary. The FP cavity 16 is sealed and fixed by the second resin glue 14 by the gap between the force sensing segment optical fiber 13 and the second capillary tube 12, and the force transmission segment 11 and the second capillary tube 12 are fused and fixed. The force sensing fiber optic sensor is fixedly arranged inside the puncture injection needle. When the puncture operation is performed, the needle applies pressure to the throat tissue and the tissue force acts on the force sensing segment optical fiber 13 of the puncture force sensing module, thereby changing the distance between the two sections of the first optical fiber reflection surface 15 and the second optical fiber reflection surface 17 in the FP cavity 16. The light is transmitted through the second optical fiber 11 and then transmitted back through the fourth port 4 and the second port 2 to the puncture force sensing signal analyzer to measure the intensity of the reflected light. The change in the distance between the FP cavity reflection surface is analyzed by the change in the light intensity signal, and the force acting on the puncture injection needle is deduced accordingly. The calculation formula for acupuncture depth perception is:

[0054]

[0055] Among them, I (r) and I (i) where λ is the interference light intensity and the incident light intensity, respectively; λ is the wavelength of the incident light; d is the FP cavity length; and R is the mirror reflectivity. Wavelet transforms are then used to decompose the puncture force signal into scale and detail wavelet bases reflecting low- and high-frequency characteristics. By examining the modulus values of the coefficients of these wavelet bases, the position of the puncture needle is determined based on changes in the perceived force signal, enabling identification of the tissue boundary and type of the puncture needle during minimally invasive surgery.

[0056] Figure 3The capacitive barrier sensor-based puncture depth sensing module consists of a low-voltage power supply, a capacitive barrier sensor, and a signal conditioner. The low-voltage power supply transmits an electrical signal via a wire 19 to the capacitive barrier sensor, which consists of a pair of comb-shaped grating teeth 18 evenly arranged and staggered along the axis of the puncture needle. During a puncture procedure, as the puncture needle gradually penetrates the human tissue, the dielectric constant between the grating teeth of the capacitive barrier sensor gradually changes from the side to the back of the needle, causing the capacitance between the grating teeth to change, and thus changing the electrical signal strength. The change in electrical signal strength is proportional to the penetration depth. After the electrical signal is output, it is amplified and filtered by the signal conditioner. Signal analysis and calculation can be used to determine the depth of needle penetration into the human tissue.

[0057] Figure 4 and Figure 5 In the figure, the minimally invasive surgical puncture injection needle structure consists of a force-sensing fiber optic sensor 20, a reference fiber optic sensor 21, a fiber optic sensor fixing bracket 22, a capacitive grating sensor 23, and a puncture injection needle 24. The force-sensing fiber optic sensor 20 and the reference fiber optic sensor 21 are placed side by side in the fiber optic sensor fixing bracket 22, and the force-sensing end of the force-sensing fiber optic sensor 20 is placed at the top surface of the puncture device to sense the puncture force signal during the puncture process. The assembled fiber optic sensor fixing bracket 22 is fixed in the puncture injection needle 24. The capacitive grating sensor 23 is bonded along the outer surface of the puncture injection needle 24, and the left and right gates of the capacitive grating sensor 23 are symmetrically arranged and staggered a certain distance along the axial direction of the puncture injection needle 24. When the puncture surgery is performed, as the puncture injection needle 24 gradually enters the tissue, the force-sensing fiber optic sensor 20 and the capacitive grating sensor 23 can sense the puncture force and puncture depth and transmit the information to the body for signal analysis and processing.

[0058] A puncture injection needle with puncture force and depth perception functions, a puncture force perception module based on an optical fiber sensor placed on the inside of the puncture injection needle, a puncture depth perception module based on a capacitive grating sensor etched circumferentially on the outside of the puncture injection needle, and a display module for visually displaying the puncture force.

[0059] Force-sensing fiber optic sensor: An FP cavity is constructed at the front end of the force-sensing fiber optic sensor. The FP cavity is composed of a closed space formed by two sections of optical fiber, the force transmission section and the force sensing section, and a capillary tube. The force transmission section and the capillary tube are sealed by fusion welding, and the force sensing section and the capillary tube are fixed with resin glue to ensure that the puncture force acting on the force sensing section can be converted into a change in the length of the FP cavity.

[0060] It has both a reference fiber optic sensor and a force sensing fiber optic sensor: the reference fiber optic sensor can directly measure the interference of environmental noise such as the bending of the puncture needle and temperature changes on the optical signal during the puncture process, so that the puncture force sensing signal analyzer can directly remove complex noise interference when analyzing the force sensing fiber optic sensor, thereby simplifying the calculation process and ensuring force sensing accuracy.

[0061] The capacitive grating sensor consists of a pair of evenly arranged comb-shaped gratings etched and symmetrically distributed along the outer surface of the puncture injection needle, and the teeth of the two comb-shaped gratings are staggered along the axis of the puncture injection needle. During the needle puncture process, the dielectric constant between different grating teeth of the capacitive grating sensor can be changed according to the change in puncture depth, and the puncture depth of the puncture needle can be converted into an electrical signal change. After amplification and filtering by the signal conditioner, the depth of the puncture injection needle penetrated into the tissue can be obtained by measuring the electrical properties.

[0062] The puncture force information obtained by the optical fiber sensor and the puncture depth information obtained by the capacitive sensor are combined and calculated and output in real time through the signal processor and display module to assist doctors in performing puncture surgery.

[0063] Those skilled in the art may understand this embodiment as a more specific description of Embodiment 1 and Embodiment 2.

[0064] Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, and units provided by the present invention in purely computer-readable program code, it is entirely possible to implement the same functions of the system and its various devices, modules, and units provided by the present invention in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; the devices, modules, and units for implementing various functions can also be considered as both software modules implementing the method and structures within the hardware component.

[0065] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A minimally invasive surgical puncture injection device with puncture force and depth perception function, characterized in that: It includes a puncture injection needle structure, a puncture force sensing module, a puncture depth sensing module, a signal processor and a display module; The puncture force sensing module and the puncture depth sensing module are arranged inside the puncture injection needle structure, and the puncture force sensing module and the puncture depth sensing module are respectively connected to the signal processor, and the signal processor is connected to the display module; The puncture force sensing module is based on a force sensing optical fiber sensor. The front end of the force sensing optical fiber sensor is constructed with an FP cavity. The FP cavity is composed of two optical fiber segments, a force transmission segment and a force sensing segment, and a capillary tube to form a closed space. The puncture force sensing module has a reference optical fiber sensor and a force sensing optical fiber sensor. The reference optical fiber sensor can directly measure the bending of the puncture needle during the puncture process and the interference of ambient noise caused by temperature changes on the optical signal. The puncture force sensing module includes an LED light source, an optical fiber and an optical coupler forming an optical path, a force sensing optical fiber sensor, a reference optical fiber sensor and a puncture force sensing signal analyzer; the force sensing optical fiber sensor is fixedly arranged inside the puncture injection needle structure; The puncture depth sensing module is based on a capacitive grid sensor, which consists of a pair of evenly arranged comb grids etched and symmetrically distributed along the outer surface of the puncture injection needle structure, and the teeth of the two comb grids are staggered along the axis of the puncture injection needle; During the needle puncture process, the dielectric constant change between different teeth of the capacitive grating sensor caused by the change in puncture depth can be converted into an electrical signal change, which is amplified and filtered by the signal conditioner, and the depth of the puncture needle penetrated into the tissue is obtained by measuring the electrical properties.

2. The minimally invasive surgical puncture injection device with puncture force and depth perception function according to claim 1, characterized in that: The force transmission section and the capillary are sealed by welding, and the force sensing section and the capillary are fixed by resin glue.

3. The minimally invasive surgical puncture injection device with puncture force and depth perception function according to claim 1, characterized in that: The puncture depth sensing module includes a low-voltage power supply, a capacitive sensor and a signal conditioner.

4. The minimally invasive surgical puncture injection device with puncture force and depth perception function according to claim 1, characterized in that: The puncture force information obtained by the optical fiber sensor and the puncture depth information obtained by the capacitive sensor are combined and calculated and output in real time through the signal processor and display module to assist doctors in performing puncture surgery.

5. The minimally invasive surgical puncture injection device with puncture force and depth perception function according to claim 1, characterized in that: The puncture injection needle structure includes a force sensing optical fiber sensor, a reference optical fiber sensor, an optical fiber sensor fixing bracket, a grating sensor, and a puncture injection needle; the force sensing optical fiber sensor and the reference optical fiber sensor are placed side by side in the optical fiber sensor fixing bracket, and the force sensing end of the force sensing optical fiber sensor is placed at the top surface of the puncture device to sense the puncture force signal during the puncture process, and the assembled optical fiber sensor fixing bracket is fixed in the puncture injection needle; The capacitive grid sensor is bonded along the outer surface of the puncture injection needle, and the left and right grids of the capacitive grid sensor are symmetrically arranged and staggered along the axial direction of the puncture injection needle.

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