An integrated device for ultrasonic scanning and puncture

Abstract

The present invention discloses an integrated ultrasonic scanning and puncture device, which comprises a puncture angle adjustment mechanism, a scanning pressure adjustment mechanism and a probe clamping mechanism. The present invention uses a spherical five-bar linkage mechanism to achieve the adjustment of the puncture angle with two degrees of freedom for a telecentric puncture point, and the up-and-down floating of the probe clamping mechanism to achieve the adjustment of the puncture point depth. Moreover, a pressing follow-up mechanism is designed to enable the probe to adaptively press against the human body surface with adjustable pressure. The present invention combines the needs of ultrasonic scanning and puncture, and simultaneously meets the requirements of the adaptive position adjustment and force control of ultrasonic scanning as well as the requirements of the puncture angle adjustment with two degrees of freedom. As the end effector of the robotic arm, it participates in the surgical process, which not only improves the efficiency of ultrasonic positioning and navigation puncture, simplifies the process of multi-system registration, but also avoids the errors caused by the conversion of multiple coordinate systems and improves the puncture accuracy.

Description

Technical Field

[0001] The present invention relates to the field of medicine, especially robot-assisted ultrasound-guided puncture, and particularly relates to an integrated device for ultrasound scanning and puncture. Background Art

[0002] In the process of traditional ultrasound-guided puncture, a doctor holds an ultrasound probe in one hand and a puncture needle in the other hand. Since both the ultrasound probe and the puncture needle have high flexibility, it is difficult to coordinate them. Therefore, during the puncture process, the doctor is easily affected by the muscle resistance and skin slippage of the patient, and the puncture direction and position are deviated.

[0003] More importantly, the coordinate relationship between the ultrasound image and the puncture needle is not clear. Even with the aid of optical or magnetic positioning means, due to the inherent defects of the technology and the deformation of the puncture structure, it is still difficult to improve the puncture accuracy. At present, there are also design schemes for integrating a puncture mechanism with an ultrasound probe. Some are too simple in structure and can only meet the simple need of superficial biopsy; some are too bulky and inconvenient to operate in the interventional operating room environment, all ignoring the need of the ultrasound probe for force control and adaptive attitude adjustment.

[0004] Generally speaking, the following problems mainly exist: 1. Difficult to adjust: The mechanisms of ultrasound imaging and puncture lack sufficient constraints, and doctors cannot focus on adjusting appropriate puncture indicators; 2. Difficult to connect: The ultrasound scanning and positioning puncture processes are separated, and it is difficult to connect them with each other; 3. Low accuracy: The coordinate relationship between imaging and puncture is complex, and multiple-level conduction brings obvious errors, which are difficult to make up for even with the aid of optical or magnetic positioning means. Summary of the Invention

[0005] In order to integrally realize the processes of robot-assisted ultrasound scanning imaging and positioning puncture, meet the needs of doctors to adjust the puncture angle and depth, and improve the puncture accuracy and the efficiency of the ultrasound-guided process, the present invention provides an integrated device for ultrasound scanning and puncture based on a spherical five-link mechanism and a probe adaptive adjustment mechanism.

[0006] In view of the deficiencies of the prior art, the present invention adopts the following technical solutions: An integrated device for ultrasound scanning and puncture, comprising a puncture angle adjustment mechanism for adjusting the puncture position, a scanning pressure adjustment mechanism, and a probe clamping mechanism for clamping an ultrasound probe;

[0007] The puncture angle adjustment mechanism includes a puncture umbrella, a left large sector plate, a left small sector plate, a right large sector plate, a right small sector plate, a puncture cannula, a magnetic grating head, and a puncture needle;

[0008] The puncture umbrella includes a fan-shaped wide wall plate, a fan-shaped narrow side plate disposed on the right side of the fan-shaped wide wall plate, and an L-shaped cover plate disposed on the top; a box-shaped structure is formed by a recess at the middle of the fan-shaped wide wall plate towards the rear side, and slide rails are provided on the left and right sides and the rear box wall of the box-shaped structure; the left side of the fan-shaped narrow side plate is fixedly connected to the right side of the fan-shaped wide wall plate, and the L-shaped cover plate disposed on the top straddles from the left side of the fan-shaped wide wall plate to the fan-shaped narrow side plate on the right side of the fan-shaped wide wall plate. A flange is provided at the middle of the L-shaped cover plate for installing the integrated ultrasonic scanning and puncture device at the end of the robotic arm; hinge rotating shafts are provided along the fan ridge on the left side of the fan-shaped wide wall plate and the right side of the fan-shaped narrow side plate; the axis of the hinge rotating shaft points to the center of the fan-shaped wide wall plate through the fan surface; the left large fan plate and the right large fan plate are respectively hinged on both sides of the puncture umbrella, one side of the left small fan plate is hinged to the left large fan plate, and one side of the right small fan plate is hinged to the right large fan plate; the other side of the left small fan plate and the other side of the right small fan plate are hinged through a puncture cannula; the puncture needle is disposed inside the puncture cannula; the magnetic grating head is installed at the lower end of the outer wall on the right side of the box-shaped structure of the puncture umbrella;

[0009] The scanning pressure adjusting mechanism includes an up-and-down telescopic box; the up-and-down telescopic box is slidably disposed on the puncture umbrella through the slide rail on the fan-shaped wide wall plate of the puncture umbrella, and can adjust the position of the probe clamping mechanism according to the pressure applied by the ultrasonic probe;

[0010] The probe clamping mechanism includes a pressure sensor, a quick-installation plate for the probe seat, a probe seat, a probe cover, and an ultrasonic probe; the pressure sensor is installed on the scanning pressure adjusting mechanism; the quick-installation plate for the probe seat is fixed on the pressure sensor. The quick-installation plate for the probe seat is a square plate with smooth arc-shaped surfaces on the left and right sides and a protrusion provided at the upper part; the rear side of the probe seat is provided with a C-shaped structure and can slide into the quick-installation plate for the probe seat from bottom to top and is clamped and fixed through the protrusion at the upper part of the quick-installation plate for the probe seat; the front end of the probe seat and the probe cover are tightly fixed together, and concave pits are provided in the middle of the probe seat according to the outer surface curve of the ultrasonic probe to firmly hold the ultrasonic probe therein.

[0011] As a preferred solution of the present invention, the fan ridge axes of the puncture umbrella, the left large fan plate, the left large fan plate, the right large fan plate, and the right small fan plate point to the center and coincide. The five form a pentagonal pyramid structure, and the coincidence point is the puncture center point of the puncture umbrella. Thus, the angle change between adjacent sides of the pentagonal pyramid can adjust the posture of the puncture cannula.

[0012] As a preferred solution of the present invention, the rotating pairs formed between the puncture umbrella, the left large fan plate, the left large fan plate, the right large fan plate, and the right small fan plate are all connected by damping rotating shafts to provide a certain rotational damping.

[0013] As a preferred embodiment of the present invention, the imaging plane of the ultrasonic probe is parallel to the vertical sliding direction of the vertical telescopic box, and the symmetry axis of the imaging plane in this direction passes through the puncture center point. When the vertical telescopic box moves up and down to drive the ultrasonic probe to move up and down, the puncture center point is always within the imaging plane and moves along the symmetry axis.

[0014] As a preferred embodiment of the present invention, two servo motors are installed on the L-shaped cover plate at the top of the puncture umbrella. The output shafts of the servo motors are respectively aligned with the through holes on both sides of the puncture umbrella, and the left large fan plate and the right large fan plate can be respectively driven by the servo motors to rotate, so as to adjust the direction of the puncture cannula.

[0015] As a preferred embodiment of the present invention, convex blocks are provided on the left and right sides of the puncture umbrella box body, and convex blocks are also provided on the top of the vertical telescopic box to provide a lower limit for the vertical telescopic box. When the vertical telescopic box is placed at the lower limit under the drive of the tension spring, the puncture center point of the puncture umbrella is located at the bottom of the ultrasonic image, and as the ultrasonic probe and the vertical telescopic box are pushed upward by an external force, the puncture center point gradually moves to the top of the ultrasonic image.

[0016] As a preferred embodiment of the present invention, the scanning pressure adjustment mechanism includes a vertical telescopic box, a pressure loading plate, a tension spring, and a pressure adjustment slider; the vertical telescopic box is box-shaped and only open at the rear side, and is installed on the slide rails on the left and right side walls of the puncture umbrella, so that the vertical telescopic box can slide up and down inside the box-shaped structure of the puncture umbrella. A magnetic strip is attached to the outer side of the right side wall, and the magnetic strip maintains a constant distance from the magnetic head of the magnetic grating ruler to record the movement position of the vertical telescopic box; the pressure loading plate is L-shaped and is installed on the wide slide rail on the rear side wall of the puncture umbrella and can slide up and down. A screw hole is provided in the middle, and the front end of the lower L-shaped protrusion extends into the vertical telescopic box, and several tension springs are hung on the upper side; the other end of the tension spring is hung on the upper arm of the vertical telescopic box to pull the vertical telescopic box downward for loading; the pressure adjustment slider is installed outside the rear side wall of the puncture umbrella and passes through the central notch of the rear side wall and is fixed on the screw hole in the middle of the pressure loading plate.

[0017] As a preferred embodiment of the present invention, reverse teeth are provided at the central notch of the rear side wall of the puncture umbrella, and the corresponding reverse teeth of the pressure adjustment slider are buckled, so that the pressure adjustment slider can only move downward to pull the vertical telescopic box downward for loading. By pressing both sides of the pressure adjustment slider, the reverse teeth of the pressure adjustment slider can be retracted to flexibly adjust the position of the pressure adjustment slider.

[0018] The present invention also provides a working method for an integrated ultrasonic scanning and puncture device, including the following steps:

[0019] 1) Install the integrated ultrasonic scanning and puncture device at the end of the robotic arm through the flange in the middle of the L-shaped cover plate;

[0020] 2) Control the movement of the robotic arm, collect ultrasound images through the ultrasound probe, and locate the target puncture point;

[0021] 3) Adjust the position of the robotic arm so that the puncture center point coincides with the target puncture point;

[0022] 4) Adjust the position of the puncture cannula, select a suitable puncture approach, and insert the puncture needle into the puncture cannula for puncture.

[0023] As a preferred solution of the present invention, during the puncture process of the puncture needle along the puncture cannula, ultrasound images are collected and observed through the ultrasound probe; monitor whether the puncture needle reaches the puncture center point of the puncture umbrella.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] When the present device moves downward and is loaded on the patient's skin, the ultrasound probe will gradually retract, the loading pressure will continuously increase, and the puncture center point will continuously move downward until it is adjusted to the planned puncture position. At this time, under the action of the tension spring, the ultrasound probe can always fit the human body surface, ensuring good imaging conditions. At the same time, the loading pressure can be further adjusted through the pressure adjustment slider to ensure that the human tissue is subjected to an appropriate pressure to ensure good imaging effects. After fixing the position of the present device and the position of the puncture center point, further, the position of the puncture cannula can be adjusted by servo control or manually with a greater force to adjust the puncture angle, which includes two degrees of freedom. On the one hand, the puncture cannula can rotate around the ultrasound probe, and it can puncture either within the imaging plane or outside the plane. On the other hand, the angle formed with the ultrasound probe can also be adjusted. During this process, the position of the puncture center point will not move and is always within the ultrasound plane and can be monitored. This makes the puncture process both safe and reliable and very convenient. Description of the Drawings

[0026] Figure 1 is an exploded view of the integrated ultrasound scanning and puncture device;

[0027] Figure 2 is a schematic diagram of in-plane puncture of the integrated ultrasound scanning and puncture device;

[0028] Figure 3 is a schematic diagram of out-of-plane puncture of the integrated ultrasound scanning and puncture device;

[0029] Figure 4 is a schematic diagram of puncture depth adjustment of the integrated ultrasound scanning and puncture device;

[0030] Figure 5 is an exploded view of the scanning pressure adjustment mechanism;

[0031] Figure 6 is a cross-sectional view of the scanning pressure adjustment mechanism.

[0032] In the figure: 1. Puncture umbrella, 2. Left large fan plate, 3. Left small fan plate, 4. Right large fan plate, 5. Right small fan plate, 6. Puncture cannula, 7. Magnetic grating ruler magnetic head, 8. Puncture needle, 9. Up and down telescopic box, 10. Pressure loading plate, 11. Tension spring, 12. Pressure adjustment slider, 13. Pressure sensor, 14. Quick mounting plate for probe holder, 15. Probe holder, 16. Probe cover, 17. Ultrasonic probe. Specific implementation mode

[0033] The present invention will be further described and explained below in conjunction with specific implementation modes. The embodiments are only examples of the present disclosure and do not delimit the scope of limitation. The technical features of each implementation mode of the present invention can be combined accordingly without conflict.

[0034] As Figure 1 shown, the present invention provides an integrated ultrasonic scanning and puncture device with the ability to adjust the puncture angle and depth in two degrees of freedom, including three parts: a puncture angle adjustment mechanism, a scanning pressure adjustment mechanism, and a probe clamping mechanism;

[0035] In a specific embodiment of the present invention, as Figure 1 and Figure 2 shown, the puncture angle adjustment mechanism includes a puncture umbrella 1, a left large fan plate 2, a left small fan plate 3, a right large fan plate 4, a right small fan plate 5, a puncture cannula 6, a magnetic grating ruler magnetic head 7, and a puncture needle 8; the puncture umbrella 1 is formed by splicing a rear-side fan-shaped wide wall plate and a right-side fan-shaped narrow side plate at the fan ridge, opens at 120°, and has an L-shaped cover plate at the top that straddles from the fan-shaped wide wall plate to the fan-shaped narrow side plate. A flange is provided in the middle of the cover plate and can be installed at the end of the robotic arm. A through hole is provided on the left fan ridge of the fan-shaped wide wall plate, and its axis passes through the center of the fan surface and points to the puncture center point. A pupil is provided on the right fan ridge of the fan-shaped narrow side plate, and its axis also points to the puncture center point. The left large fan plate 2 and the left small fan plate 3 are fan-shaped thin plates, and through holes are provided on both the left and right fan ridges. One through hole on one side of the left large fan plate 2 is hinged to the through hole on the left side of the puncture umbrella 1 to form a revolute pair, and the through hole on the other side is hinged to the through hole on one side of the left small fan plate 3 to form a revolute pair. The right large fan plate 4 and the right small fan plate 5 are fan-shaped thin plates, and through holes are provided on both the left and right fan ridges. One through hole on one side of the right large fan plate 4 is hinged to the through hole on the right side of the puncture umbrella 1 to form a revolute pair, and the through hole on the other side is hinged to the through hole on one side of the right small fan plate 5 to form a revolute pair. The free through holes of the left small fan plate 3 and the right small fan plate 5 are penetrated by the puncture cannula 6 to form a revolute pair.

[0036] As Figure 3 and Figure 4As shown, in the middle of the rear fan-shaped wide wall plate of the puncture umbrella 1, there is an opening for a box-shaped structure, which is sealed by an L-shaped cover plate at the upper part. Each of the left and right box walls is provided with a slide rail, and the rear box wall is further provided with a wide slide rail with a slot in the center. The lower part of the box-shaped structure is open. The magnetic grating read head 7 is installed on the right box wall of the box-shaped structure of the puncture umbrella 1 near the outside. The puncture needle 8 is placed inside the puncture cannula 6.

[0037] As Figure 5 As shown, the scanning pressure adjustment mechanism includes an up-and-down telescopic box 9, a pressure loading plate 10, a tension spring 11, and a pressure adjustment slider 12. The up-and-down telescopic box 9 is box-shaped and only open at the rear side. The left and right sides are installed on the slide rails of the left and right box walls of the puncture umbrella 1, so that the up-and-down telescopic box 9 can slide up and down inside the box-shaped structure of the puncture umbrella 1. A magnetic strip is attached to the outer side of the right wall, maintaining a constant distance from the magnetic grating read head 7 to record the movement displacement of the up-and-down telescopic box 9. The pressure loading plate 10 is L-shaped and is installed on the wide slide rail of the rear box wall of the puncture umbrella 1 and can slide up and down. A screw hole is provided in the middle, and the lower L-shaped protrusion extends forward into the up-and-down telescopic box 9, and several tension springs 11 are hung on it.

[0038] The other end of the tension spring 11 is hung on the upper arm of the up-and-down telescopic box 9 to pull the up-and-down telescopic box 9 downward for loading. The pressure adjustment slider 12 is installed outside the rear box wall of the puncture umbrella 1, passes through the central notch of the rear box wall and is fixed to the screw hole in the middle of the pressure loading plate 10.

[0039] As Figure 6 As shown, the probe clamping mechanism includes a pressure sensor 13, a probe seat quick-installation plate 14, a probe seat 15, a probe cover 16, and an ultrasonic probe 17. The pressure sensor 13 is installed in front of the up-and-down telescopic box 9 at a position near the lower end. The probe seat quick-installation plate 14 is a square thick plate with arc-shaped smooth surfaces on the left and right sides, a protrusion is provided near the upper part, and a screw hole is provided at the rear side of the middle to be fixed to the pressure sensor 13. The rear side of the probe seat 15 has a C-shaped structure, hugs the probe quick-installation plate 14 from left and right, and can slide into the probe quick-installation plate 14 from bottom to top, and is clamped and fixed through the protrusion on the upper part of the probe quick-installation plate 14. The front end of the probe seat 15 and the probe cover 16 are tightened together and fixed by bolts. Concave pits are provided in the middle according to the outer curvature of the ultrasonic probe 17 to firmly hold the ultrasonic probe 17 in it.

[0040] The rotary pairs formed between the puncture umbrella 1, the left large fan plate 2, the left small fan plate 3, the right large fan plate 4, and the right small fan plate 5 are all connected by damping rotating shafts to provide a certain rotational damping. The axes of the damping rotating shafts point to the center and coincide; the five of them are combined to form a pentagonal pyramid structure, and the apex of the pyramid is the puncture center point of the puncture umbrella 1. Thus, the angle change between adjacent sides of the pentagonal pyramid can adjust the attitude of the puncture cannula 6.

[0041] In a preferred specific embodiment of the present invention, the imaging plane of the ultrasonic probe 17 is parallel to the up-and-down sliding direction of the up-and-down telescopic box 9, and the symmetry axis of the imaging plane in this direction passes through the puncture center point, so that when the up-and-down telescopic box 9 moves up and down to drive the ultrasonic probe 17 to move up and down, the puncture center point is always within the imaging plane and moves along the symmetry axis.

[0042] In a preferred specific embodiment of the present invention, the notch in the center of the rear side wall of the puncture umbrella 1 is provided with reverse teeth, which engage with the corresponding reverse teeth of the pressure adjustment slider 12, so that the pressure adjustment slider 12 can only move downward, pulling the up-and-down telescopic box 9 to apply a downward load. By pressing both sides of the pressure adjustment slider 12, the reverse teeth of the pressure adjustment slider 12 can be retracted to flexibly adjust the position of the pressure adjustment slider 12.

[0043] In a preferred specific embodiment of the present invention, two servo motors are installed on the L-shaped cover plate at the top of the puncture umbrella 1, and their output shafts are respectively aligned with the through holes on both sides of the puncture umbrella 1. The left large fan plate 2 and the right large fan plate 4 can be respectively driven by the servo motors to rotate, so as to adjust the direction of the puncture cannula 6. Convex blocks are provided on both the left and right sides of the box body of the puncture umbrella 1, and convex blocks are also provided on the top of the up-and-down telescopic box 9 to provide a lower limit for the up-and-down telescopic box 9. When the up-and-down telescopic box 9 is placed at the lower limit under the drive of the tension spring 11, the puncture center point of the puncture umbrella 1 is located at the bottom of the ultrasonic image, and as the ultrasonic probe 17 and the up-and-down telescopic box 9 are pushed upward by an external force, the puncture center point gradually moves to the top of the ultrasonic image.

[0044]

Example 1

[0045] The entire ultrasonic scanning and puncture integrated device is installed at the end of the robotic arm through the flange in the middle of the L-shaped cover plate at the top of the puncture umbrella 1. Control the robotic arm to move along the human body surface so that the ultrasonic probe is close to the human body to collect ultrasonic images of human tissues. During this scanning process, the ultrasonic probe 17 is pressed against the human body under the action of the tension spring, and its pressure can be adjusted by the up-and-down movement of the robotic arm and the pressure adjustment slider 12. After positioning the target puncture point, adjust the position of the robotic arm so that the puncture center point of the puncture umbrella 1 coincides with the target target point, then the robotic arm remains stationary, and the pressure adjustment slider 12 is adjusted until the ultrasonic probe 17 applies an appropriate pressure to the human body. Finally, the doctor adjusts the position of the puncture cannula 6 as needed and selects a suitable puncture approach. Insert the puncture needle 8 into the puncture cannula 6, slowly insert the puncture needle 8 along the puncture cannula 6, and observe the ultrasonic image to monitor whether the puncture needle 8 reaches the puncture center point of the puncture umbrella 1.

[0046]

Example 2

[0047] On the basis of Embodiment 1, the doctor can replace the appropriate ultrasonic probe 17 as needed and use the supporting probe holder 15 and probe cover 16. The puncture cannula 6 can also be replaced to accommodate puncture needles 8 of different diameters. During the subsequent surgical procedure, only by removing the puncture cannula 6 can the left small sector plate 3 and the right small sector plate 5 be separated, thereby withdrawing the device.

[0048]

Embodiment 3

[0049] On the basis of Embodiment 1, if the surgical scenario supports puncture under the ultrasonic image throughout the process, the puncture cannula 6 can be rotated to the ultrasonic imaging plane, as shown in the appendix Figure 2 shown, and the entire puncture needle 8 can be seen within the ultrasonic image during the puncture process.

[0050] In summary, the integrated ultrasonic scanning and puncture device of the present invention can ensure good imaging conditions, and the loading pressure can be further adjusted through the pressure adjustment slider; the position of the puncture cannula can be adjusted by servo control or manually with greater force to adjust the puncture angle. On the one hand, the puncture cannula can rotate around the ultrasonic probe, enabling puncture both within the imaging plane and outside the plane, and on the other hand, the angle formed with the ultrasonic probe can also be adjusted. During this process, the position of the puncture center point does not move and is always monitorable within the ultrasonic plane. This makes the puncture process both safe and reliable and very convenient.

[0051] The above-described embodiments only represent several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent of the present invention. For those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention.

Claims

1. An integrated ultrasound scanning and puncture device, characterized in that, it includes a puncture angle adjustment mechanism for adjusting the puncture position, a scanning pressure adjustment mechanism, and a probe clamping mechanism for clamping the ultrasound probe; The puncture angle adjustment mechanism includes a puncture umbrella (1), a left large fan-shaped plate (2), a left small fan-shaped plate (3), a right large fan-shaped plate (4), a right small fan-shaped plate (5), a puncture cannula (6), a magnetic grating scale head (7), and a puncture needle (8); The puncture umbrella (1) includes a fan-shaped wide wall plate, a fan-shaped narrow side plate provided on the right side of the fan-shaped wide wall plate, and an L-shaped cover plate provided on the top; a box-shaped structure is formed by a recess at the middle of the fan-shaped wide wall plate towards the rear side, and slide rails are provided on the left and right sides and the rear box wall of the box-shaped structure; the left side of the fan-shaped narrow side plate is fixedly connected to the right side of the fan-shaped wide wall plate, and the L-shaped cover plate provided on the top straddles from the left side of the fan-shaped wide wall plate to the fan-shaped narrow side plate on the right side of the fan-shaped wide wall plate, and a flange is provided at the middle of the L-shaped cover plate for installing the integrated ultrasound scanning and puncture device at the end of the robotic arm; hinge rotating shafts are provided along the fan ridge on the left side of the fan-shaped wide wall plate and the right side of the fan-shaped narrow side plate; the axis of the hinge rotating shaft points to the center of the fan-shaped wide wall plate through the fan surface; the left large fan-shaped plate (2) and the right large fan-shaped plate (4) are respectively hinged on both sides of the puncture umbrella (1), one side of the left small fan-shaped plate (3) is hinged to the left large fan-shaped plate (2), and one side of the right small fan-shaped plate (5) is hinged to the right large fan-shaped plate (4); the other side of the left small fan-shaped plate (3) and the other side of the right small fan-shaped plate (5) are hinged through the puncture cannula (6); the puncture needle (8) is arranged inside the puncture cannula (6); the magnetic grating scale head (7) is installed at the lower end of the outer wall on the right side of the box-shaped structure of the puncture umbrella (1); The scanning pressure adjustment mechanism includes an up-and-down telescopic box (9); the up-and-down telescopic box (9) is slidably arranged on the puncture umbrella (1) through the slide rail on the fan-shaped wide wall plate of the puncture umbrella (1), and can adjust the position of the probe clamping mechanism according to the pressure applied by the ultrasound probe; The probe clamping mechanism includes a pressure sensor (13), a quick-mounting plate (14) for the probe holder, a probe holder (15), a probe cover (16), and an ultrasonic probe (17); the pressure sensor (13) is installed on the scanning pressure adjustment mechanism; the quick-mounting plate (14) for the probe holder is fixed on the pressure sensor (13), and the quick-mounting plate (14) for the probe holder is a square plate with smooth arc-shaped surfaces on the left and right sides and a protrusion on the upper part; the rear side of the probe holder (15) is provided with a C-shaped structure and can slide into the quick-mounting plate (14) for the probe holder from bottom to top and is clamped and fixed by the protrusion on the upper part of the quick-mounting plate (14) for the probe holder; the front end of the probe holder (15) and the probe cover (16) are tightly fixed together, and a concave pit is arranged in the middle of the probe holder (15) according to the outer curve of the ultrasonic probe (17) to firmly hold the ultrasonic probe (17) therein; the fan ridge axes of the puncture umbrella (1), the left large fan plate (2), the left small fan plate (3), the right large fan plate (4), and the right small fan plate (5) point to the center and coincide, and the five are combined to form a pentagonal pyramid structure, and the coincidence point is the puncture center point of the puncture umbrella (1). Thus, the angle change between adjacent sides of the pentagonal pyramid can adjust the posture of the puncture cannula (6).

2. The integrated ultrasonic scanning and puncture device according to claim 1, characterized in that, the rotary pairs formed between the puncture umbrella (1), the left large fan plate (2), the left small fan plate (3), the right large fan plate (4), and the right small fan plate (5) are all connected by damping rotating shafts to provide rotational damping.

3. The integrated ultrasonic scanning and puncture device according to claim 1, characterized in that, the imaging plane of the ultrasonic probe (17) is parallel to the up-and-down sliding direction of the up-and-down telescopic box (9), and the symmetry axis of the imaging plane along this direction passes through the puncture center point, so that when the up-and-down telescopic box (9) moves up and down to drive the ultrasonic probe (17) to move up and down, the puncture center point is always within the imaging plane and moves along the symmetry axis.

4. The integrated ultrasonic scanning and puncture device according to claim 1, characterized in that, two steering engines are installed on the L-shaped cover plate at the top of the puncture umbrella (1), and their output shafts are respectively aligned with the through holes on both sides of the puncture umbrella (1), and the left large fan plate (2) and the right large fan plate (4) can be respectively driven by the steering engines to rotate, so as to adjust the direction of the puncture cannula (6).

5. The integrated ultrasonic scanning and puncture device according to claim 1, characterized in that, convex blocks are arranged on both left and right sides of the box body of the puncture umbrella (1), and convex blocks are also arranged on the top of the up-and-down telescopic box (9) to provide a lower limit for the up-and-down telescopic box (9), so that when the up-and-down telescopic box (9) is placed at the lower limit driven by the tension spring (11), the puncture center point of the puncture umbrella (1) is located at the bottom of the ultrasonic image, and as the ultrasonic probe (17) and the up-and-down telescopic box (9) are pushed upward by an external force, the puncture center point gradually moves to the top of the ultrasonic image.

6. The integrated ultrasonic scanning and puncture device according to claim 1, characterized in that, The scanning pressure adjustment mechanism includes an up-and-down telescopic box (9), a pressure loading plate (10), a tension spring (11), and a pressure adjustment slider (12); the up-and-down telescopic box (9) is box-shaped, only open at the rear side, and is installed on the slide rails on the left and right side walls of the puncture umbrella (1), so that the up-and-down telescopic box (9) can slide up and down inside the box-shaped structure of the puncture umbrella (1). A magnetic strip is attached to the outer side of the right side wall, and the magnetic strip maintains a constant distance from the magnetic grating ruler magnetic head (7) to record the movement position of the up-and-down telescopic box (9); the pressure loading plate (10) is L-shaped and is installed on the wide slide rail on the rear side wall of the puncture umbrella (1) and can slide up and down. A screw hole is provided in the middle, and the front side of the lower L-shaped protrusion extends into the up-and-down telescopic box (9), and several tension springs (11) are hung on the upper surface; the other end of the tension spring (11) is hung on the upper arm of the up-and-down telescopic box (9) to pull the up-and-down telescopic box (9) to move downward for loading; the pressure adjustment slider (12) is installed outside the rear side wall of the puncture umbrella (1), passes through the central notch of the rear side wall and is fixed on the screw hole in the middle of the pressure loading plate (10).

7. An integrated ultrasonic scanning and puncture device according to claim 6, wherein, the notch in the center of the rear side wall of the puncture umbrella (1) is provided with reverse teeth, which are buckled with the corresponding reverse teeth of the pressure adjustment slider (12), so that the pressure adjustment slider (12) can only move downward to pull the up-and-down telescopic box (9) to load downward; by pressing both sides of the pressure adjustment slider (12), the reverse teeth of the pressure adjustment slider (12) can be retracted to flexibly adjust the position of the pressure adjustment slider (12).

Images