Control Method of Biopsy Sampling Device and Biopsy Sampling Device

Abstract

The present invention provides a biopsy sampling device and a control method thereof, which includes an outer knife tube, an inner knife tube, a first motor and a second motor. The first motor drives the inner knife tube to move axially through a first transmission mechanism; the second motor drives the inner knife tube to rotate along its own axis through a second transmission mechanism: according to the sampling instruction, the operating states of the first motor and the second motor are controlled to drive the inner knife tube to move relative to the outer knife tube for more than two consecutive samplings; each sampling process is as follows: first, control the first motor to rotate to drive the inner knife tube to move backward; then control the first motor and the second motor to rotate to drive the inner knife tube to move forward and rotate until the inner knife tube reaches the closed position of the sampling window; in two adjacent sampling processes before and after, the rotation directions of the inner knife tube are opposite. In the present invention, the inner knife tube rotates in different directions every time it moves forward during sampling, effectively relieving tissue entanglement, reducing the system failure rate, and improving the surgical efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to a control method for a biopsy sampling device and a biopsy sampling device. Background Art

[0002] Biopsy is a technique of cutting, forceps-taking, or puncturing a diseased tissue from a patient's body for pathological examination as needed for diagnosis and treatment. A biopsy sampling device is used for taking samples of human living tissues. A biopsy sampling device with rotary cutting sampling is widely used. The device usually includes a tool and a handle. The tool includes an inner cutter tube and an outer cutter tube sleeved with each other. The front end of the outer cutter tube is a tip for puncturing. A sampling groove is formed on the side surface of the outer cutter tube near the front end. The front end of the inner cutter tube has a cutting edge. When puncturing, the inner cutter tube closes the sampling groove at the front end. After puncturing to the position, the inner cutter tube moves backward to make way for the sampling groove. The tissue is sucked into the sampling groove under negative pressure. At this time, the inner cutter tube moves forward and rotates to cut the tissue entering the sampling groove and accommodate it in the front end of the inner cutter tube.

[0003] At present, most biopsy needles are composed of an outer cutter tube and an inner cutter tube movably arranged inside the outer cutter tube. The system controls the inner cutter tube to move forward and backward along the axial direction of the outer cutter tube and simultaneously controls the inner cutter tube to rotate in a fixed direction. Usually, multiple samplings are performed during one puncture. Since the inner cutter tube rotates in one direction during multiple sampling processes and a negative pressure air inlet is provided on the front side of the inner cutter tube, it is easy to cause the sampled tissue to wind around the inner cutter tube through the air inlet, increasing the torque of the inner cutter tube, resulting in the system prompting that the motor is overloaded and the tissue sampling cannot be completed. Summary of the Invention

[0004] In view of the above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a control method for a biopsy sampling device to prevent the inner cutter tube from being wound by tissue during the sampling process.

[0005] To achieve the above purpose and other related purposes, the technical solution of the present invention is as follows:

[0006] A control method for a biopsy sampling device, wherein the biopsy sampling device includes an outer cutter tube and an inner cutter tube, the outer cutter tube is sleeved with the inner cutter tube, and a sampling window is formed on the front side surface of the outer cutter tube, wherein:

[0007] Obtain a sampling instruction, and control the operating states of a first motor and a second motor according to the sampling instruction to drive the inner cutter tube to move relative to the outer cutter tube for more than two samplings;

[0008] The controlling the operating states of the first motor and the second motor according to the sampling instruction to drive the inner cutter tube to move relative to the outer cutter tube includes:

[0009] Control the first motor to rotate to drive the inner cutter tube to move axially to a specified sampling position;

[0010] Control the first motor and the second motor to rotate simultaneously, driving the inner cutter tube to move forward and rotate until the inner cutter tube reaches the closed position of the sampling window;

[0011] Wherein, the first motor is used to drive the inner cutter tube to move axially, and the second motor is used to drive the inner cutter tube to rotate along its own axis; in two adjacent sampling processes before and after, the rotation directions of the inner cutter tube along its own axis are opposite.

[0012] Optionally, in two adjacent sampling processes before and after,

[0013] During the previous sampling, control the first motor to rotate, so that the inner cutter tube moves backward from the closed position of the sampling window to the first sampling position; after the inner cutter tube reaches the first sampling position, control the first motor and the second motor to rotate, so that the inner cutter tube moves forward and rotates in the first direction simultaneously until the inner cutter tube reaches the closed position of the sampling window;

[0014] During the subsequent sampling, control the first motor to rotate, so that the inner cutter tube moves backward to the specified second sampling position. After the inner cutter tube reaches the second sampling position, control the first motor and the second motor to rotate, so that the inner cutter tube moves forward and rotates in the second direction until it reaches the closed position of the sampling window;

[0015] Wherein, the first direction is opposite to the second direction; the rotation directions of the second motor in two adjacent sampling processes before and after are opposite.

[0016] Optionally, each time a sampling instruction is received, one sampling is completed; or each time a sampling instruction is received, more than two consecutive samplings are completed.

[0017] Optionally, during each sampling process, when the first sampling instruction is received, control the first motor to rotate, so that the inner cutter tube moves backward to the specified second sampling position; after the inner cutter tube reaches the second sampling position and the second sampling instruction is received, control the first motor and the second motor to rotate, so that the inner cutter tube moves forward and rotates in the second direction until it reaches the closed position of the sampling window.

[0018] The present invention also provides a biopsy sampling device, including an outer cutter tube and an inner cutter tube, the outer cutter tube is sleeved with the inner cutter tube, a sampling window is opened on the front side surface of the outer cutter tube, and further includes:

[0019] A first motor, the first motor is connected to the inner cutter tube through a first transmission mechanism to drive the inner cutter tube to move axially;

[0020] A second motor, the second motor is connected to the inner cutter tube through a second transmission mechanism to drive the inner cutter tube to rotate along its own axis:

[0021] A controller, which is respectively connected to the first motor and the second motor, is configured to obtain a sampling instruction and control the operating states of the first motor and the second motor according to the sampling instruction, so as to drive the inner cutter tube to move relative to the outer cutter tube and perform sampling more than twice;

[0022] The controller controls the operating states of the first motor and the second motor according to the sampling instruction to drive the inner cutter tube to move relative to the outer cutter tube, including:

[0023] Controlling the first motor to rotate to drive the inner cutter tube to move axially to a specified sampling position;

[0024] Controlling the first motor and the second motor to rotate simultaneously to drive the inner cutter tube to move forward and rotate until the inner cutter tube reaches the closed position of the sampling window to complete sampling;

[0025] Wherein, the first motor is used to drive the inner cutter tube to move axially, and the second motor is used to drive the inner cutter tube to rotate along its own axis; in two adjacent sampling processes, the directions of rotation of the inner cutter tube along its own axis are opposite.

[0026] Optionally, the first transmission mechanism includes a reciprocating driving gear and a reciprocating driven gear that mesh with each other, and a first transmission component and a second transmission component that are sleeved by a thread. The reciprocating driving gear is connected to the output end of the first motor. The reciprocating driven gear is installed on the first transmission component and drives the first transmission component to rotate synchronously. The second transmission component is axially relatively fixed and circumferentially rotatably connected to the inner cutter tube.

[0027] Optionally, the biopsy sampling device further includes a handle housing, and the handle housing is provided with a first limiting structure for restricting the axial movement of the first transmission component and a second limiting structure for restricting the circumferential rotation of the second transmission component.

[0028] Optionally, a fourth transmission component is sleeved on the inner cutter tube. The fourth transmission component is axially relatively fixedly connected to the inner cutter tube. A card slot is axially formed in the outer wall of the fourth transmission component. The second transmission component is sleeved outside the fourth transmission component, and a clamping portion extending into the card slot is provided on the second transmission component. The second transmission component drives the fourth transmission component and the inner cutter tube to move axially through the clamping portion and the card slot.

[0029] Optionally, the second transmission mechanism includes a third transmission component and a rotary cutting driving gear and a rotary cutting driven gear that mesh with each other. The rotary cutting driving gear is connected to the output end of the second motor. The rotary cutting driven gear is installed on the third transmission component and drives the third transmission component to rotate synchronously. The third transmission component is sleeved outside the inner cutter tube, and the third transmission component and the inner cutter tube are axially relatively movable and circumferentially relatively fixed in cooperation.

[0030] Optionally, the third transmission component is sleeved outside the inner cutter tube. A groove extending along the axial direction is formed on the inner wall of the third transmission component. A protrusion cooperating with the groove is fixedly arranged on the outer cutter tube, and relative axial movement is possible between the protrusion and the groove.

[0031] Optionally, the biopsy sampling device further includes an intermediate shaft, a rotary cutting intermediate gear and a reciprocating intermediate gear mounted on the intermediate shaft. The first motor and the second motor are arranged side by side. The intermediate shaft is arranged parallel between the first motor and the second motor. The rotary cutting intermediate gear meshes with the rotary cutting driving gear and the rotary cutting driven gear simultaneously. The reciprocating intermediate gear meshes with the reciprocating driving gear and the reciprocating driven gear simultaneously.

[0032] As described above, the beneficial effects of the present invention are as follows: The present invention is configured with a dual motor in the biopsy handle of the biopsy sampling device. One motor controls the forward and backward movement of the inner cutter tube along the axial direction of the outer cutter tube, and the other motor controls the rotation of the inner cutter tube along its own axis when the inner cutter tube advances. Since the inner cutter tube does not rotate when it retreats and rotates in different directions each time it advances for sampling, the tissue wound during the previous sampling can be loosened by reverse rotation during the next sampling, thereby effectively alleviating tissue entanglement, reducing the system failure rate, and improving the surgical efficiency. Description of the Drawings

[0033] Figure 1 It is a schematic structural diagram of a biopsy sampling device in an embodiment;

[0034] Figure 2 It is a schematic structural diagram of the outer cutter tube and the inner cutter tube in an embodiment;

[0035] Figure 3 It is a schematic structural diagram of the inner cutter tube exposing / covering a part of the sampling window in an embodiment;

[0036] Figure 4 It is a partial cross-sectional view (front view) of a biopsy sampling device in an embodiment;

[0037] Figure 5 For Figure 4 The enlarged view of the transmission part in

[0038] Figure 6 It is a partial cross-sectional view (top view) of a biopsy sampling device in an embodiment;

[0039] Figure 7 For Figure 6 The partial enlarged view in

[0040] Figure 8 It is a schematic structural diagram of a third transmission component in an embodiment;

[0041] Figure 9 It is a cross-sectional view of a third transmission component in an embodiment;

[0042] Figure 10 is a schematic structural diagram of a fourth transmission component in an embodiment;

[0043] Figure 11 A sampling control flow chart of a biopsy sampling device in one embodiment;

[0044] Figure 12 FIG. 4 is a sampling control flow chart of a biopsy sampling device in yet another embodiment.

[0045] Part Number Description

[0046] 1-handle; 11-first motor; 12-second motor; 13-bracket; 14-intermediate shaft; 2-tool assembly; 21-outer tool tube; 21a-sampling window; 22-inner tool tube; 31-reciprocating driving gear; 32-reciprocating intermediate gear; 33-reciprocating driven gear; 34-first transmission component; 35-second transmission component; 35a-clamping part; 41-peeling driving gear; 42-peeling intermediate gear; 43-peeling driven gear; 44-third transmission component; 44a-groove; 45-fourth transmission component; 45a-slot; 45b-protrusion. DETAILED DESCRIPTION

[0047] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0048] Example

[0049] The front and back directions herein are based on the use state of the biopsy sampling device. When in use, the side facing the patient is the front, and the side away from the patient is the back.

[0050] like Figures 1 to 6 As shown, this example illustrates a biopsy sampling device, including a handle 1 and a knife assembly 2 connected to each other, the knife assembly 2 includes an outer knife tube 21 and an inner knife tube 22 arranged coaxially, the front end of the outer knife tube 21 has a puncture tip, the side of the outer knife tube 21 near the front end is provided with a sampling window 21a, the front end of the inner knife tube 22 has a cutting edge, the inner knife tube 22 is sleeved with the outer knife tube 21, the inner knife tube 22 is sleeved inside the outer knife tube 21, and the inner knife tube 22 can move axially relative to the outer knife tube 21;

[0051] A first motor 11 and a second motor 12 for providing power are provided in the handle 1. The first motor 11 is connected to the inner knife tube 22 via a first transmission mechanism, driving the inner knife tube 22 to move axially (forward and backward), so that the inner knife tube 22 can move between the closed position of the sampling window and the maximum window opening length.

[0052] The second motor 12 is connected to the inner cutter tube 22 through a second transmission mechanism, so as to drive the inner cutter tube 22 to rotate around its own axis through the second transmission mechanism. When the inner cutter tube 22 rotates forward for sampling, it moves forward under the drive of the first motor 11 and simultaneously makes a rotational movement under the drive of the second motor 12.

[0053] Wherein, the biopsy sampling device further includes a controller, which is electrically connected to the first motor 11 and the second motor 12 respectively, and is used to obtain a sampling instruction, and can control the working states of the first motor 11 and the second motor 12 according to the sampling instruction. The working states include starting and stopping, rotation direction, etc., so as to drive the inner cutter tube 22 to move for sampling, and the number of samplings is two or more continuously;

[0054] The action of driving the inner cutter tube 22 for each / single sampling is as follows: first control the first motor 11 to rotate, and drive the inner cutter tube 22 to move axially to a specified sampling position (the initial position of the inner cutter tube 22 is usually at the closed position of the sampling window, and of course it can also be other positions). During this process, the inner cutter tube 22 only moves axially and does not rotate; the specified sampling position corresponds to the preset sampling window opening length, and the sampling length can be adjusted according to requirements; when the inner cutter tube 22 moves to the specified sampling position, control the first motor 11 and the second motor 12 to rotate simultaneously. The first motor 11 drives the inner cutter tube 22 to move forward through the first transmission mechanism (the rotation direction of the first motor 11 during the forward movement of the inner cutter tube 22 is opposite to the rotation direction of the first motor 11 during the backward movement of the inner cutter tube 22); at the same time, the second motor 12 drives the inner cutter tube 22 to rotate around its own axis through the second transmission mechanism until the inner cutter tube 22 moves forward to the closed position of the sampling window, thereby completing one sampling.

[0055] Wherein the number of samplings is two or more continuously / adjacently. During two consecutive / adjacent samplings before and after, the rotation direction of the inner cutter tube 22 around its own axis is opposite; that is, during two samplings, the rotation direction of the inner cutter tube 22 around its own axis when moving forward is opposite. For example, the previous time is counterclockwise rotation and the next time is clockwise rotation.

[0056] By configuring a dual motor in the biopsy handle of the biopsy sampling device, one controls the inner cutter tube 22 to move forward and backward along the axis of the outer cutter tube 21, and the other controls the inner cutter tube 22 to rotate around its own axis; since the inner cutter tube 22 does not rotate when moving backward, and rotates in different directions every time it moves forward for sampling, the tissue wound during the previous sampling can be loosened by reverse rotation during the next sampling, thereby effectively relieving tissue entanglement, reducing the system failure rate, and improving the surgical efficiency.

[0057] During puncture, the inner cutter tube 22 is located at the forefront to seal the sampling window 21a. After puncturing to the position, the inner cutter tube 22 moves backward to expose the sampling window 21a. Under negative pressure conditions, tissues are sucked into the sampling window 21a. At this time, the inner cutter tube 22 moves forward and rotates simultaneously to cut off the tissues entering the sampling window 21a, and then the cut tissues are transported through the inner cutter tube 22 to the sample collection box by the negative pressure device to complete a single sampling operation.

[0058] Among them, the sampling instruction at least includes a sampling signal. For example, the sampling signal can be triggered by pressing a button on the handle, or the sampling instruction can be input through the host. After the controller receives the sampling instruction, it controls the motor to start sampling; each time a sampling signal is received, a sampling action is executed; of course, it is also possible to execute continuous multiple sampling actions each time a sampling signal is received. The specified sampling position can be preset according to the sampling length; for example, usually, the initial position of the inner cutter tube 22 is at the position where the sampling window is sealed. When the inner cutter tube 22 moves backward a specified distance relative to the initial position, it reaches the specified position.

[0059] Single sampling process: When the biopsy sampling device is working, before and during puncture, the inner cutter tube 22 moves to the forefront position to seal the sampling window 21a. After puncturing in place, according to the sampling size requirements, the first motor 11 drives the inner cutter tube 22 to move backward until the actual opening length of the sampling window 21a corresponds to the set value. Then, suction is applied from the rear end of the inner cutter tube 22 through the negative pressure device to suck the tissues into the sampling window 21a. After completion, the inner cutter tube 22 is driven to move forward and rotate at high speed to cut off the tissues and hold them at the front end of the inner cutter tube 22 to complete the sampling.

[0060] The above-mentioned controller can be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it can also be a digital signal processor (DSP for short), an application-specific integrated circuit (ASIC for short), a field-programmable gate array (FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The controller can be set on the handle or on the host connected to the handle.

[0061] In some embodiments, during two or more consecutive sampling processes, when sampling for the first time, the first motor 11 is controlled to rotate to move the inner cutter tube 22 backward from the closed position of the sampling window to the first sampling position. During this process, the inner cutter tube 22 only moves axially and does not rotate along its own axis. After the inner cutter tube 22 reaches the first sampling position, the first motor 11 and the second motor 12 are both controlled to rotate to move the inner cutter tube 22 forward and rotate in the first direction at the same time until the inner cutter tube 22 reaches the closed position of the sampling window (i.e., returns to the initial position). The tissue that enters the sampling window 21a is cut off by the inner cutter tube 22, and then the cut tissue is transported to the sample collection box through the inner cutter tube 22 by adsorption force to complete a single sampling operation.

[0062] When sampling for the second time, the first motor 11 is controlled to rotate to move the inner cutter tube 22 backward to the specified second sampling position. After the inner cutter tube 22 reaches the second sampling position, the first motor 11 and the second motor 12 are controlled to rotate to move the inner cutter tube 22 forward and rotate in the second direction until it reaches the closed position of the sampling window; wherein, the first direction is opposite to the second direction; that is, the rotation direction of the inner cutter tube 22 when moving forward during the previous sampling process is opposite to the rotation direction of the inner cutter tube 22 when moving forward during the next sampling process.

[0063] The first sampling position and the second sampling position may be the same or different; for example, when the number of samplings is three, the rotation directions of the inner cutter tube 22 in the first and second samplings are opposite, and the rotation direction in the third sampling is opposite to that in the second sampling: the three rotation directions are the first direction, the second direction, and the first direction in sequence. Similarly, when the number of samplings is four, the four rotation directions are the first direction, the second direction, the first direction, and the second direction in sequence; and so on, as long as the rotation direction of the next sampling is opposite to that of the previous sampling.

[0064] This example illustrates a transmission method. As shown in the figure, the first transmission mechanism includes a reciprocating driving gear 31, a reciprocating driven gear 33, a first transmission component 34 and a second transmission component 35. Among them, the reciprocating driving gear 31 is coaxially connected to the output end of the first motor 11 and is used to access the power from the first motor 11. The reciprocating driven gear 33 is sleeved on the first transmission component 34 and rotates synchronously with the first transmission component 34. The reciprocating driven gear 33 meshes with the reciprocating driving gear 31. The first transmission component 34 and the second transmission component 35 are sleeved and in threaded cooperation. The first transmission component 34 only makes rotational motion and cannot move axially along the inner cutter tube 22. The second transmission component 35 is axially relatively fixed and circumferentially rotatably connected to the inner cutter tube 22, that is, the inner cutter tube 22 can rotate along its own axis relative to the second transmission component 35. The second transmission component 35 only makes axial motion and does not make rotational motion. When the first motor 11 rotates, the first transmission component 34 is driven to rotate along its own axis through the reciprocating driving gear 31 and the reciprocating driven gear 33. Since the first transmission component 34 and the second transmission component 35 are in threaded cooperation, and the first transmission component 34 does not move axially and the second transmission component 35 does not rotate circumferentially, the second transmission component 35 can only move axially, thereby driving the inner cutter tube 22 to move axially. By changing the rotation direction of the first motor 11, the inner cutter tube 22 can be driven to move forward or backward.

[0065] In some embodiments, the biopsy sampling device further includes a housing. A first limiting structure for restricting the axial movement of the first transmission component 34 along the inner cutter tube 22 and a second limiting structure for restricting the circumferential rotation of the second transmission component 35 are provided on the housing. The housing can be a handle housing or a cutter housing, or a common housing of both. The first limiting structure can be a limiting step located outside the axial ends of the first transmission component 34. The limiting step blocks outside the two ends of the first transmission component 34. In this example, the first transmission component 34 is a first screw sleeve with internal threads, and the second transmission component 35 is a second screw sleeve with external threads. The first screw sleeve is arranged outside the second screw sleeve and is coaxially arranged with the inner cutter tube 22. The rear end of the first screw sleeve has a small-diameter section without threads. The reciprocating driven gear 33 is sleeved on the small-diameter section and drives the first screw sleeve to rotate. The reciprocating driven gear 33 and the first screw sleeve can be in keyway cooperation or fixedly connected. The circumferential direction of the second transmission component 35 can be restricted by a limiting member provided on the housing, such as being in cooperation with the housing through a concave-convex structure.

[0066] Among them, a fourth transmission component 45 is sleeved on the inner cutter tube 22. The fourth transmission component 45 is axially fixedly connected to the inner cutter tube 22 and can rotate synchronously with the inner cutter tube 22 or can also not rotate with the inner cutter tube 22. In this example, the fourth transmission component 45 is fixedly connected to the inner cutter tube 22 and moves axially and rotates circumferentially synchronously; a clamping groove 45a is circumferentially formed on the outer wall of the fourth transmission component 45. The second transmission component 35 is sleeved on the fourth transmission component 45, and a clamping portion 35a extending into the clamping groove 45a is arranged at the front end of the second transmission component 35. The second transmission component 35 and the fourth transmission component 45 can rotate relative to each other. When the second transmission component 35 moves back and forth, the fourth transmission component 45 and the inner cutter tube 22 are driven to move axially through the clamping portion 35a and the clamping groove 45a.

[0067] In some embodiments, the second transmission mechanism includes a third transmission component 44 and a rotary cutting driving gear 41 and a rotary cutting driven gear 43 that are meshed with each other. The rotary cutting driving gear 41 is coaxially connected to the output end of the second motor 12. The rotary cutting driven gear 43 is sleeved on the third transmission component 44 and drives the third transmission component to rotate synchronously. The third transmission component 44 is sleeved outside the inner cutter tube 22, and the third transmission component 44 and the inner cutter tube 22 are axially relatively movable and circumferentially relatively fixedly matched.

[0068] In one embodiment, the third transmission component 44 is a transmission sleeve. The transmission sleeve is sleeved outside the inner cutter tube 22. Axial grooves are formed on the inner wall of the transmission sleeve. A protrusion that cooperates with the groove is fixedly arranged on the outer cutter tube 21. The protrusion and the groove can move axially relative to each other, but the inner cutter tube 22 can be driven to rotate through the cooperation of the protrusion and the groove.

[0069] In one embodiment, the third transmission component 44 is a transmission sleeve. The transmission sleeve is connected to the rotary cutting driven gear 43 and rotates synchronously, but the transmission sleeve is loosely sleeved outside the inner cutter tube 22 and can move axially and circumferentially relative to the inner cutter tube 22; the fourth transmission component 45 is a connecting sleeve. The connecting sleeve is fixedly sleeved outside the inner cutter tube 22. The rear part of the connecting sleeve extends into the front part of the transmission sleeve. Axial grooves 44a are formed on the inner wall of the transmission sleeve. Corresponding protrusions 45b are arranged on the outer wall of the rear end of the connecting sleeve. The transmission sleeve and the connecting sleeve can move axially relative to each other and are circumferentially relatively fixed; thus, during the process of the connecting sleeve moving back and forth with the inner cutter tube 22, torque is transmitted through the cooperation of the protrusion 45b and the groove 44a with the transmission sleeve, and the inner cutter tube 22 rotates when being driven forward. The rotation direction of the inner cutter tube 22 can be adjusted by changing the rotation direction of the second motor 12. The rear part of the connecting sleeve and the front part of the transmission sleeve support each other, which can further improve the coaxiality of the two and the stability of transmission.

[0070] Among them, the rear part of the third transmission member 44 is sleeved inside the first transmission member 34, and the axial movement of the third transmission member 44 can be restricted by the shoulder between it and the first transmission member 34. The first transmission member 34, the second transmission member 35, the third transmission member 44, and the fourth transmission member 45 can be metal parts or injection-molded parts.

[0071] The first transmission mechanism and the second transmission mechanism can also adopt other existing implementation manners.

[0072] In one embodiment, the biopsy sampling device further includes an intermediate shaft 14, a rotary cutting intermediate gear 42 and a reciprocating intermediate gear 32 mounted on the intermediate shaft 14. The first motor 11 and the second motor 12 are arranged side by side on the same bracket 13. The intermediate shaft 14 is mounted on the bracket 13. The intermediate shaft 14 is parallel to the axes of the first motor 11 and the second motor 12 respectively, and is located between the first motor 11 and the second motor 12. The rotary cutting intermediate gear 42 is simultaneously meshed with the rotary cutting driving gear 41 and the rotary cutting driven gear 43, and the reciprocating intermediate gear 32 is simultaneously meshed with the reciprocating driving gear 31 and the reciprocating driven gear 33. This structure facilitates the compact arrangement of the transmission mechanism to reduce the volume of the biopsy sampling device.

[0073] The embodiment also discloses a control method for a biopsy sampling device. The control method is based on the biopsy sampling device of any one of the above embodiments. The control method includes controlling the operating states (start / stop and rotation direction) of the first motor 11 and the second motor 12 according to the input sampling instruction to drive the inner cutter tube 22 to move relative to the outer cutter tube 21 to complete at least two samplings. During the two adjacent sampling processes before and after, when the inner cutter tube 22 moves forward, the rotation direction along its own axis is opposite, and when the inner cutter tube 22 moves backward, it does not rotate.

[0074] As Figure 11 shown, specifically, the three consecutive sampling processes before and after are as follows:

[0075] S101. Obtain the first sampling instruction (or obtain the first sampling instruction) for the first time and perform the first sampling;

[0076] S102. Control the first motor 11 to rotate to move the inner cutter tube 22 backward to the first sampling position;

[0077] That is, move backward by a specified length or distance. The specified first sampling position can be set or input through a host or the like before step S101. The inner cutter tube 22 does not rotate during the backward movement, that is, the second motor 12 does not rotate;

[0078] S103. Control the first motor 11 to rotate to move the inner cutter tube 22 forward. At the same time, control the second motor 12 to rotate to make the inner cutter tube 22 rotate in the first direction (for example, forward or clockwise) until the inner cutter tube 22 reaches the closed position of the sampling window, completing the first sampling.

[0079] S104. Obtain the sampling instruction for the second time (or obtain the second sampling instruction) to perform the second sampling.

[0080] S105. Control the first motor 11 to rotate to move the inner cutter tube 22 backward to the second sampling position.

[0081] S106. Control the first motor 11 to move the inner cutter tube 22 forward. At the same time, control the second motor 12 to rotate to make the inner cutter tube 22 rotate in the second direction (for example, backward or counterclockwise) until the inner cutter tube 22 reaches the closed position of the sampling window, completing the second sampling. In this step, the rotation direction of the second motor 12 is opposite to that in S103.

[0082] S107. Obtain the sampling instruction for the third time (or obtain the third sampling instruction) to start the third sampling.

[0083] S108. Control the first motor 11 to rotate to move the inner cutter tube 22 backward to the specified third sampling position.

[0084] S109. Control the first motor 11 to move the inner cutter tube 22 forward. At the same time, control the second motor 12 to rotate to make the inner cutter tube 22 rotate in the first direction (for example, forward or clockwise) until the inner cutter tube 22 reaches the closed position of the sampling window, completing the third sampling. In this step, the rotation direction of the second motor 12 is opposite to that in S106.

[0085] S110. Complete the sample delivery. After multiple samplings are completed, all the samples are sent out by negative pressure adsorption.

[0086] Among them, the input method of the sampling instruction can be triggered by pressing the button on the handle or input through the host computer. For example, pressing the handle button once inputs one sampling instruction.

[0087] In this way, sampling is carried out more than twice in sequence. The first sampling position, the second sampling position, and the third sampling position can be the same or different. For example, when the number of samplings is three, the rotation direction of the inner cutter tube 22 in the first and second samplings is opposite, and the rotation direction in the third sampling is opposite to that in the second sampling: the three rotation directions are the first direction, the second direction, and the first direction in sequence. Similarly, when the number of samplings is four, the four rotation directions are the first direction, the second direction, the first direction, and the second direction in sequence; and so on. It is only necessary that the next time is opposite to the previous time.

[0088] Before starting the first sampling, self-check of the biopsy sampling device can also be performed, and steps such as setting the sampling length and positioning the inner cutter tube 22 at the initial position (the closed position of the sampling window) can be carried out.

[0089] In the above embodiment, by inputting a single sampling instruction (pressing the sampling button once), the entire operation of moving the inner cutter tube 22 backward to the specified sampling position, rotating, and then moving forward to the closed position of the sampling window is executed.

[0090] In another embodiment, a corresponding sampling instruction is required for the inner cutter tube 22 to move backward, and another sampling instruction is required for the inner cutter tube 22 to rotate and move forward; in other words, during each sampling process, when the first sampling instruction is input / acquired for the first time, the inner cutter tube 22 moves backward to the specified position; when the second sampling instruction is input / acquired for the second time, the inner cutter tube 22 rotates and simultaneously moves forward to the closed position of the sampling window. Each time a sampling instruction is input, it can be done by pressing the sampling button, and it can be distinguished by long pressing and short pressing; it can also be distinguished by the order of pressing. For example, pressing the first time makes the inner cutter tube 22 move backward, pressing the second time makes the inner cutter tube 22 rotate and move forward, pressing the third time makes the inner cutter tube 22 move backward again, and pressing the fourth time makes the inner cutter tube 22 rotate and move forward. Of course, it is also possible to input / acquire a single sampling instruction to complete a single complete sampling process, such as long pressing the button; or input / acquire a single sampling instruction to complete multiple consecutive samplings.

[0091] As Figure 12 shown:

[0092] S201. Obtain the sampling instruction for the first time (or obtain the first sampling instruction) and perform the first sampling; for example, input the sampling instruction by pressing the handle button.

[0093] S202. Control the first motor 11 to rotate, so that the inner cutter tube 22 moves backward to the first sampling position. During the backward movement of the inner cutter tube 22, it does not rotate, that is, the second motor 12 does not rotate.

[0094] S203. Obtain the sampling instruction for the second time (or obtain the second sampling instruction); the second input of the sampling instruction can be the second pressing of the handle button.

[0095] S204. Control the first motor 11 to rotate to make the inner cutter tube 22 move forward, and at the same time control the second motor 12 to rotate to make the inner cutter tube 22 rotate in the first direction (such as forward or clockwise) until the inner cutter tube 22 reaches the closed position of the sampling window, completing the first sampling.

[0096] S205. Obtain the sampling instruction for the third time (obtain the third sampling instruction or obtain the first sampling instruction again) and perform the second sampling; the third sampling instruction can be input by pressing the handle button for the third time.

[0097] S206. Control the first motor 11 to rotate, so that the inner cutter tube 22 moves backward to the second sampling position;

[0098] S207. Obtain the sampling instruction for the fourth time (obtain the fourth sampling instruction or obtain the second sampling instruction again); the input of the sampling instruction can be triggered by pressing the handle button for the fourth time;

[0099] S208. Control the first motor 11 to make the inner cutter tube 22 move forward, and at the same time control the second motor 12 to rotate, so that the inner cutter tube 22 rotates along the second direction (such as in the reverse direction or counterclockwise), until the inner cutter tube 22 reaches the closed position of the sampling window, and the second sampling is completed;

[0100] S209. Complete the sample delivery; after the two samplings are completed, all the samples are sent out by negative pressure adsorption.

[0101] In another embodiment, the sample can be sent out after each sampling is completed, instead of being sent out centrally at the end.

[0102] As described above, the implementation of the control method does not depend on the biopsy sampling device disclosed in this embodiment, and can also be applied to other biopsy sampling devices driven by two motors, as long as one motor drives the inner cutter tube to move forward and backward, and the other motor drives the inner cutter tube to rotate along its own axis.

[0103] In the present invention, two motors are configured in the biopsy handle of the biopsy sampling device. One controls the inner cutter tube 22 to move forward and backward along the axis of the outer cutter tube 21, and the other controls the inner cutter tube 22 to rotate when moving forward; the inner cutter tube 22 does not rotate when moving backward, and rotates in different directions each time when sampling forward. The tissue wound during the previous sampling can be loosened by reverse rotation during the next sampling, thereby effectively alleviating tissue entanglement, reducing the system failure rate, and improving the surgical efficiency.

[0104] Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A control method for a biopsy sampling device, wherein, The biopsy sampling device includes an outer knife tube and an inner knife tube. The outer knife tube is sleeved with the inner knife tube. A sampling window is provided on the front side of the outer knife tube. It is characterized in that: Obtain a sampling instruction, and control the operating states of the first motor and the second motor according to the sampling instruction to drive the inner knife tube to move relative to the outer knife tube for sampling more than twice; The controlling the operating states of the first motor and the second motor according to the sampling instruction to drive the inner knife tube to move relative to the outer knife tube includes: Control the first motor to rotate to drive the inner knife tube to move axially to a specified sampling position; Control the first motor and the second motor to rotate simultaneously to drive the inner knife tube to move forward and rotate until the inner knife tube reaches the closed position of the sampling window; Wherein, the first motor is used to drive the inner knife tube to move axially, and the second motor is used to drive the inner knife tube to rotate along its own axis; in two adjacent sampling processes before and after, the directions of rotation of the inner knife tube along its own axis are opposite.

2. The control method of the biopsy sampling device according to claim 1, characterized in that: In two adjacent sampling processes before and after, During the previous sampling, control the first motor to rotate to move the inner knife tube backward from the closed position of the sampling window to the first sampling position; after the inner knife tube reaches the first sampling position, control the first motor and the second motor to rotate to make the inner knife tube move forward and rotate in the first direction simultaneously until the inner knife tube reaches the closed position of the sampling window; During the subsequent sampling, control the first motor to rotate to move the inner knife tube backward to a specified second sampling position. After the inner knife tube reaches the second sampling position, control the first motor and the second motor to rotate to make the inner knife tube move forward and rotate in the second direction until it reaches the closed position of the sampling window; Wherein, the first direction is opposite to the second direction; the directions of rotation of the second motor in two adjacent sampling processes before and after are opposite.

3. The control method of the biopsy sampling device according to claim 1 or 2, characterized in that: Each time a sampling instruction is received, one sampling is completed; or each time a sampling instruction is received, more than two consecutive samplings are completed.

4. The control method of the biopsy sampling device according to claim 1 or 2, characterized in that: During each sampling process, when the first sampling instruction is received, control the first motor to rotate to move the inner knife tube backward to a specified first sampling position; after the inner knife tube reaches the first sampling position and the second sampling instruction is received, control the first motor and the second motor to rotate to make the inner knife tube move forward and rotate in the second direction until it reaches the closed position of the sampling window.

5. A biopsy sampling device, comprising an outer knife tube and an inner knife tube, wherein the outer knife tube is sleeved with the inner knife tube, and a sampling window is formed on the front side surface of the outer knife tube, and is characterized in that, It further includes: A first motor, which is connected to the inner knife tube through a first transmission mechanism to drive the inner knife tube to move axially; A second motor, which is connected to the inner knife tube through a second transmission mechanism to drive the inner knife tube to rotate along its own axis: A controller, which is respectively connected to the first motor and the second motor, and is used to obtain a sampling instruction and control the operating states of the first motor and the second motor according to the sampling instruction to drive the inner knife tube to move relative to the outer knife tube for sampling more than twice; The controller controls the operating states of the first motor and the second motor according to the sampling instruction to drive the inner knife tube to move relative to the outer knife tube includes: Control the first motor to rotate to drive the inner knife tube to move axially to a specified sampling position; Control the first motor and the second motor to rotate simultaneously to drive the inner knife tube to move forward and rotate until the inner knife tube reaches the closed position of the sampling window to complete the sampling; Among them, the first motor is used to drive the inner cutter tube to move axially, and the second motor is used to drive the inner cutter tube to rotate along its own axis; during two adjacent sampling processes before and after, the directions of rotation of the inner cutter tube along its own axis are opposite.

6. The biopsy sampling device according to claim 5, wherein: The first transmission mechanism includes a reciprocating driving gear and a reciprocating driven gear that are meshed with each other, and a first transmission component and a second transmission component that are sleeved by threads. The reciprocating driving gear is connected to the output end of the first motor. The reciprocating driven gear is installed on the first transmission component and drives the first transmission component to rotate synchronously. The second transmission component is axially relatively fixed and circumferentially rotatably connected to the inner cutter tube.

7. The biopsy sampling device according to claim 6, wherein: The biopsy sampling device further includes a handle housing. The handle housing is provided with a first limiting structure for limiting the axial movement of the first transmission component and a second limiting structure for limiting the circumferential rotation of the second transmission component.

8. The biopsy sampling device according to claim 6, wherein: A fourth transmission component is sleeved on the inner cutter tube. The fourth transmission component is axially relatively fixedly connected to the inner cutter tube. A clamping groove is axially formed in the outer wall of the fourth transmission component. The second transmission component is sleeved outside the fourth transmission component, and a clamping portion extending into the clamping groove is provided on the second transmission component. The second transmission component drives the fourth transmission component and the inner cutter tube to move axially through the clamping portion and the clamping groove.

9. The biopsy sampling device according to any one of claims 5-8, characterized in that: The second transmission mechanism includes a third transmission component and a rotary cutting driving gear and a rotary cutting driven gear that are meshed with each other. The rotary cutting driving gear is connected to the output end of the second motor. The rotary cutting driven gear is installed on the third transmission component and drives the third transmission component to rotate synchronously. The third transmission component is sleeved outside the inner cutter tube, and the third transmission component and the inner cutter tube are axially relatively movable and circumferentially relatively fixedly matched.

10. The biopsy sampling device according to claim 9, characterized in that: The third transmission component is sleeved outside the inner cutter tube. A groove is axially formed in the inner wall of the third transmission component. A protrusion that cooperates with the groove is fixedly provided on the outer cutter tube, and the protrusion and the groove can move axially relative to each other.

11. The biopsy sampling device according to claim 9, wherein: The biopsy sampling device further includes an intermediate shaft and a rotary cutting intermediate gear and a reciprocating intermediate gear installed on the intermediate shaft. The first motor and the second motor are arranged side by side. The intermediate shaft is arranged parallel to the first motor and the second motor. The rotary cutting intermediate gear is simultaneously meshed with the rotary cutting driving gear and the rotary cutting driven gear. The reciprocating intermediate gear is simultaneously meshed with the reciprocating driving gear and the reciprocating driven gear.

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