Piercing method, piercing device, piercer and storage medium

Abstract

This application provides a puncture method, puncture device, puncture tool, and storage medium. In the puncture method provided in this application, a first pulse signal sequence matching the equivalent capacitance formed by the sensing component and the biological tissue is determined based on a second pulse signal sequence output by the sensing component based on a first pulse signal sequence. This determines the capacitance value of the equivalent capacitance and the puncture depth of the puncture component. Therefore, during the puncture process, the operator can monitor the depth of the puncture component inserted into the biological tissue in real time, facilitating precise control of the puncture depth and reducing the likelihood of accidental injury to the patient's biological tissue, thereby improving the safety of the puncture tool.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to a puncture method, puncture device, puncturist, and storage medium. Background Technology

[0002] A trocar is a medical device that provides an instrument channel for surgery. With the development of medical technology, trocars have been widely used.

[0003] Currently available puncture devices require the operator to control the movement of the puncture needle. During the puncture process, the operator can only control the puncture depth of the puncture component based on experience. This can easily lead to the puncture component accidentally injuring the patient's biological tissue, causing unnecessary damage to the patient. Summary of the Invention

[0004] This application addresses the shortcomings of existing methods by proposing a puncture method, puncture device, puncturist, and storage medium to solve the technical problem that the puncture component of the puncturist can easily injure the patient's biological tissue during the operation of the puncturist in the prior art.

[0005] In a first aspect, embodiments of this application provide a puncture method, comprising:

[0006] Send a sequence of first pulse signals to the sensing component;

[0007] The detection sensing component outputs a second pulse signal sequence based on a first pulse signal sequence;

[0008] Based on the second pulse signal sequence, determine whether the first pulse signal sequence matches the equivalent capacitance formed by the sensing component and the biological tissue.

[0009] If it is determined that the first pulse signal sequence matches the equivalent capacitance formed by the sensing component and the biological tissue, the capacitance value of the equivalent capacitance is determined based on the frequency of the first pulse signal sequence that matches the equivalent capacitance.

[0010] The puncture depth of the puncture component is determined based on the capacitance value of the equivalent capacitance.

[0011] Optionally, determining that the first pulse signal sequence matches the equivalent capacitance formed by the sensing component and the biological tissue includes:

[0012] A first pulse signal sequence whose frequency matches the second pulse signal sequence is determined as the first pulse signal sequence that matches the equivalent capacitance.

[0013] Optionally, determining a first pulse signal sequence whose frequency matches the second pulse signal sequence includes:

[0014] The first amplitude of the waveform of the second pulse signal sequence is the same as the first amplitude of the waveform of the first pulse signal sequence, and the inflection point of the waveform of the second pulse signal sequence is synchronized with the inflection point of the waveform of the first pulse signal sequence in time.

[0015] Optionally, the capacitance value of the equivalent capacitance is determined based on the frequency of a first pulse signal sequence that matches the equivalent capacitance, including:

[0016] The period of the first pulse signal sequence is determined based on the frequency of the first pulse signal sequence that matches the equivalent capacitance.

[0017] The time constant of the equivalent capacitance is determined based on the period of the first pulse signal sequence that matches the equivalent capacitance.

[0018] The capacitance value of the equivalent capacitance is determined based on the time constant of the equivalent capacitance.

[0019] Optionally, the puncture depth of the puncture component is determined based on the capacitance value of the equivalent capacitance, including:

[0020] The depth of the sensing component inserted into the biological tissue is determined based on the capacitance value of the equivalent capacitance.

[0021] The puncture depth of the puncture component is determined based on the depth to which the sensing component is inserted into the biological tissue and the first distance between the first end of the sensing component and the puncture portion of the puncture component.

[0022] Optionally, after determining whether the first pulse signal sequence matches the equivalent capacitance formed by the sensing component and the biological tissue based on the second pulse signal sequence, the method further includes:

[0023] If it is determined that the first pulse signal sequence does not match the equivalent capacitance formed by the sensing component and the biological tissue, another set of first pulse signal sequences is sent to the sensing component until the first pulse signal sequence matches the equivalent capacitance formed by the sensing component and the biological tissue based on the second pulse signal sequence output by the sensing component; one set of first pulse signal sequences and another set of first pulse signal sequences have different frequencies.

[0024] Optionally, the puncture method further includes: processing real-time puncture image information sent by the camera component and sending it to a display device.

[0025] Secondly, embodiments of this application provide a puncture device, comprising:

[0026] A pulse signal transmitting module is used to send a first pulse signal sequence to the sensing component;

[0027] The signal detection module is used to detect and transmit the second pulse signal sequence output by the sensing component based on the first pulse signal sequence.

[0028] The depth determination module is used to determine whether the first pulse signal sequence matches the equivalent capacitance formed by the sensing component and the biological tissue based on the second pulse signal sequence; if it is determined that the first pulse signal sequence matches the equivalent capacitance formed by the sensing component and the biological tissue, the capacitance value of the equivalent capacitance is determined based on the frequency of the first pulse signal sequence that matches the equivalent capacitance; and the puncture depth of the puncture component is determined based on the capacitance value of the equivalent capacitance.

[0029] Thirdly, embodiments of this application provide a puncture device, comprising:

[0030] Puncture components;

[0031] The sensing component is located within the puncture assembly;

[0032] A control device, communicatively connected to a sensing component, is used to send a first pulse signal sequence to the sensing component; detect a second pulse signal sequence output by the sensing component based on the first pulse signal sequence; determine, based on the second pulse signal sequence, whether the first pulse signal sequence matches the equivalent capacitance formed by the sensing component and the biological tissue; if it is determined that the first pulse signal sequence matches the equivalent capacitance formed by the sensing component and the biological tissue, determine the capacitance value of the equivalent capacitance based on the frequency of the first pulse signal sequence that matches the equivalent capacitance; and determine the puncture depth of the puncture component based on the capacitance value of the equivalent capacitance.

[0033] Optionally, along the axial direction of the puncture assembly, there is a first gap between the first end of the sensing assembly and the puncture portion of the puncture assembly.

[0034] Optionally, the puncture device also includes a camera assembly that is communicatively connected to a control device, the camera assembly being disposed within the puncture assembly.

[0035] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program on the computer-readable storage medium, when executed by a puncture device, implements the puncture method provided in the first aspect of this application.

[0036] The beneficial technical effects of the technical solutions provided in this application include:

[0037] In the puncture method provided in this application embodiment, a first pulse signal sequence matching the equivalent capacitance formed by the sensing component and the biological tissue is determined based on a second pulse signal sequence output by the sensing component based on a first pulse signal sequence. This determines the capacitance value of the equivalent capacitance and the puncture depth of the puncture component. Therefore, during the puncture process, the operator can monitor the depth of the puncture component inserted into the biological tissue in real time, facilitating precise control of the puncture depth and reducing the likelihood of accidental injury to the patient's biological tissue, thereby improving the safety of the puncture device.

[0038] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0039] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0040] Figure 1 This is a cross-sectional view of a puncture device provided in an embodiment of this application;

[0041] Figure 2 Provided for the embodiments of this application Figure 1 A cross-sectional structural diagram of the puncture device in its working state.

[0042] Figure 3 A schematic diagram of the structure of a puncture device provided in an embodiment of this application;

[0043] Figure 4 A schematic flowchart of a puncture method provided in an embodiment of this application;

[0044] Figure 5 A schematic diagram illustrating the determination of a first pulse signal sequence whose frequency matches the second pulse signal sequence in the puncture method provided in this application embodiment;

[0045] Figure 6 An equivalent circuit diagram of the equivalent capacitance formed by the sensing component and biological tissue in a puncture device, provided for an embodiment of this application;

[0046] Figure 7 This is a schematic diagram of the structural framework of a puncture device provided in an embodiment of this application.

[0047] Explanation of reference numerals in the attached figures:

[0048] 100-Biological tissue;

[0049] 10-Puncture assembly;

[0050] 20 - Sensing component; 21 - First rod; 22 - First electrode; 23 - First communication line;

[0051] 30 - Control device;

[0052] 40 - Camera assembly; 41 - Second communication line;

[0053] 50 - Display device;

[0054] 101 - First pulse signal sequence; 102 - Second pulse signal sequence. Detailed Implementation

[0055] This application is described in detail below. Examples of embodiments of this application are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. Furthermore, detailed descriptions of known technologies that are unnecessary for the features of this application are omitted. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0056] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0057] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.

[0058] The inventors of this application have discovered through research that, currently, during the puncture process of a puncture device, the operator can only control the puncture depth of the puncture needle based on experience. The operator needs to pay attention to both the puncture direction and puncture depth at the same time, which makes it difficult for the operator to accurately judge whether the puncture needle has reached the preset puncture position. This can easily lead to the puncture needle accidentally injuring the patient's biological tissue, causing unnecessary damage to the patient.

[0059] The puncture method, puncture device, puncturist, and storage medium provided in this application are intended to solve the above-mentioned technical problems of the prior art.

[0060] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments.

[0061] This application provides a puncture device, the cross-sectional structural schematic diagram of which is shown below. Figure 1 As shown in the diagram, the puncture device is in operation. Figure 2 As shown in the diagram, the structural framework of the puncture device is as follows: Figure 3 As shown. The puncture device includes: a puncture assembly 10, a sensing assembly 20, and a control device 30.

[0062] A sensing component 20 is disposed within a puncture component 10; a control device 30 is communicatively connected to the sensing component 20 and is used to send a first pulse signal sequence to the sensing component 20; detect a second pulse signal sequence output by the sensing component 20 based on the first pulse signal sequence; determine whether the first pulse signal sequence matches the equivalent capacitance formed by the sensing component 20 and the biological tissue 100 according to the second pulse signal sequence; if it is determined that the first pulse signal sequence matches the equivalent capacitance formed by the sensing component 20 and the biological tissue 100, determine the capacitance value of the equivalent capacitance according to the frequency of the first pulse signal sequence that matches the equivalent capacitance; and determine the puncture depth of the puncture component 10 according to the capacitance value of the equivalent capacitance.

[0063] In the puncture device provided in this application embodiment, a sensing component 20 is provided within the puncture assembly 10. During the puncture process, the portion of the sensing component 20 inserted into the biological tissue 100 forms an equivalent capacitance with the biological tissue 100. The control device 30 determines the puncture depth of the puncture assembly 10 by determining the capacitance value of this equivalent capacitance. Therefore, during the puncture process, the operator can directly understand the real-time insertion depth of the puncture assembly 10 into the biological tissue 100, facilitating precise control of the puncture depth and reducing the likelihood of accidental injury to the patient's biological tissue 100 by the puncture needle, thereby improving the safety of the puncture device.

[0064] In this embodiment, the puncture assembly 10 is used to puncture the patient's biological tissue 100 to provide a channel for subsequent surgery. During the puncture, a portion of the outer peripheral surface of the puncture assembly 10 will come into contact with the biological tissue 100. Since the puncture assembly 10 is equipped with a sensing assembly 20, that is, there is no contact between the sensing assembly 20 and the biological tissue 100, the sensing assembly 20 inserted into the biological tissue 100 can form an equivalent capacitance with the biological tissue 100 during the puncture.

[0065] The control device 30 is communicatively connected to the sensing component 20. The control device 30 sends a first pulse signal sequence to the sensing component 20 and detects a second pulse signal sequence output by the sensing component 20 based on the first pulse signal sequence. Based on the second pulse signal sequence, the control device 30 determines whether the first pulse signal sequence matches the equivalent capacitance formed by the sensing component 20 and the biological tissue 100. If the first pulse signal sequence matches the equivalent capacitance formed by the sensing component 20 and the biological tissue 100, the control device 30 determines the capacitance value of the equivalent capacitance based on the frequency of the first pulse signal sequence that matches the equivalent capacitance, and determines the puncture depth of the puncture component 10 based on the capacitance value of the equivalent capacitance.

[0066] Optionally, the puncture assembly 10 includes a puncture needle, one end of which is a spike-shaped puncture section, to facilitate rapid puncture of the patient's biological tissue 100.

[0067] It should be noted that how the control device 30 determines the equivalent capacitance value and thus the puncture depth of the puncture component 10 will be explained in detail in the puncture method section later, and will not be repeated here.

[0068] In one embodiment of this application, a first distance D2 is provided between the first end of the sensing component 20 and the puncture portion of the puncture component 10 along the axial direction of the puncture component 10.

[0069] In the embodiments of this application, such as Figure 1 and Figure 2 As shown, along the axial direction of the puncture assembly 10, there is a first gap D2 between the first end of the sensing assembly 20 and the puncture portion of the puncture assembly 10, and the first end of the sensing assembly 20 is the end closer to the puncture portion.

[0070] In this embodiment, the sensing component 20 includes a first rod 21 and a first electrode 22 disposed on the outer peripheral surface of the first rod 21. During the puncture process of the puncture device, a capacitor is formed between the first electrode 22 inserted into the biological tissue 100 and the biological tissue 100. According to the capacitance value calculation formula of a planar capacitor, the area of ​​the portion of the capacitor directly opposite the biological tissue 100 can be obtained, thereby determining the depth of the first electrode 22 inserted into the biological tissue 100, and thus determining the depth of the puncture component 10 inserted into the biological tissue 100. Optionally, the first electrode 22 and the control device 30 are connected via a first communication line 23.

[0071] Optionally, in this embodiment, the first electrode 22 is a ring electrode, sleeved on the outer peripheral surface of the first rod 21. Setting the first electrode 22 as a ring increases the area of ​​the portion of the first electrode 22 facing the biological tissue 100, thereby increasing the capacitance value of the equivalent capacitance formed by the first electrode 22 and the biological tissue 100. This increases the signal strength of the corresponding second pulse signal sequence output by the sensing component 20, facilitating the detection of the second pulse signal sequence by the control device 30 and improving the efficiency of the control device 30 in detecting the second pulse signal sequence. Furthermore, setting the first electrode 22 as a ring and sleeved on the first rod 21 facilitates the fixed connection between the first electrode 22 and the first rod 21.

[0072] In this embodiment, due to the limitation of the puncture portion and the need to maintain equal vertical distances between the first electrode 22 and the biological tissue 100 at all points, the first electrode 22 is not provided at the puncture portion of the puncture assembly 10, thereby creating a first gap D2 between the first end of the first electrode 22 in the sensing assembly 20 and the puncture portion of the puncture assembly 10.

[0073] It should be noted that, in this embodiment, along the axial direction of the puncture assembly 10, the sum of the first dimension and the first spacing D2 of the first electrode 22 of the sensing assembly 20 is not less than the maximum depth to which the puncture needle of the puncture assembly 10 inserts into the target area of ​​the biological tissue 100. This ensures that during the puncture process of the puncture device, the capacitance value of the capacitor formed by the first electrode 22 and the biological tissue 100 can change with the puncture depth of the puncture needle, thereby enabling the determination of the real-time puncture depth of the puncture needle inserting into the biological tissue 100.

[0074] In one embodiment of this application, the puncture device further includes a camera component 40 that is communicatively connected to the control device 30, and the camera component 40 is disposed within the puncture component 10.

[0075] In the embodiments of this application, such as Figure 1 and Figure 2As shown, the camera component 40 is disposed within the puncture component 10. Optionally, the camera component 40 is disposed at the first end of the first rod 21 of the puncture component 10. The camera component 40 is communicatively connected to the control device 30 and is used to capture puncture image information in real time during the puncture process, thereby enabling the operator to understand the image of the biological tissue 100 punctured by the puncture component 10 in real time. Optionally, the camera component 40 and the control device 30 are communicatively connected via a second communication line 41.

[0076] In one embodiment of this application, the puncture device further includes a display device 50 that is communicatively connected to the control device 30. The display device 50 is used to display puncture image information, so that the operator can directly view the puncture image information of the puncture needle through the display device 50.

[0077] In this embodiment, the control device 30 may include a processor, which may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0078] This application provides a puncture method, the flowchart of which is shown below. Figure 4 As shown, the process includes the following steps S401-S405:

[0079] S401, a first pulse signal sequence is sent to the sensing component 20.

[0080] Optionally, the control device 30 sends a first pulse signal sequence to the sensing component 20. Optionally, the control device 30 controls the first pulse signal generation unit to send a first pulse signal sequence to the sensing component 20.

[0081] S402, the detection sensing component 20 outputs a second pulse signal sequence based on the first pulse signal sequence.

[0082] Optionally, the control device 30 detects the second pulse signal sequence output by the sensing component 20 based on the first pulse signal sequence.

[0083] S403, based on the second pulse signal sequence, determine whether the first pulse signal sequence matches the equivalent capacitance formed by the sensing component 20 and the biological tissue 100; if it is determined that the first pulse signal sequence matches the equivalent capacitance formed by the sensing component 20 and the biological tissue 100, execute step S404; if it is determined that the first pulse signal sequence does not match the equivalent capacitance formed by the sensing component 20 and the biological tissue 100, return to execute step S401.

[0084] Optionally, the control device 30 determines whether the first pulse signal sequence matches the equivalent capacitance formed by the sensing component 20 and the biological tissue 100 based on the second pulse signal sequence.

[0085] S404, determine the capacitance value of the equivalent capacitance based on the frequency of the first pulse signal sequence that matches the equivalent capacitance.

[0086] Optionally, the control device 30 determines the capacitance value of the equivalent capacitance based on the frequency of a first pulse signal sequence that matches the equivalent capacitance.

[0087] S405, determine the puncture depth of the puncture component 10 based on the capacitance value of the equivalent capacitance.

[0088] Optionally, the control device 30 determines the puncture depth of the puncture assembly 10 based on the capacitance value of the equivalent capacitance.

[0089] In the puncture method provided in this application embodiment, a first pulse signal sequence matching the equivalent capacitance formed by the sensing component 20 and the biological tissue 100 is determined based on the second pulse signal sequence output by the sensing component 20 based on the first pulse signal sequence. This determines the capacitance value of the equivalent capacitance and the puncture depth of the puncture component 10. Therefore, during the puncture process, the operator can monitor the depth of the puncture component 10 inserted into the biological tissue 100 in real time, facilitating precise control of the puncture depth and reducing the likelihood of accidental injury to the patient's biological tissue 100 by the puncture component 10, thereby improving the safety of the puncture device.

[0090] In this embodiment, during the puncture process, the distance d between the sensing component 20 and the biological tissue 100 along the axial direction perpendicular to the puncture component 10 can be determined, which is the distance between the sensing component 20 and the outer peripheral surface of the puncture component 10; the dielectric constant ε of the dielectric in the equivalent capacitor is the dielectric constant of the puncture component 10 located between the sensing component 20 and the biological tissue 100. Therefore, according to expression (1), that is, the capacitance value calculation formula of a planar capacitor, the area s of the sensing component 20 portion in the capacitor can be obtained, and thus the length of the sensing component 20 portion in the capacitor can be determined, that is, the depth of the sensing component 20 inserted into the biological tissue 100 can be determined, and thus the depth of the puncture component 10 inserted into the biological tissue 100 can be determined.

[0091]

[0092] Wherein, C is the capacitance value of the equivalent capacitance formed between the portion of the sensing component 20 inserted into the biological tissue 100 and the biological tissue 100; s is the area of ​​the portion of the equivalent capacitance directly opposite the biological tissue 100; d is the distance between the sensing component 20 and the biological tissue 100 in the capacitor; and ε is the dielectric constant of the medium between the sensing component 20 and the biological tissue 100 in the capacitor.

[0093] In this embodiment, the first electrode 22 of the sensing component 20 is described as a ring electrode. Since the first electrode 22 is a ring electrode, the area s of the portion of the first electrode 22 that faces the biological tissue 100 can be determined according to expression (2).

[0094] s=π*d0*D1 Expression (2)

[0095] Where π is the ratio of a circle to a circle; d0 is the diameter of the annular electrode. In this embodiment, since the annular electrode is sleeved on the first rod 21, d0 is equal to the diameter of the first rod 21; D1 is the depth to which the first electrode 22 is inserted into the biological tissue 100.

[0096] Based on the above analysis, according to expressions (1) and (2), the depth of the first electrode 22 of the sensing component 20 inserted into the biological tissue 100 can be calculated, that is, the puncture depth of the puncture component 10 can be determined.

[0097] In one embodiment of this application, determining that the first pulse signal sequence matches the equivalent capacitance formed by the sensing component 20 and the biological tissue 100 includes:

[0098] A first pulse signal sequence 101 whose frequency matches the second pulse signal sequence 102 is determined as the first pulse signal sequence 101 that matches the equivalent capacitance.

[0099] In this embodiment, the control device 30 uses the first pulse signal sequence 101 whose frequency matches the second pulse signal sequence 102, which is sent to the sensing component 20 as a first pulse signal sequence 101 and output by the sensing component 20 based on the first pulse signal sequence 101, as a first pulse signal sequence 101 that matches the equivalent capacitance.

[0100] In this embodiment of the application, determining a first pulse signal sequence 101 whose frequency matches the second pulse signal sequence 102 includes:

[0101] The first amplitude of the waveform of the second pulse signal sequence 102 is the same as the first amplitude of the waveform of the first pulse signal sequence 101, and the inflection point of the waveform of the second pulse signal sequence 102 is synchronized with the inflection point of the waveform of the first pulse signal sequence 101 in time.

[0102] Optionally, such as Figure 5 As shown, if the control device 30 determines that the first amplitude of the waveform of the second pulse signal sequence 102 is the same as the first amplitude of the waveform of the first pulse signal sequence 101, and the inflection point of the waveform of the second pulse signal sequence 102 is synchronized with the inflection point of the waveform of the first pulse signal sequence 101 in time, then it determines that the first pulse signal sequence matches the equivalent capacitance formed by the sensing component 20 and the biological tissue 100.

[0103] It should be noted that, Figure 5 In order to facilitate the distinction between the waveforms of the first pulse signal sequence 101 and the second pulse signal sequence 102, a thinner line is used to represent the first pulse signal sequence 101 and a thicker line is used to represent the second pulse signal sequence 102.

[0104] Specifically, such as Figure 5 As shown, during the high-level period of the first pulse signal sequence 101, the equivalent capacitor charges, and the waveform of the second pulse signal sequence 102 begins to rise. The first amplitude of the waveform of the second pulse signal sequence 102 is the same as the first amplitude of the waveform of the first pulse signal sequence 101, and the inflection point of the waveform of the second pulse signal sequence 102 is synchronized with the inflection point of the waveform of the first pulse signal sequence 101 in time. That is, the waveform of the second pulse signal sequence 102 and the waveform of the first pulse signal sequence 101 reach the first amplitude simultaneously. Figure 5 As shown, the high-level end point of the first pulse signal sequence 101 is also the high-level end point of the second pulse signal sequence 102.

[0105] During the low-level period of the first pulse signal sequence 101, the equivalent capacitance discharges, and the waveform of the second pulse signal sequence 102 begins to decline. The valley position of the waveform of the second pulse signal sequence 102 is the same as the valley position of the waveform of the first pulse signal sequence 101, and the inflection point of the waveform of the second pulse signal sequence 102 is synchronized with the inflection point of the waveform of the first pulse signal sequence 101 in time. That is, the waveform of the second pulse signal sequence 102 and the waveform of the first pulse signal sequence 101 reach the valley position at the same time. Figure 5 As shown, the low-level end point of the first pulse signal sequence 101 is also the low-level end point of the second pulse signal sequence 102.

[0106] In one embodiment of this application, the step S404 above, which determines the capacitance value of the equivalent capacitor based on the frequency of the first pulse signal sequence that matches the equivalent capacitor, includes: determining the period of the first pulse signal sequence based on the frequency of the first pulse signal sequence that matches the equivalent capacitor; determining the time constant of the equivalent capacitor based on the period of the first pulse signal sequence that matches the equivalent capacitor; and determining the capacitance value of the equivalent capacitor based on the time constant of the equivalent capacitor.

[0107] In the embodiments of this application, such as Figure 6 The equivalent circuit diagram shows the equivalent capacitance formed by the sensing component 20 and the biological tissue 100 in the puncture device. Since the discharge time of the equivalent capacitance C is related to the equivalent resistance R and the equivalent capacitance C in the equivalent circuit, those skilled in the art will understand that the discharge time constant t of the equivalent capacitance C is t = R * C.

[0108] Once the frequency f of the first pulse signal sequence matching the equivalent capacitance is confirmed, the period T of the first pulse signal sequence can be determined based on the frequency f. Therefore, the half-pulse time T1 of the first pulse signal sequence can be determined as follows: Thus, we can obtain expression (3), and based on expression (3), we can determine the capacitance value C of the equivalent capacitor.

[0109]

[0110] Where f is the frequency of the first pulse signal sequence; R is the resistance in the equivalent circuit.

[0111] Expression (4) can be obtained from expressions (1), (2) and (3).

[0112]

[0113] Wherein, C is the capacitance value of the equivalent capacitance formed between the portion of the sensing component 20 inserted into the biological tissue 100 and the biological tissue 100; d is the distance between the sensing component 20 and the biological tissue 100 in the capacitor; ε is the dielectric constant of the medium between the sensing component 20 and the biological tissue 100 in the capacitor; π is pi; d0 is the diameter of the first electrode 22; and D1 is the depth of the first electrode 22 inserted into the biological tissue 100.

[0114] The depth D1 of the sensor component 20 inserted into the biological tissue 100 can be calculated according to expression (4).

[0115] It should be noted that, Figure 6 In this diagram, In represents the input terminal of the first pulse signal sequence, Out represents the output terminal of the second pulse signal sequence, and GND represents the ground terminal.

[0116] In one embodiment of this application, the step S405 above, which determines the puncture depth of the puncture component 10 based on the capacitance value of the equivalent capacitance, includes: determining the depth at which the sensing component 20 is inserted into the biological tissue 100 based on the capacitance value of the equivalent capacitance; and determining the puncture depth of the puncture component 10 based on the depth at which the sensing component 20 is inserted into the biological tissue 100 and the first distance between the first end of the sensing component 20 and the puncture portion of the puncture component 10.

[0117] During the puncture process of the puncture device, the depth D1 of the sensor component 20 inserted into the biological tissue 100 can be determined by the root expression (4), and then the depth D of the puncture component 10 inserted into the biological tissue 100 can be determined according to the expression (5).

[0118] The expression D = D1 + D2 is (5)

[0119] Wherein, D2 is the first gap between the first end of the sensing component 20 and the puncture part of the puncture component 10.

[0120] It should be noted that once the depth D of the puncture component 10 inserted into the biological tissue 100 is determined, the control device 30 can send the puncture depth to the display device 50 for display, so that the operator can intuitively understand the real-time puncture depth of the puncture component 10.

[0121] In one embodiment of this application, when it is determined that the first pulse signal sequence does not match the equivalent capacitance formed by the sensing component 20 and the biological tissue 100: another set of first pulse signal sequences is sent to the sensing component 20 until, based on the second pulse signal sequence output by the sensing component 20, it is determined that the first pulse signal sequence matches the equivalent capacitance formed by the sensing component 20 and the biological tissue 100; one set of first pulse signal sequences and the other set of first pulse signal sequences have different frequencies.

[0122] In one embodiment of this application, the puncture method further includes: processing real-time puncture image information sent by the camera component 40 and sending it to the display device 50.

[0123] In this embodiment of the application, by processing the real-time puncture image information sent by the camera component 40 and sending it to the display device 50, the operator of the display device 50 can directly view the puncture image information of the puncture component 10 through the display device 50.

[0124] Based on the same inventive concept, this application provides a puncture device, the structural framework of which is shown in the schematic diagram below. Figure 7 As shown, it includes: a pulse signal transmission module 201, a signal detection module 202, and a depth determination module 203.

[0125] The pulse signal transmitting module 201 is used to send a set of first pulse signal sequences to the sensing component 20; the signal detection module 202 is used to detect and send the second pulse signal sequence output by the sensing component 20 based on the first pulse signal sequence; the depth determination module 203 is used to determine whether the first pulse signal sequence matches the equivalent capacitance formed by the sensing component 20 and the biological tissue 100 according to the second pulse signal sequence; if it is determined that the first pulse signal sequence matches the equivalent capacitance formed by the sensing component 20 and the biological tissue 100, the capacitance value of the equivalent capacitance is determined according to the frequency of the first pulse signal sequence that matches the equivalent capacitance; and the puncture depth of the puncture component 10 is determined according to the capacitance value of the equivalent capacitance.

[0126] The puncture device in this embodiment can perform any of the puncture methods provided in the embodiments of this application, and their implementation principles are similar, so they will not be described in detail here.

[0127] Based on the same inventive concept, embodiments of this application provide a computer-readable storage medium storing a computer program thereon, which, when executed by a puncture device, implements any of the puncture methods provided in embodiments of this application.

[0128] By applying the embodiments of this application, at least the following beneficial effects can be achieved:

[0129] In the puncture method provided in this application embodiment, a first pulse signal sequence matching the equivalent capacitance formed by the sensing component 20 and the biological tissue 100 is determined based on the second pulse signal sequence output by the sensing component 20 based on the first pulse signal sequence. This determines the capacitance value of the equivalent capacitance and the puncture depth of the puncture component 10. Therefore, during the puncture process, the operator can monitor the depth of the puncture component 10 inserted into the biological tissue 100 in real time, facilitating precise control of the puncture depth and reducing the probability of accidental injury to the patient's biological tissue 100 by the puncture component 10, thereby improving the safety of the puncture device. Those skilled in the art will understand that the steps, measures, and schemes in the various operations, methods, and processes discussed in this application can be alternated, modified, combined, or deleted. Furthermore, other steps, measures, and schemes in the various operations, methods, and processes discussed in this application can also be alternated, modified, rearranged, decomposed, combined, or deleted. Furthermore, the steps, measures, and schemes in the existing technology that are similar to those in the various operations, methods, processes, and procedures disclosed in this application can also be alternated, modified, rearranged, decomposed, combined, or deleted.

[0130] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0131] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0132] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0133] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0134] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0135] The above description is only a partial embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A puncture device characterized by, include: Puncture components; The sensing component is disposed within the puncture component; A control device, communicatively connected to the sensing component, is configured to send a first pulse signal sequence to the sensing component; detect a second pulse signal sequence output by the sensing component based on the first pulse signal sequence; determine, based on the second pulse signal sequence, whether the first pulse signal sequence matches the equivalent capacitance formed by the sensing component and the biological tissue; if it is determined that the first pulse signal sequence matches the equivalent capacitance formed by the sensing component and the biological tissue, determine the capacitance value of the equivalent capacitance based on the frequency of the first pulse signal sequence that matches the equivalent capacitance. Along the axial direction of the puncture assembly, there is a first distance between the first end of the sensing assembly and the puncture portion of the puncture assembly; The depth at which the sensing component is inserted into the biological tissue is determined based on the capacitance value of the equivalent capacitance; the puncture depth of the puncture component is determined based on the depth at which the sensing component is inserted into the biological tissue and the first spacing.

2. The puncture device according to claim 1, characterized in that, It also includes a camera component that is communicatively connected to the control device, the camera component being disposed within the puncture component.

3. The puncture device according to claim 1, characterized in that, The control device is used to determine the first pulse signal sequence whose frequency matches the second pulse signal sequence, as the first pulse signal sequence that matches the equivalent capacitance.

4. The puncture device according to claim 3, characterized in that, The control device is used to determine that the first amplitude of the waveform of the second pulse signal sequence is the same as the first amplitude of the waveform of the first pulse signal sequence, and that the inflection point of the waveform of the second pulse signal sequence is synchronized with the inflection point of the waveform of the first pulse signal sequence in time.

5. The puncture device according to claim 1, characterized in that, The control device is used to determine the period of the first pulse signal sequence based on the frequency of the first pulse signal sequence that matches the equivalent capacitance. The time constant of the equivalent capacitance is determined based on the period of the first pulse signal sequence that matches the equivalent capacitance. The capacitance value of the equivalent capacitor is determined based on the time constant of the equivalent capacitor.

6. The puncture device according to claim 1, characterized in that, The control device is further configured to, if it is determined that the first pulse signal sequence does not match the equivalent capacitance formed by the sensing component and the biological tissue, send another set of the first pulse signal sequences to the sensing component until, based on the second pulse signal sequence output by the sensing component, it is determined that the first pulse signal sequence matches the equivalent capacitance formed by the sensing component and the biological tissue; one set of the first pulse signal sequences and the other set of the first pulse signal sequences have different frequencies.

7. The puncture device according to claim 2, characterized in that, The control device is also used to process the real-time puncture image information sent by the camera component and send it to the display device.

Images