An ablation needle with OCT imaging function

Abstract

The present invention discloses an ablation puncture needle with an OCT imaging function, which belongs to the field of medical equipment technology. It includes an OCT imaging system, a laser ablation system, a puncture needle, and a puncture needle drive assembly; an inner and outer metal sleeve are provided in the puncture needle sleeve, and two gradient refractive index lenses with beveled surfaces are respectively provided in the inner metal sleeve and the outer metal sleeve. The two gradient refractive index lenses are controlled to rotate by the drive assembly to realize the acquisition of OCT images and three-dimensional imaging. Since the OCT imaging system and the laser ablation system are both integrated into the puncture needle, three-dimensional imaging of the lesion tissue in the patient's body can be performed in real time during the puncture process to determine the type and location of the lesion; then, ablation treatment is performed through the laser ablation system and the effect after treatment is judged, thereby improving the accuracy of ablation treatment of lesions, such as tumors, shortening the diagnosis and treatment time, and alleviating the pain of patients due to multiple punctures required for biopsy.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to an ablation puncture needle with OCT imaging function. Background Art

[0002] A biopsy is a surgical pathology procedure that primarily involves removing diseased tissue from a patient's body through incision, forceps, or puncture for pathological examination. Based on the sampling method, biopsies can be categorized as open, endoscopic, and percutaneous biopsies. Open biopsies involve surgical removal of tissue from the lesion; endoscopic biopsies involve endoscopic removal of lesioned tissue; and percutaneous biopsies involve puncturing the skin with a biopsy needle to obtain tissue samples from lesions in organs such as the kidney, liver, lung, and breast. Currently, percutaneous biopsies typically follow the following process: The patient's lesion is located using an imaging system such as computed tomography (CT), magnetic resonance imaging (MRI), or ultrasound. Samples are then taken based on the lesion's location provided by the imaging system. Using CT, MRI, or other imaging systems to locate the lesion and perform puncture does not provide real-time in-vivo imaging during puncture. Instead, the patient must remain still and undergo multiple imaging sessions, with the CT, MRI, or other imaging systems used to monitor and adjust the needle's position within the patient's body. While ultrasound can guide puncture in real time, its imaging resolution is low, making it incapable of accurate tissue-level diagnosis. Furthermore, these imaging technologies, during the sampling process, image the sample from outside the patient's body, observing the location of the sample, making it impossible to observe the specific lesion inside the body.

[0003] After a biopsy confirms the type of lesion, treatment is tailored to the lesion's location and condition. Currently, a commonly used treatment method is ablation to inactivate lesions, such as tumor tissue. Taking tumor treatment as an example, tumor ablation methods are primarily categorized as thermal ablation, cryoablation, and chemical ablation. Thermal ablation includes microwave ablation, radiofrequency ablation, laser ablation, and high-intensity focused ultrasound ablation. Cryoablation utilizes an argon-helium cryoablation, while chemical ablation uses chemical methods to cause necrosis of most or all of the tumor tissue. Therefore, if percutaneous sampling of lesion tissue is performed and ablation is performed to treat the tumor, the patient must undergo two or more punctures, resulting in multiple injuries and making it impossible to perform real-time imaging within the patient to assess the treatment status after ablation. Summary of the Invention

[0004] The purpose of the present invention is to propose an ablation puncture needle with OCT imaging function, which can perform three-dimensional imaging of the lesion tissue in the patient's body, determine the lesion type and determine the location of the lesion in real time during the puncture process; and after the lesion location is confirmed, ablation treatment is performed through the laser ablation system integrated inside the puncture needle, shortening the diagnosis and treatment time and alleviating the patient's pain due to multiple punctures required for biopsy. In addition, the post-treatment effect can be judged by the OCT imaging results, thereby improving the accuracy of tumor ablation treatment.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] An ablation puncture needle with OCT imaging function, comprising an OCT imaging system, a laser ablation system, a puncture needle, and a puncture needle drive assembly;

[0007] The OCT imaging system is used to perform three-dimensional imaging of the lesion tissue in the patient's body; the laser ablation system is used to perform laser ablation treatment on the lesion tissue after puncture sampling is completed; the OCT imaging system and the laser ablation system are both integrated into the puncture needle through integrated components;

[0008] The puncture needle has an outer diameter of less than or equal to 1.5 μm and includes a needle tube; the needle tube includes a puncture needle cannula, a metal cannula and a double-gradient refractive index lens, the puncture needle cannula is coaxially sleeved outside the metal cannula, and a needle head is provided at one end thereof; the double-gradient refractive index lens is provided on the end of the metal cannula close to the needle head; the metal cannula includes an outer metal cannula and an inner metal cannula; the inner metal cannula is sleeved with the outer metal cannula and can rotate freely in the outer metal cannula; the double-gradient refractive index lens includes a first gradient refractive index lens and a second gradient refractive index lens; the first gradient refractive index lens and the second gradient refractive index lens both adopt an oblique cut structure, the first gradient refractive index lens is provided in the outer metal cannula, and the second gradient refractive index lens is provided in the inner metal cannula;

[0009] The puncture needle drive assembly is connected to the puncture needle and is used to drive the dual gradient refractive index lens in the puncture needle according to the three-dimensional imaging information provided by the OCT imaging system, so as to adjust the scanning direction and focusing depth position of the light beam emitted from the puncture needle assembly by the sample arm of the OCT imaging system; the puncture needle drive assembly includes an outer metal sleeve rotation assembly, an inner metal sleeve position control assembly and an adapter plate; the outer metal sleeve rotation assembly and the inner metal sleeve position control assembly are both installed on the adapter plate; the outer metal sleeve rotation assembly is used to drive the first gradient refractive index lens to rotate; the inner metal sleeve position control assembly includes an inner metal sleeve rotation assembly and an inner metal sleeve axial displacement assembly, the inner metal sleeve rotation assembly is used to drive the second gradient refractive index lens to rotate, and the inner metal sleeve axial displacement assembly is used to control the second gradient refractive index lens to produce axial movement.

[0010] Furthermore, the outer metal sleeve rotating assembly includes a first motor, an outer metal sleeve rotating shaft and a first gear; the output shaft of the first motor is connected to the first gear, the outer metal sleeve rotating shaft is coaxially sleeved on the outer metal sleeve of the needle tube, and one end of it is connected to the gear. Under the drive of the first motor, the first gear drives the outer metal sleeve rotating shaft to rotate, and the outer metal sleeve rotating shaft drives the outer metal sleeve to rotate, thereby driving the first gradient refractive index lens in the outer metal sleeve to rotate; the inner metal sleeve rotating assembly includes a second motor, an inner metal sleeve rotating shaft and a second gear. The output shaft of the second motor is connected to the gear, and the inner metal sleeve rotating shaft is coaxially sleeved on the inner metal sleeve of the needle tube, and one end of it is connected to the second gear. Under the drive of the second motor, the second gear drives the inner metal sleeve rotating shaft to rotate, and the inner metal sleeve rotating shaft drives the inner metal sleeve to rotate, thereby driving the second gradient refractive index lens in the outer metal sleeve to rotate.

[0011] Furthermore, the inner metal sleeve axial displacement assembly includes a screw motor, a screw and a screw nut. The screw nut is connected to the inner metal sleeve rotating shaft through the inner metal sleeve integral fixing plate. The screw motor drives the screw to rotate, driving the screw nut on it to axially displace on the screw, driving the inner metal sleeve to axially displace, and then driving the second gradient refractive index lens in the inner metal sleeve to produce axial movement.

[0012] Furthermore, a slide rail and slider structure is provided on the inner metal sleeve position control component. The slide rail is installed on the adapter plate and is located below the inner metal sleeve integral plate. A slider is installed on the slide rail, and the slider abuts against the screw rod to limit the axial movement range of the inner metal sleeve.

[0013] Furthermore, the puncture needle drive assembly also includes an outer metal sleeve integral fixing plate, an inner metal sleeve integral fixing plate, a motor end fixing piece of the screw motor and a screw end fixing piece of the screw motor; the first motor is mounted on the outer metal sleeve integral fixing plate, and its output shaft passes through the outer metal sleeve integral fixing plate and is connected to the first gear, and the relative position between the outer metal sleeve rotating shaft and the outer metal sleeve integral fixing plate is kept stable through the cooperation of the outer metal sleeve integral fixing plate and the outer metal sleeve bearing fixing piece; the second motor is mounted On the inner metal sleeve integral fixing plate, its output shaft passes through the inner metal sleeve integral fixing plate and is connected to the second gear. Through the cooperation of the inner metal sleeve integral fixing plate and the inner metal sleeve bearing fixing piece, the relative position between the inner metal sleeve rotating shaft and the inner metal sleeve integral fixing plate is kept stable; the inner metal sleeve integral fixing plate is also provided with a screw nut connecting part to connect it with the screw nut of the screw motor. Through the cooperation of the inner metal sleeve integral fixing plate and the screw nut, the inner metal sleeve undergoes axial displacement along with the screw nut.

[0014] Furthermore, an auxiliary fixing plate is provided on the integral fixing plate of the outer metal sleeve. The auxiliary fixing plate is located at the end of the puncture needle tube close to the needle head and is provided with a through hole. The aperture of the through hole is adapted to the diameter of the puncture needle sleeve to achieve the fixation of the puncture needle sleeve, so that the relative position of the puncture needle sleeve and the outer metal sleeve remains unchanged.

[0015] Furthermore, the OCT imaging system is an optical coherence tomography system, including but not limited to an OCT imaging system constructed using swept frequency OCT technology, an OCT imaging system constructed using spectral domain OCT technology, or an OCT imaging system constructed using time domain OCT technology.

[0016] Furthermore, the OCT imaging system includes a laser having any bandwidth in the range of 400 nm to 2,000 nm and any operating center wavelength.

[0017] Furthermore, the integrated component is a double-clad optical fiber or multiple optical fibers, one end of the double-clad optical fiber or the multiple optical fibers is connected to the optical coherence tomography system and the laser ablation system respectively, and the other end is connected to the puncture needle.

[0018] Furthermore, the ablation puncture needle with imaging function is used for manual puncture by doctors and percutaneous puncture by surgical assistance robots.

[0019] The present invention provides an ablation puncture needle with an OCT imaging function, in which the imaging scanning position of the OCT imaging is controlled by the rotation angle of the two gradient refractive index lenses in the puncture needle and the distance between the two lenses. The imaging control part of the puncture needle is mainly driven and controlled by two small motors. The two gradient refractive index lenses are respectively fixed in the inner metal sleeve and the outer metal sleeve. The two small motors and the inner and outer metal sleeves are connected and transmitted by gears, driving the two gradient refractive index lenses to rotate. Because the two gradient refractive index lenses adopt an oblique surface structure, there are oblique surfaces with a certain slope on the opposing surfaces, and there is a spatial gap. When the light beam is emitted through the two gradient refractive index lenses, the emission angle of the light beam will be deflected due to the different refractive indices of different regions in the gradient refractive index lenses and the oblique refraction of the lens surface. When the relative rotation angle of the two lenses is changed, the angle of the emitted light beam will also be deflected. When one lens is fixed and the other lens is rotated 360°, the outgoing light beam can be made to complete a folded scan along a straight line, realizing the acquisition of one frame of OCT image; by rotating the two lenses at the same angle at the same time and repeating the above process, the imaging of one frame of OCT image in the other direction can be completed. By repeating this process, the OCT system can complete forward three-dimensional scanning imaging in biological tissues through a puncture needle. At the same time, a displacement device is added to the inner metal sleeve position control assembly, which can change the relative distance of the first gradient refractive index lens relative to the second gradient refractive index lens within a small range, thereby changing the focal depth of the OCT imaging beam and changing the imaging position within a certain range, which is similar to the focusing process. Therefore, the present invention can perform three-dimensional imaging of the patient's lesion site tissue from within the body through the OCT imaging system, thereby realizing accurate positioning and type judgment of the lesion.

[0020] In the laser ablation area, the OCT imaging system is combined with the laser ablation system to achieve laser ablation therapy. When performing laser ablation on a patient, the doctor can use the imaging information from the OCT imaging system to observe the lesion treatment status in real time, determine the subsequent progress of the ablation treatment, and evaluate the laser ablation treatment effect, thereby improving the accuracy of the treatment of tumors or other organ or tissue lesions.

[0021] In addition, the puncture needle of the present invention has an adapter plate on its puncture needle drive assembly, which can be integrated with a surgical assistance robot or other percutaneous puncture sampling positioning system, a laser ablation treatment system and its treatment effect evaluation system through the adapter plate, thereby broadening the scope of application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Schematic diagram of the ablation needle with OCT imaging function according to the present invention;

[0023] Figure 2Schematic diagram of the relative positions of the gradient refractive index lens inside the ablation needle with OCT imaging function according to the present invention;

[0024] Figure 3 Schematic diagram of the integration of the OCT system and laser ablation system in the ablation needle with OCT imaging function according to the present invention; Figure a shows an integration method using double-clad optical fiber, Figure b shows an integration method using two optical fibers, and Figure c shows an integration method using multiple optical fibers.

[0025] Figure 4 Schematic diagram of the forward imaging optical path of the ablation needle with OCT imaging function according to the present invention; Figure a is a schematic diagram when the normals of the inclined surfaces of the first and second gradient refractive index lenses are parallel, and Figure b is a schematic diagram of the optical path after the first gradient refractive index lens in Figure a is rotated 180°;

[0026] Figure 5 Schematic diagram of the rotation of the first gradient refractive index lens when the OCT imaging system of the embodiment completes one line scan;

[0027] Figure 6 A schematic diagram of lens rotation when completing three-dimensional scanning imaging in an embodiment;

[0028] Figure 7 Schematic diagram of the overall structure of the puncture needle assembly in the embodiment;

[0029] Figure 8 Schematic diagram of the cooperation between the outer (or inner) metal sleeve rotating shaft, the bearing and the outer (or inner) metal sleeve bearing fixing member in the embodiment;

[0030] Figure 9 This is a structural diagram of the connection between one end of the rotating shaft close to the gear and the gear in the embodiment;

[0031] Figure 10 A schematic diagram of the embodiment cooperating with an end effector of a surgical assistance robot;

[0032] Reference numerals:

[0033] 1-second motor, 2-inner metal sleeve integral fixing plate, 3-second gear, 4-first gear, 5-outer metal sleeve integral fixing plate, 6-first motor, 7-outer metal sleeve rotating shaft, 8-outer metal sleeve bearing fixing part, 9-screw motor screw end fixing part, 10-slider rail module, 11-screw nut, 12-screw motor motor end fixing part, 13-screw motor, 14-inner metal sleeve bearing fixing part, 15-inner metal sleeve rotating shaft, 16-adapter plate, 17-a robot end effector, 101-bearing fixing part, 102-bearing, 103-rotating shaft, 201-gear, 202-bearing fixing part, 203-bearing, 204-rotating shaft. DETAILED DESCRIPTION

[0034] The technical solutions implemented in the present invention will be described clearly and completely below with reference to the accompanying drawings.

[0035] like Figure 1 As shown, this embodiment provides an ablation puncture needle with OCT imaging function, including an OCT imaging system, a laser ablation system, a puncture needle, and a puncture needle drive assembly.

[0036] The OCT imaging system is used to perform forward scanning three-dimensional imaging of the lesion tissue in the patient's body. The laser ablation system is used to perform laser ablation treatment on the lesion tissue after the puncture imaging is completed. Both the OCT imaging system and the laser ablation system are integrated into the puncture needle through integrated components. The OCT imaging system is an optical coherence tomography imaging system, including but not limited to an OCT imaging system constructed with swept frequency OCT technology, an OCT imaging system constructed with spectral domain OCT technology, or an OCT imaging system constructed with time domain OCT technology.

[0037] The integrated assembly integrates the laser beams from the OCT imaging system and the laser ablation system, inputting them into a dual-gradient-index lens within the puncture needle. The integrated assembly consists of a double-clad optical fiber or multiple optical fibers, one end of which is connected to the optical coherence tomography system and the other end to the puncture needle. Figure 3 Three implementations of integrated components are listed: Figure 3 a is to integrate the OCT system beam and the laser ablation beam by using double-clad optical fiber, such as Figure 3 As shown in a, the inner core of the double-clad optical fiber transmits the OCT imaging signal, and the first cladding of the double-clad optical fiber transmits the laser ablation beam. Figure 3 b is the integration method using two optical fibers, such as Figure 3 As shown in b, the optical fiber located in the middle of the lens transmits the laser signal of the OCT imaging system, and the optical fiber on the left transmits the laser for laser ablation; Figure 3 c is the integration method using multiple optical fibers, such as Figure 3 As shown in c, the central optical fiber transmits the OCT imaging beam, and the optical fibers surrounding the optical fiber transmit the laser ablation laser. Specific implementations can be selected from the three integration methods described above, or other implementations using single or multiple optical fibers, not limited to the three integration methods described above, can be adopted.

[0038] like Figure 2As shown, the puncture needle includes a needle tube. The needle tube includes a puncture needle cannula, a metal cannula, and a dual-gradient refractive index lens. The puncture needle cannula is coaxially sleeved outside the metal cannula, with a needle tip located at one end. During puncture imaging and ablation therapy, the cannula does not rotate with the metal cannula. The dual-gradient refractive index lens is located on the metal cannula at one end near the needle tip. The metal cannula includes an outer metal cannula and an inner metal cannula, with the outer metal cannula having a diameter slightly larger than that of the inner metal cannula. The outer metal cannula is coaxially sleeved outside the inner metal cannula, and the inner metal cannula can rotate freely within the outer metal cannula. The dual-gradient refractive index lens includes a first gradient refractive index lens and a second gradient refractive index lens, both of which have an oblique cut structure. The first gradient refractive index lens is located within the outer metal cannula, and the second gradient refractive index lens is located within the inner metal cannula. To achieve optimal imaging, the first gradient-index lens is positioned closer to the needle tip than the second gradient-index lens when the dual gradient-index lenses are fixed. In practice, the distance between the outer metal cannula end and the puncture needle tip is adjusted based on the imaging location and requirements, and is not restricted to a specific range or within the puncture needle tip.

[0039] Figure 4 and Figure 5 Schematic diagram of the forward imaging optical path of the ablation needle including the OCT imaging function in the embodiment; Figure 4 a is a schematic diagram showing that the normals of the inclined surfaces of the first and second gradient refractive index lenses are parallel. Figure 4 b is Figure 4 Schematic diagram of the optical path after the first gradient index lens rotates 180° in a. When the first gradient index lens rotates at different angles relative to the second gradient index lens, that is, the first gradient index lens is rotated at different angles, the position of the output light beam changes as shown in the following figure: Figure 5 As shown in the figure: When the vertical line of the inclined surface of the first gradient refractive index lens and the vertical line of the inclined surface of the second gradient refractive index lens are parallel to each other, the light beam is emitted perpendicular to the exit surface. When the first gradient refractive index lens is rotated 180 degrees, according to the law of refraction and the characteristics of the gradient refractive index lens, the light beam will be deflected. This position is the farthest position that can be scanned horizontally in the one-dimensional scanning of OCT imaging. By rotating the first gradient refractive index lens to complete the scanning of a line on the plane, a frame of OCT image is obtained, as shown in the figure. Figure 5 shown.

[0040] like Figure 6As shown, after simultaneously rotating the first and second gradient index lenses to the same angle, continuing the aforementioned rotation of the first gradient index lens allows the line scanned during the aforementioned imaging process to be rotated in the transverse direction by a corresponding angle, thereby achieving OCT scanning imaging at different angles. Using this puncture needle to achieve three-dimensional imaging in OCT imaging, the second gradient index lens and the first gradient index lens can be rotated at different speeds. The computer records the rotation angles of the two lenses to determine the position of the captured image in the tissue for subsequent reconstruction of the three-dimensional image. The above is only one embodiment of forward scanning using dual gradient index lenses. The scanning modes of the puncture needle's three-dimensional imaging include, but are not limited to, the aforementioned control method.

[0041] like Figure 7 As shown, the puncture needle assembly is a device that controls the dual-gradient refractive index lens. This device can control the scanning direction and focal depth of the OCT imaging system's light beam. The puncture needle drive assembly, connected to the puncture needle, is used to drive the dual-gradient refractive index lens within the puncture needle based on the three-dimensional imaging information provided by the OCT imaging system to adjust the scanning direction and focal depth of the OCT imaging system's light beam. The puncture needle drive assembly includes an outer metal sleeve rotation assembly, an inner metal sleeve position control assembly, and an adapter plate.

[0042] The outer metal sleeve rotation assembly and the inner metal sleeve position control assembly are both installed on the adapter plate; the outer metal sleeve rotation assembly includes a first motor 6, an outer metal sleeve rotation shaft 7 and a first gear 4; the output shaft of the first motor 6 is connected to the first gear 4, and the outer metal sleeve rotation shaft 7 is coaxially nested with the outer metal sleeve, one end of which is connected to the first gear 4. Under the drive of the first motor 6, the first gear 4 drives the outer metal sleeve rotation shaft 7 to rotate, and the outer metal sleeve rotation shaft 7 drives the outer metal sleeve to rotate, thereby driving the first gradient refractive index lens in the outer metal sleeve to rotate, thereby realizing rotation control of the first gradient refractive index lens.

[0043] The inner metal sleeve position control assembly includes an inner metal sleeve rotation assembly and an inner metal sleeve axial displacement assembly. The inner metal sleeve rotation assembly is used to drive the second gradient refractive index lens to rotate, and the inner metal sleeve axial displacement assembly is used to control the axial movement of the second gradient refractive index lens. In this embodiment, the inner metal sleeve rotation assembly includes a second motor 1, an inner metal sleeve rotation shaft 15, and a second gear 3. The output shaft of the second motor 1 is connected to the second gear 3. The inner metal sleeve rotation shaft 15 is coaxially sleeved on the inner metal sleeve of the needle tube, and one end of the inner metal sleeve rotation shaft 15 is connected to the second gear 3. Driven by the second motor 1, the second gear 3 drives the inner metal sleeve rotation shaft 15 to rotate. The inner metal sleeve rotation shaft 15 drives the inner metal sleeve to rotate, and in turn drives the second gradient refractive index lens within the inner metal sleeve to rotate. The inner metal sleeve axial displacement assembly includes a screw motor 13, a screw and a screw nut 11. The screw nut 11 is connected to the inner metal sleeve rotating shaft 15 through the inner metal sleeve integral fixing plate 2. The screw motor 13 drives the screw to rotate, driving the screw nut 11 on it to axially displace on the screw, driving the inner metal sleeve to axially displace, and then driving the second gradient refractive index lens in the inner metal sleeve to produce axial movement.

[0044] In this embodiment, the puncture needle drive assembly also includes an outer metal sleeve integral fixing plate 5, an outer metal sleeve bearing fixing part 8, an inner metal sleeve integral fixing plate 2, an inner metal sleeve bearing fixing part 14, a motor end fixing part 12 of the screw motor, and a screw end fixing part 9 of the screw motor; the first motor 6 is installed on the outer metal sleeve integral fixing plate 5, and its output shaft passes through the outer metal sleeve integral fixing plate 5 and is connected to the first gear 4. The outer metal sleeve bearing fixing part 8 is used to fix the outer metal sleeve rotating shaft 7. Through the cooperation of the outer metal sleeve integral fixing plate 5 and the outer metal sleeve bearing fixing part 8, the relative position between the outer metal sleeve rotating shaft 7 and the outer metal sleeve integral fixing plate 5 is kept stable. The second motor 1 is installed on the inner metal sleeve integral fixing plate 2, and its output shaft passes through the inner metal sleeve integral fixing plate 2 and is connected to the second gear 3. The inner metal sleeve bearing fixing part 14 is used to fix the inner metal sleeve rotating shaft 15. Through the cooperation of the inner metal sleeve integral fixing plate 2 and the inner metal sleeve bearing fixing part 14, the relative position between the inner metal sleeve rotating shaft 15 and the inner metal sleeve integral fixing plate 2 is kept stable; the inner metal sleeve integral fixing plate 2 is also provided with a screw nut connecting part to connect it with the screw nut 11 of the screw motor. Through the cooperation of the inner metal sleeve integral fixing plate 2 and the screw nut 11, the inner metal sleeve undergoes axial displacement along with the screw nut.

[0045] In a specific embodiment, a slide rail and slider structure 10 is further provided on the inner metal sleeve position control component. The slide rail is installed on the adapter plate 16 and is located below the inner metal sleeve integral fixing plate 2. A slider is installed on the slide rail, and the slider abuts against the screw rod to limit the axial movement range of the inner metal sleeve.

[0046] Figure 8 Schematic diagram of the cooperation between the metal sleeve rotating shaft 103 and the metal sleeve bearing fixing member 101 in the embodiment. Figure 8 As shown, a bearing 102 adapted to the metal sleeve rotating shaft 103 is embedded in the bearing fixing member, and one end of the metal sleeve rotating shaft 103 is inserted into the bearing 102 , and the position of the metal sleeve rotating shaft 103 is limited by the bearing 102 .

[0047] Figure 9 Schematic diagram of the metal sleeve rotating shaft 204 in the embodiment, which is close to the gear end, and the gear 201. The gear 201 and one end of the metal sleeve rotating shaft 204 are fixed together. When the gear 201 rotates under the control of the motor, it also drives the metal sleeve to rotate, realizing the rotation control of the metal sleeve, that is, realizing the rotation control of the first (or second) gradient refractive index lens. This part is also provided with a metal sleeve bearing fixing part 202 and a bearing 203. The cooperation between the metal sleeve bearing fixing part 202, the bearing 203 and the metal sleeve rotating shaft 204 is the same as that of the embodiment. Figure 8 Similar, no further description is given here.

[0048] The present invention also provides an application of the above-mentioned ablation puncture needle with OCT imaging function. The above-mentioned ablation puncture needle with imaging function can be used for manual puncture surgery by doctors, and can also be used for surgery-assisted robot puncture surgery.

[0049] Figure 10 FIG. 1 is a schematic diagram showing the cooperation between the embodiment and a surgical assistance robot end effector, as shown in FIG. Figure 10 As shown, the ablation puncture needle with OCT imaging function is integrated into the robot arm through the adapter plate 16. By changing the corresponding structure of the adapter plate 16, it can be adapted to different robot arms and can be used in different surgical-assisted robot puncture scenarios.

[0050] The present invention describes an ablation puncture needle with OCT imaging capabilities. The integrated component integrates the OCT imaging system signal and the laser from the laser ablation system into the puncture needle assembly. The puncture needle utilizes the different refractive indices at different positions in the gradient refractive index lens and the refractive effect of the bevel on the lens end face to achieve forward focusing of the light beam. By changing the rotation angle of the two lenses and the relative position between the two lenses, the focus position of the light beam is changed, and the scanning imaging of the OCT imaging is controlled. After the lesion type and the exact location of the lesion are confirmed by OCT imaging, ablation treatment is performed on the lesion tissue to guide the laser ablation treatment site. During the percutaneous puncture process, three-dimensional imaging and accurate positioning of the lesion tissue are achieved from the inside, and laser ablation treatment is performed. The degree of laser ablation can be determined by the real-time OCT imaging results of the lesion tissue, which helps doctors judge the ablation situation, improves the accuracy of lesion ablation treatment, makes it easier for doctors to perform actual operations, and reduces the pain of patients. The present invention is not limited to tumor ablation treatment applications. Any puncture ablation treatment that requires image guidance can potentially utilize the relevant technologies of the present invention, including but not limited to the diagnosis and treatment of atherosclerotic plaques in coronary intervention, peripheral intervention, and neurointervention surgery, the diagnosis and treatment of ophthalmological diseases, and diagnostic and treatment applications that may be used in skin, limbs, brain, and other organ surgeries.

[0051] The examples described above are only some examples of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

Claims

1. An ablation needle with OCT imaging function, comprising an OCT imaging system, a laser ablation system, a puncture needle, and a puncture needle drive assembly, characterized in that: The OCT imaging system is used to perform forward scanning three-dimensional imaging of the lesion tissue in the patient's body; the laser ablation system is used to perform laser ablation treatment on the lesion tissue after puncture sampling is completed; the OCT imaging system and the laser ablation system are both integrated into the puncture needle through integrated components; The puncture needle comprises a needle tube; the needle tube comprises a puncture needle cannula, a metal cannula and a double-gradient refractive index lens; the puncture needle cannula is coaxially sleeved outside the metal cannula, and a needle is provided at one end thereof; the double-gradient refractive index lens is provided on an end of the metal cannula close to the needle; the metal cannula comprises an outer metal cannula and an inner metal cannula; the outer metal cannula is sleeved on the inner metal cannula and can rotate freely in the outer metal cannula; the double-gradient refractive index lens comprises a first gradient refractive index lens and a second gradient refractive index lens; the first gradient refractive index lens and the second gradient refractive index lens both adopt an oblique cut structure, the first gradient refractive index lens is provided in the outer metal cannula, and the second gradient refractive index lens is provided in the inner metal cannula; The puncture needle drive assembly is connected to the puncture needle and is used to drive the dual gradient refractive index lens in the puncture needle according to the three-dimensional imaging information provided by the OCT imaging system, so as to adjust the scanning direction and focusing depth position of the light beam emitted from the puncture needle assembly by the sample arm of the OCT imaging system; the puncture needle drive assembly includes an outer metal sleeve rotation assembly, an inner metal sleeve position control assembly and an adapter plate; the outer metal sleeve rotation assembly and the inner metal sleeve position control assembly are both installed on the adapter plate; the outer metal sleeve rotation assembly is used to drive the first gradient refractive index lens to rotate; the inner metal sleeve position control assembly includes an inner metal sleeve rotation assembly and an inner metal sleeve axial displacement assembly, the inner metal sleeve rotation assembly is used to drive the second gradient refractive index lens to rotate, and the inner metal sleeve axial displacement assembly is used to control the second gradient refractive index lens to produce axial movement.

2. The ablation needle with OCT imaging function according to claim 1, characterized in that: The outer metal sleeve rotating assembly includes a first motor, an outer metal sleeve rotating shaft and a first gear; the output shaft of the first motor is connected to the first gear, the outer metal sleeve rotating shaft is coaxially sleeved on the outer metal sleeve of the needle tube, and one end of the outer metal sleeve rotating shaft is connected to the gear. Under the drive of the first motor, the first gear drives the outer metal sleeve rotating shaft to rotate, and the outer metal sleeve rotating shaft drives the outer metal sleeve to rotate, thereby driving the first gradient refractive index lens in the outer metal sleeve to rotate; the inner metal sleeve rotating assembly includes a second motor, an inner metal sleeve rotating shaft and a second gear. The output shaft of the second motor is connected to the gear, and the inner metal sleeve rotating shaft is coaxially sleeved on the inner metal sleeve of the needle tube, and one end of the gear is connected to the second gear. Under the drive of the second motor, the second gear drives the inner metal sleeve rotating shaft to rotate, and the inner metal sleeve rotating shaft drives the inner metal sleeve to rotate, thereby driving the second gradient refractive index lens in the inner metal sleeve to rotate.

3. The ablation needle with OCT imaging function according to claim 1, characterized in that: The outer diameter of the puncture needle is less than or equal to 1.5 mm; the inner metal sleeve axial displacement assembly includes a screw motor, a screw and a screw nut. The screw nut and the inner metal sleeve rotating shaft are connected through the inner metal sleeve integral plate. The screw motor drives the screw to rotate, driving the screw nut on it to axially displace on the screw, driving the inner metal sleeve to axially displace, and then driving the second gradient refractive index lens in the inner metal sleeve to produce axial movement.

4. The ablation needle with OCT imaging function according to claim 1, characterized in that: The inner metal sleeve position control component is also provided with a slide rail and slider structure. The slide rail is installed on the adapter plate and is located below the inner metal sleeve integral plate. The slide rail is installed with a slider, which abuts against the screw rod.

5. The ablation puncture needle with OCT imaging function according to claim 1, characterized in that: The puncture needle drive assembly also includes an outer metal sleeve integral fixing plate, an inner metal sleeve integral fixing plate, a motor end fixing piece of the screw motor and a screw end fixing piece of the screw motor; the first motor is mounted on the outer metal sleeve integral fixing plate, and its output shaft passes through the outer metal sleeve integral fixing plate and is connected to the first gear; the second motor is mounted on the inner metal sleeve integral fixing plate, and its output shaft passes through the inner metal sleeve integral fixing plate and is connected to the second gear; the inner metal sleeve integral fixing plate is also provided with a screw nut connecting part for connecting it to the screw nut of the screw motor.

6. The ablation puncture needle with OCT imaging function according to claim 5, characterized in that: The outer metal sleeve integral fixing plate is further provided with an auxiliary fixing plate, which is located at one end of the puncture needle tube close to the needle head and has a through hole thereon. The diameter of the through hole is adapted to the diameter of the puncture needle sleeve.

7. The ablation puncture needle with OCT imaging function according to claim 1, characterized in that: The OCT imaging system is an optical coherence tomography imaging system, including a swept frequency OCT imaging system, a spectral domain OCT imaging system or a time domain OCT imaging system.

8. The ablation puncture needle with OCT imaging function according to claim 7, characterized in that: The OCT imaging system includes a laser with any bandwidth in the range of 400 nm-2,000 nm and any operating center wavelength.

9. The ablation puncture needle with OCT imaging function according to claim 1, characterized in that: The integrated component is a double-clad optical fiber or multiple optical fibers, one end of the double-clad optical fiber or multiple optical fibers is connected to the optical coherence tomography system and the laser ablation system respectively, and the other end is connected to the puncture needle.

Images