A fully automatic biopsy needle

Abstract

The present application provides a fully automatic biopsy needle, which belongs to the technical field of biopsy needles, specifically, comprises: a shell, a biopsy needle assembly, a first electromagnetic navigation sensor, a firing assembly, a trigger assembly, and a locking assembly, wherein the locking assembly comprises a locking piece, and in the locking position, the locking piece blocks the trigger assembly from moving toward the trigger position; a fixed support disk is formed in the shell, and when the locking key moves to the locking position, the distal end side of the locking piece abuts against the fixed support disk, and the locking assembly is arranged between the trigger assembly and the firing assembly to block the trigger assembly from moving to the trigger position, so as to avoid arranging the locking assembly on the firing path of the firing assembly, and when the firing assembly fires, the firing assembly has switched from the energy storage state to the firing state, and the locking assembly blocks the firing assembly from firing on the path of the firing assembly, and the firing assembly will always maintain the firing state, and the spring elastic force is relatively large, so the locking assembly is easily invalidated under the long-term elastic force compression.

Description

Technical Field

[0001] The present application relates to the technical field of biopsy needles, and in particular to a fully automatic biopsy needle. Background Art

[0002] The fully automatic biopsy needle is an advanced medical device used to obtain tissue samples for pathological testing. Compared with the traditional manual biopsy method, the fully automatic biopsy needle has achieved automation in emission and sampling, which improves the efficiency and accuracy of biopsy sampling.

[0003] In the related art, the fully automatic biopsy needle usually includes a shell, a firing assembly and a biopsy needle assembly. The firing assembly has an energy storage state and a firing state by setting a spring. In the energy storage state, the firing assembly drives the biopsy needle assembly to retract toward the shell while the spring stores energy; in the firing state, the spring releases elastic potential energy to drive the firing assembly and the biopsy needle assembly to move rapidly away from the shell, thereby completing the biopsy sampling.

[0004] In order to prevent the operator from accidentally touching the trigger, a locking structure is usually designed in the related art to lock the firing assembly in the energy storage state before the operator operates the sampling. However, due to the structural layout limitations of the fully automatic biopsy needle in the related art, the designers and manufacturers usually arrange the locking structure on the firing path of the firing assembly. Even if the operator accidentally touches the firing assembly and causes the firing assembly to fire, the locking structure can prevent surgical accidents. However, in actual use, the applicant found that due to the large firing force of the spring, the locking structure is easily damaged or even fails due to the impact of the firing assembly. If the firing force of the spring is reduced, the effect of rapid firing cannot be achieved. Summary of the invention

[0005] The purpose of the present application is to provide a fully automatic biopsy needle, aiming to solve the problem in the related art that the locking structure is easily damaged and causes failure.

[0006] Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

[0007] According to a first aspect of the present application, a fully automatic biopsy needle is provided, comprising:

[0008] A housing, a biopsy needle assembly, a first electromagnetic navigation sensor, a firing assembly, a trigger assembly, and a locking assembly, wherein the biopsy needle assembly, the first electromagnetic navigation sensor, the firing assembly, the trigger assembly, and the locking assembly are assembled in the housing;

[0009] The biopsy needle assembly is provided with a hollow sensor assembly channel; the first electromagnetic navigation sensor is used to extend into a target position at the far end of the sensor assembly channel, and is used to locate the biopsy needle assembly under a navigation device;

[0010] The firing assembly is connected to the biopsy needle assembly, and the firing assembly has an energy storage state in which the biopsy needle assembly is retracted toward the proximal end of the housing, and a firing state in which the biopsy needle assembly is extended toward the distal end of the housing under the triggering of the trigger assembly. During the switching process from the energy storage state to the firing state, the biopsy needle assembly performs biopsy sampling;

[0011] The trigger assembly is used to trigger the firing assembly and is mounted on the proximal side of the firing assembly on the housing. The trigger assembly has an initial position and a trigger position for moving along a trigger path toward the distal end of the housing to trigger the firing assembly to switch from the energy storage state to the firing state.

[0012] The locking assembly includes a locking piece, which is rotatably mounted on the proximal side of the shell, and has an unlocked position and a locked position that is rotated along the circumferential direction of the shell and inserted between the trigger assembly and the firing assembly. In the locked position, the locking piece blocks the trigger assembly from moving toward the trigger position. A fixed support plate is formed in the shell, and the fixed support plate is configured to abut against the distal end surface of the locking piece when the locking piece is rotated to the locked position.

[0013] In an exemplary embodiment of the present application, the locking assembly also includes a locking key assembled on the shell, the locking key is fixedly connected to the locking piece or is an integral structure, a waist-shaped hole extending along the circumference of the shell is opened on the shell, the locking key can be rotatably installed in the waist-shaped hole along the circumference of the shell and drive the locking piece to switch between the unlocking position and the locking position.

[0014] In an exemplary embodiment of the present application, the trigger assembly includes a rear trigger key and a trigger link, the rear trigger key can be pressably installed on the proximal end surface of the shell, the trigger link is installed on the distal side of the rear trigger key in the shell, the rear trigger key drives the trigger link to move from the initial position to the trigger position, and the trigger link triggers the firing assembly when in the trigger position;

[0015] In the locking position, the proximal end surface of the locking member abuts against the trigger connecting rod, and the distal end surface of the locking member is abutted against by the fixed support plate.

[0016] In an exemplary embodiment of the present application, the end surface of the insertion end of the locking member for inserting between the trigger assembly and the firing assembly is formed with an avoidance slope for cooperating with the trigger connecting rod.

[0017] In an exemplary embodiment of the present application, the shell includes an outer shell and an inner shell, the outer shell is sleeved on the outside of the inner shell, the inner shell includes a firing assembly mounting cavity on the distal side and a trigger assembly mounting cavity on the proximal side, and a biopsy needle assembly mounting cavity located on one side of the firing assembly mounting cavity and the trigger assembly mounting cavity, and the firing assembly, trigger assembly and biopsy needle assembly are respectively assembled in the firing assembly mounting cavity, the trigger assembly mounting cavity and the biopsy needle assembly mounting cavity.

[0018] In an exemplary embodiment of the present application, the fixed support plate is the cavity wall on the distal side of the trigger assembly mounting cavity, and a first clamping hole is formed in the middle of the fixed support plate for the firing assembly to extend out and be clamped with the protruding end of the firing assembly, and the firing assembly extends from the first clamping hole when in the energy storage state.

[0019] In an exemplary embodiment of the present application, the trigger link has a pair of elastic wings extending to both sides, and a retaining wall for resisting the elastic wings is formed in the trigger assembly mounting cavity. When the trigger link moves from the initial position to the trigger position, the retaining wall resists the elastic wings to cause the elastic wings to deform and store energy. After the rear trigger key releases the drive on the trigger link, the trigger link drives the rear trigger key to automatically move from the trigger position to the initial position under the deformation recovery action of the elastic wings.

[0020] In an exemplary embodiment of the present application, the biopsy needle assembly includes a needle core and a needle tube slidably sleeved on the outside of the needle core, the needle core includes a needle tip and a needle body, the needle tip is located at the distal end, the distal end of the needle body is connected to the proximal end of the needle tip and extends toward the proximal end of the housing, the sensor assembly channel is formed inside the needle body, and the sensor assembly channel extends along the length direction of the needle body;

[0021] The first electromagnetic navigation sensor is a slender structure. When the firing assembly drives the biopsy needle assembly to be in an energy storage state, the distal end of the first electromagnetic navigation sensor extends to the target position at the distal end of the sensor assembly channel, and the proximal end of the first electromagnetic navigation sensor passes through the proximal opening of the biopsy needle assembly mounting cavity.

[0022] In an exemplary embodiment of the present application, the firing assembly includes a first sub-firing assembly arranged at the proximal end and a second sub-firing assembly arranged at the distal end, the firing assembly mounting cavity has a first cavity arranged at the proximal end and a second cavity arranged at the distal end, the fixed support plate is formed at the connection between the first cavity and the trigger assembly mounting cavity, the first sub-firing assembly is installed in the first cavity, the second sub-firing assembly is installed in the second cavity, the needle core is connected to the first sub-firing assembly, the needle tube is connected to the second sub-firing assembly, the first sub-firing assembly is triggered by the trigger assembly to switch from the energy storage state to the firing state, and at the same time drives the needle core to pop out in the distal direction, and when the first sub-firing assembly switches to the firing state, it triggers the second sub-firing assembly to switch from the energy storage state to the firing state, and at the same time drives the needle tube to pop out in the distal direction.

[0023] In an exemplary embodiment of the present application, the first sub-firing assembly includes a first slider and a first elastic member, and the second sub-firing assembly includes a second slider and a second elastic member;

[0024] The needle core is fixedly connected to the first slider, and the first slider is slidably installed in the first cavity. The first slider has an energy storage state in the first cavity for compressing the first elastic member to shrink the needle core, and the first slider also has a firing state in the first cavity for driving the needle core to pop out;

[0025] The needle tube is fixedly connected to the second slider, and the second slider is slidably installed in the second cavity. The second slider has an energy storage state in the second cavity for compressing the second elastic member to shrink the needle tube, and the second slider also has a firing state in the second cavity for driving the needle tube to pop out.

[0026] The exemplary embodiments of the present application may have some or all of the following beneficial effects:

[0027] In the fully automatic biopsy needle provided in the example embodiment of the present application, a hollow sensor assembly channel is provided inside the biopsy needle assembly, and the first electromagnetic navigation sensor is extended to the target position at the far end of the sensor assembly channel, so that the biopsy needle assembly of the present application can use the first electromagnetic navigation sensor under the navigation device to locate (position and posture) the biopsy needle assembly inserted into the human body, so that the operator can quickly and accurately insert the biopsy needle assembly into the target sampling position (target point) of the tissue in the human body, thereby improving the efficiency and accuracy of the biopsy.

[0028] In the fully automatic biopsy needle provided in the exemplary embodiment of the present application, a locking assembly for locking the biopsy needle assembly is also included, the locking assembly includes a locking member, the locking member is rotatably mounted on the proximal side of the housing, the locking member has an unlocked position and a locked position, the locking member rotates along the circumferential direction of the housing to achieve the switching between the unlocked position and the locked position, the locked position of the locking member is located between the trigger assembly and the firing assembly, that is, in the present application, the locked position is located on the trigger path of the trigger assembly. When the fully automatic biopsy needle is in a non-working state, for safety reasons, the operator usually locks the fully automatic biopsy needle. In specific implementation, the locking member is operated to rotate the locking member from the unlocked position along the circumferential direction of the housing to the locked position between the trigger assembly and the firing assembly. In the locked position, the locking member can block the trigger assembly from moving to the trigger position; in the fully automatic biopsy needle provided in the exemplary embodiment of the present application, a fixed support disk is also included, the fixed support disk is formed inside the housing, and the fixed support disk is configured to abut against the distal end surface of the locking member when the locking member rotates to the locked position to support the locking member.

[0029] On the one hand, by setting the locking position between the trigger assembly and the firing assembly, that is, setting the locking position on the trigger path, even if the operator touches it by mistake, the trigger force borne by the locking piece is much smaller than the firing force in the related technology, thereby avoiding the situation where the locking piece is damaged and fails; on the other hand, the locking piece is horizontally rotatably installed in the shell, and the horizontal rotation installation method can reduce the vertical occupied space, which is beneficial to reducing the overall vertical size of the biopsy needle; on the other hand, by setting a fixed support plate to support the distal end face of the locking piece in the locking position, the locking piece can withstand a larger axial force and is less likely to deform. Compared with the cantilever beam scheme that inserts the shell into the trigger path to lock the trigger assembly, the scheme of the present application that rotates and inserts into the trigger path and is supported by the fixed support plate makes the locking piece withstand a larger axial force and is less likely to deform. What is more important, there is no need to open holes on the left and right sides of the shell, thereby avoiding the situation where the shell strength decreases due to the opening of the holes, resulting in a decrease in the overall strength of the product.

[0030] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1A schematic diagram of the structure of a fully automatic biopsy needle in Example 1 of the present application is shown;

[0033] Figure 2 An exploded view of a fully automatic biopsy needle in Example 1 of the present application is shown;

[0034] Figure 3 A partial exploded view of a fully automatic biopsy needle in Example 1 of the present application is shown;

[0035] Figure 4 A cross-sectional view of the firing assembly in Embodiment 1 of the present application when in an energy storage state is shown;

[0036] Figure 5 Shows Figure 4 The enlarged schematic diagram at A in the middle;

[0037] Figure 6 A schematic diagram showing the structure of the firing assembly in the first embodiment of the present application when it is in a firing state;

[0038] Figure 7 A cross-sectional view of the firing assembly in embodiment 1 of the present application when in a firing state is shown;

[0039] Figure 8 A schematic diagram of the structure of the firing assembly in Example 1 of the present application is shown;

[0040] Fig. 9 A schematic diagram of the exploded view of the needle core in the biopsy needle assembly in Example 1 of the present application is shown.

[0041] Description of reference numerals:

[0042] 1. Biopsy needle assembly; 101. Needle core; 1011. Needle body; 1012. Needle tip; 1013. Sensor assembly channel; 1014. Sampling slot; 102. Needle tube;

[0043] 2. housing; 3. rear trigger key; 4. side trigger key; 5. trigger assembly; 51. third slider; 511. second inclined surface; 52. elastic wing;

[0044] 6. firing assembly; 61. first sub-firing assembly; 611. first slider; 6111. first elastic block; 6112. first inclined surface; 612. first elastic member; 62. second sub-firing assembly; 621. second slider; 6211. second elastic block; 6212. third inclined surface; 622. second elastic member;

[0045] 7. First inner shell; 8. Second inner shell; 9. Second push button; 10. First push button; 11. First electromagnetic navigation sensor; 12. Connecting through hole; 14. Fixed protection tube; 15. Trigger connecting rod; 16. First clamping hole; 17. Second clamping hole; 18. Fourth inclined surface; 19. Locking piece; 191. Avoidance slope; 20. Fixed support plate; 21. Locking button. DETAILED DESCRIPTION

[0046] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present application will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed descriptions will be omitted. In addition, the drawings are only schematic illustrations of the present application and are not necessarily drawn to scale.

[0047] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of the diagram to another component, these terms are used in this specification only for convenience, such as according to the direction of the examples in the drawings. It is understood that if the device of the diagram is turned upside down, the component described as "upper" will become the component "lower". When a structure is "on" other structures, it may mean that the structure is formed integrally on the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

[0048] The terms "a", "an", "the" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express an open-ended inclusive meaning and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.; the terms "first" and "second" are used merely as labels and are not intended to limit the quantity of their objects. Example 1

[0049] This embodiment provides a specific implementation of a fully automatic biopsy needle, such as Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, it includes a shell, a biopsy needle assembly 1, a first electromagnetic navigation sensor 11, a firing assembly 6, a trigger assembly 5 and a locking assembly, wherein the biopsy needle assembly 1, the first electromagnetic navigation sensor 11, the firing assembly 6, the trigger assembly 5 and the locking assembly are all assembled on the shell; the biopsy needle assembly 1 is provided with a hollow sensor assembly channel 1013, and the sensor assembly channel 1013 is used to assemble the first electromagnetic navigation sensor 11. When in use, the operator extends the first electromagnetic navigation sensor 11 to the target position at the far end of the sensor assembly channel 1013, thereby identifying the spatial position of the first electromagnetic navigation sensor 11 under the navigation device, and then determining the spatial position (position and posture) of the biopsy needle assembly 1. The firing assembly 6 is connected to the biopsy needle assembly 1. The firing assembly 6 has an energy storage state in which the biopsy needle assembly 1 is retracted toward the proximal end of the shell and a firing state in which the biopsy needle assembly 1 is extended toward the distal end of the shell under the triggering of the trigger assembly 5. During the switching process from the energy storage state to the firing state, the biopsy needle assembly 1 performs biopsy sampling. The trigger assembly 5 is used to trigger the firing assembly 6 and is assembled on the proximal side of the firing assembly 6 on the shell. The trigger assembly 5 has an initial position and moves along a trigger path toward the distal end of the shell to trigger the firing assembly 6 from the energy storage state to the firing state. The locking member 19 is rotatably mounted on the proximal side of the shell, and the locking member 19 has an unlocked position and a locked position. The locked position is that the locking member 19 is rotated along the circumferential direction of the shell and inserted between the trigger assembly 5 and the firing assembly 6. When in the locked position, the locking member 19 blocks the trigger assembly 5 from moving toward the trigger position. A fixed support disk is formed in the shell, and the fixed support disk is configured so that the distal end of the locking member 19 abuts against the fixed support disk 20 when the locking member 19 is rotated to the locked position.

[0050] In this embodiment, a hollow sensor assembly channel 1013 is provided inside the biopsy needle assembly 1, and the first electromagnetic navigation sensor 11 is extended to the target position at the far end of the sensor assembly channel 1013, so that the biopsy needle assembly 1 of this embodiment can locate (position and posture) the biopsy needle assembly 11 inserted into the human body through the first electromagnetic navigation sensor 11 under the navigation device, so that the operator can quickly and accurately insert the biopsy needle assembly 1 to the target sampling position (target point) of the tissue in the human body, thereby improving the efficiency and accuracy of the biopsy.

[0051] In this embodiment, by setting the locking position between the trigger assembly 5 and the firing assembly 6, that is, setting the locking position on the trigger path, even if the operator touches it by mistake, the trigger force borne by the locking member 19 is much smaller than the firing force in the related art, thereby avoiding the situation where the locking member 19 is damaged and fails; on the other hand, the locking member 19 is horizontally rotated and installed in the shell, and the horizontal rotation installation method can reduce the vertical occupied space, which is beneficial to reducing the overall vertical size of the biopsy needle; on the other hand, by providing a fixed support plate 20 to support the distal end face of the locking member 19 in the locking position, the locking member 19 can withstand a larger axial force, and the locking member 19 is less likely to deform. Compared with the cantilever beam solution that inserts the shell into the trigger path to lock the trigger assembly 5, the solution of rotating and inserting the trigger path and supporting it through the fixed support plate 20 in this application makes the locking member 19 withstand a larger axial force and less likely to deform, and more importantly, there is no need to open holes on the left and right sides of the shell, thereby avoiding the situation where the shell strength decreases due to the opening of the hole, resulting in a decrease in the overall strength of the product.

[0052] When performing a biopsy using the fully automatic biopsy needle of this embodiment, the operator first needs to assemble the first electromagnetic navigation sensor 11 onto the biopsy needle assembly 1. Specifically, the operator can first adjust the biopsy needle assembly 1 to the energy storage state, that is, by pressing the key, the firing assembly 6 drives the biopsy needle assembly 1 to retract inward in the proximal direction of the shell to the energy storage state, and then extend the distal end of the first electromagnetic navigation sensor 11 to the target position at the distal end of the sensor assembly channel 1013. The proximal end of the first electromagnetic navigation sensor 11 passes through the proximal end of the fully automatic biopsy needle and is connected to the navigation device. At this time, after power is turned on, the navigation device can identify the spatial position (position and posture) of the first electromagnetic navigation sensor 11, and then determine the spatial position (position and posture) of the needle tip 1012 and the sampling slot 1014 of the biopsy needle assembly 1 according to the specific size relationship between the distal target position of the sensor assembly channel 1013 and the needle tip 1012 and the sampling slot 1014. The operator can then select a needle insertion point on the body surface and adjust the needle insertion path according to the navigation, confirming that the pre-puncture target is on the needle insertion path and that the crosshairs used to indicate the needle tip 1012 are on the pre-puncture target point, and then insert the biopsy needle assembly into the target point of the human body along the needle insertion path.

[0053] It should be noted that, in some embodiments, the navigation device reserves a firing distance for the biopsy needle assembly 1, that is, when the crosshairs of the biopsy needle assembly 1 are located at the pre-puncture target point according to the navigation, the actual position of the needle tip 1012 of the biopsy needle assembly 1 is still a firing distance away from the target target point. At this time, the operator controls the firing assembly 6 to drive the biopsy needle assembly 1 to switch from the energy storage state to the firing state, and the needle tip 1012 and the sampling slot 1014 of the biopsy needle assembly 1 will just pierce the target sampling position (target target point).

[0054] It should also be noted that before the biopsy needle assembly 1 is fired, the locking assembly is always in the locked position to prevent the operator from accidentally triggering it. When the crosshairs of the biopsy needle assembly 1 are aimed at the pre-puncture target, the locking assembly is switched from the locked position to the unlocked position, and the trigger assembly 5 is operated to trigger the firing assembly 6, so that the firing assembly 6 switches from the energy storage state to the firing state to complete the sampling of the target tissue.

[0055] The locking assembly is further introduced. In this embodiment, the locking assembly also includes a locking key 21 mounted on the housing. The locking key 21 is fixedly connected to the locking member 19 or is an integral structure. A waist-shaped hole extending along the axial direction of the housing is provided on the housing. The locking key 21 is rotatably installed in the waist-shaped hole. When the locking key 21 moves in the waist-shaped hole, it can drive the locking member 19 to switch between the unlocked position and the locked position. Considering the strength of the locking assembly, preferably, the locking key 21 and the locking member 19 are an integral structure, but this application does not limit this. In other embodiments, the locking key 21 and the locking member 19 can be two independent components, which are fixedly connected by a fixed connection structure. The form of the fixed connection structure is not limited and can be snap-fit, adhesive, etc.

[0056] In this embodiment, the trigger assembly 5 includes a rear trigger key 3 and a trigger link 15. The rear trigger key 3 can be pressed and installed on the proximal end surface of the shell. The trigger link 15 is installed in the shell and is located on the distal side of the rear trigger key 3. When the operator presses the rear trigger key 3, the rear trigger key 3 drives the trigger link 15 to move from the initial position to the trigger position. When the trigger link 15 moves to the trigger position, the firing assembly 6 is triggered. The firing assembly 6 switches from the energy storage state to the firing state, driving the biopsy needle assembly 1 to extend to the distal end of the shell for biopsy sampling.

[0057] Furthermore, when the locking piece 19 moves to the locking position, when the operator presses the rear trigger key 3, the trigger link 15 squeezes the proximal surface of the locking piece 19, and the distal surface of the locking piece 19 abuts against the fixed support disk 20. The locking piece 19 is stuck between the trigger link 15 and the fixed support disk 20, blocking the trigger link 15 from moving to the trigger position, so that before being unlocked, the biopsy needle assembly 1 in the full-automatic biopsy needle will not pop out for sampling, ensuring that the biopsy needle assembly 1 reaches the target position before biopsy sampling, thereby ensuring the accuracy of the sampling result.

[0058] Furthermore, the end surface of the insertion end of the locking member 19 for inserting between the trigger assembly 5 and the firing assembly 6 is formed with an avoidance slope 191 for cooperating with the trigger link 15 . When taking biopsy samples, sometimes there are multiple sampling situations. After the fully automatic biopsy needle is fired multiple times, the automatic return function of the trigger link 15 may decrease, making it impossible for the trigger link 15 to return to the initial position accurately. At this time, when the locking piece 19 is rotated and inserted between the trigger link 15 and the firing assembly 6, it is easily blocked by the trigger link 15 that has not returned to the initial position, making it impossible for the locking piece 19 to move to the locked position. The design of the avoidance slope 191 can make a certain size, so that when the locking piece 19 moves to the locked position, the end of the trigger link 15 first contacts the avoidance slope 191. With the assistance of the avoidance slope 191, the trigger link 15 can be pushed toward the initial position, so that the locking piece 19 can be completely moved to the locked position through the avoidance slope 191, thereby better locking the fully automatic biopsy needle.

[0059] In this embodiment, the shell body includes an outer shell 2 and an inner shell. The inner shell is formed by buckling a first inner shell 7 and a second inner shell 8. The outer shell 2 is sleeved on the outside of the inner shell. The inner shell includes a firing assembly mounting cavity on the distal side and a trigger assembly mounting cavity on the proximal side, as well as a biopsy needle assembly mounting cavity located on one side of the firing assembly mounting cavity and the trigger assembly mounting cavity and penetrating the inner shell and the outer shell 2. The firing assembly 6, the trigger assembly 5 and the biopsy needle assembly 1 are respectively assembled in the firing assembly mounting cavity, the trigger assembly mounting cavity and the biopsy needle assembly mounting cavity.

[0060] Furthermore, if Figure 4 , Figure 5 and Figure 7 As shown, the fixed support disk 20 is the cavity wall on the distal side of the trigger assembly mounting cavity, and a first clamping hole 16 for the firing assembly 6 to extend out and to be clamped at the protruding end of the firing assembly 6 is formed in the middle of the fixed support disk 20. The firing assembly 6 extends from the first clamping hole 16 when in the energy storage state. When the protruding end of the firing assembly 6 is clamped in the first clamping hole 16, the firing assembly 6 maintains the energy storage state. When the trigger link 15 in the trigger assembly 5 moves to the trigger position, the protruding end of the firing assembly 6 can be disengaged from the first clamping hole 16, so that the firing assembly 6 switches from the energy storage state to the firing state.

[0061] In this embodiment, the trigger link 15 has a pair of elastic wings 52 extending to both sides, and a retaining wall for resisting the elastic wings 52 is formed in the trigger component mounting cavity. When the trigger link 15 moves from the initial position to the trigger position, the retaining wall resists the elastic wings 52 to cause the elastic wings 52 to deform and store energy. After the rear trigger key 3 releases the drive on the trigger link 15, the trigger link 15 drives the rear trigger key 3 to automatically move from the trigger position to the initial position under the deformation recovery action of the elastic wings 52, so that the rear trigger key 3 and the trigger link 15 can automatically return to their positions. Furthermore, after the fully-automatic biopsy needle has been fired multiple times, the elastic wing 52 may produce elastic fatigue, making it impossible for the trigger link 15 and the rear trigger key 3 to return to their initial positions. At this time, when the locking piece 19 is rotated and inserted between the trigger link 15 and the firing assembly 6, it is easily blocked by the trigger link 15 that has not returned to its initial position, making it impossible for the locking piece 19 to move to the locked position. The design of the avoidance slope 191 allows a certain size to be left, so that when the locking piece 19 moves to the locked position, the end of the trigger link 15 first contacts the avoidance slope 191. With the assistance of the avoidance slope 191, the trigger link 15 can be pushed toward the initial position, so that the locking piece 19 can be completely moved to the locked position through the avoidance slope 191, thereby better locking the fully-automatic biopsy needle.

[0062] In this embodiment, the firing assembly 6 and the trigger assembly 5 are arranged in the shell, the firing assembly 6 is connected to the biopsy needle assembly 1, the firing assembly 6 has an energy storage state that causes the biopsy needle assembly 1 to retract into the shell, and the firing assembly 6 also has a firing state that causes the needle core 101 and the needle tube 102 in the biopsy needle assembly 1 to pop out in sequence, and the firing assembly 6 drives the needle core 101 and the needle tube 102 to extend outward toward the distal direction of the shell in sequence, so that there is a time difference in the process of extending the needle core 101 and the needle tube 102, so that the needle core 101 and the needle tube 102 complete the biopsy sampling; the trigger assembly 5 can drive the firing assembly 6 to switch from the energy storage state to the firing state.

[0063] Furthermore, the trigger assembly 5 also includes a third slider 51 formed on the trigger link 15, and elastic wings 52 extend from both sides of the third slider 51. When the operator presses the rear trigger key 3, the rear trigger key 3 drives the trigger link 15 and the third slider 51 to slide from the initial position to the trigger position, so as to drive the firing assembly 6 to switch from the energy storage state to the firing state.

[0064] In this embodiment, the firing assembly 6 includes a first sub-firing assembly 61 and a second sub-firing assembly 62, and the firing assembly mounting cavity includes a first cavity and a second cavity. The first sub-firing assembly 61 is installed in the first cavity, and the second sub-firing assembly 62 is installed in the second cavity. The needle core 101 is connected to the first sub-firing assembly 61, and the needle tube 102 is connected to the second sub-firing assembly 62. The first sub-firing assembly 61 and the second sub-firing assembly 62 enter the firing state in sequence, so that the needle core 101 and the needle tube 102 pop out in a preset order.

[0065] Furthermore, if Figure 6 As shown, the first sub-firing assembly 61 includes a first slider 611 and a first elastic member 612, and the second sub-firing assembly 62 includes a second slider 621 and a second elastic member 622; the needle core 101 is fixedly connected to the first slider 611, and the first slider 611 has an energy storage state in the first cavity for compressing the first elastic member 612 to shrink the needle core 101, and the first slider 611 also has a firing state in the first cavity for driving the needle core 101 to pop out under the elastic force of the first elastic member 612; the needle tube 102 is fixedly connected to the second slider 621, and the second slider 621 is slidably installed in the second cavity, and the second slider 621 has an energy storage state in the second cavity for compressing the second elastic member 622 to shrink the needle tube 102, and the second slider 621 also has a firing state in the second cavity for driving the needle tube 102 to pop out under the elastic force of the second elastic member 622.

[0066] Specifically, Figure 7 and Figure 8 As shown, the first end of the first slider 611 has a first clamping portion, and the first cavity has a first clamping hole 16 that matches the first clamping portion. When the first clamping portion is clamped into the first clamping hole 16, the first slider 611 enters an energy storage state. When the first clamping portion is separated from the first clamping hole 16, the first slider 611 enters a firing state. The trigger assembly 5 can drive the first clamping portion to separate from the first clamping hole 16, so that the first slider 611 enters a firing state from the energy storage state, driving the needle core 101 to pop out; the first end of the second slider 621 The end has a second clamping portion, and the second cavity has a second clamping hole 17 that cooperates with the second clamping portion. When the second clamping portion is clamped into the second clamping hole 17, the second slider 621 enters an energy storage state. When the second clamping portion is disengaged from the second clamping hole 17, the second slider 621 enters a firing state. When the first slider 611 slides to the far end of the first cavity, the second clamping portion can be pushed out of the second clamping hole 17, so that the second clamping portion is disengaged from the second clamping hole 17, and the second slider 621 enters a firing state, driving the needle tube 102 to pop out.

[0067] In this embodiment, Figure 8As shown, a first elastic block 6111 is formed at the first end of the first slider 611, and the first elastic block 6111 passes through the first clamping hole 16 and is clamped on the side of the first clamping hole 16, so that the first slider 611 maintains an energy storage state. When the third slider 51 slides to the trigger position, the first elastic block 6111 is disengaged from the first clamping hole 16, and the first slider 611 enters a firing state, driving the needle core 101 to extend outward toward the far end of the shell; a second elastic block 6211 is formed at the first end of the second slider 621, and the second elastic block 6211 is formed at the first end of the second slider 621. The block 6211 passes through the second clamping hole 17 and is clamped on the side of the second clamping hole 17 to keep the second slider 621 in the energy storage state. When the first slider 611 slides to the tail end of the first cavity, the end of the first slider 611 squeezes the second elastic block 6211 to make the second elastic block 6211 disengage from the second clamping hole 17, and the second slider 621 enters the firing state, driving the needle tube 102 to extend toward the distal end of the shell. When the needle core 101 and the needle tube 102 extend toward the distal end of the shell, the biopsy sampling of the target position is completed.

[0068] In this embodiment, the outer diameter of the end of the first elastic block 6111 away from the trigger assembly 5 is larger than the outer diameter of the end of the first elastic block 6111 close to the trigger assembly 5, so that when the first slider 611 is storing energy, the first elastic block 6111 is squeezed by the side wall of the first hole 16, and the first elastic block 6111 is radially offset inward, so that the first elastic block 6111 can enter the first hole 16 and pass through the first hole 16. After the first elastic block 6111 passes through the first hole 16, there is no squeezing of the side wall of the first hole 16. The first elastic block 6111 is radially offset outward and expanded under the action of its own elasticity, so that the first elastic block 6111 is engaged with the side of the first hole 16, preventing the first elastic block 6111 from sliding out of the first hole 16, so that the first slider 611 maintains the energy storage state.

[0069] Similarly, the outer diameter of the end of the second elastic block 6211 away from the first slider 611 is larger than the outer diameter of the end of the second elastic block 6211 close to the first slider 611, so that when the second slider 621 is storing energy, the second elastic block 6211 is squeezed by the side wall of the second hole 17, and the second elastic block 6211 is radially offset inward, so that the second elastic block 6211 can enter the second hole 17 and pass through the second hole 17. After the second elastic block 6211 passes through the second hole 17, it is no longer squeezed by the side wall of the second hole 17. The second elastic block 6211 is radially offset outward and expanded under the action of its own elasticity, so that the second elastic block 6211 is engaged with the side of the second hole 17, preventing the second elastic block 6211 from sliding out of the second hole 17, so that the second slider 621 maintains the energy storage state.

[0070] In this embodiment, the first cavity and the second cavity are connected, and the first cavity and the second cavity are arranged in the moving direction of the needle core 101 and the needle body 1011, so that when the first slider 611 and the second slider 621 slide in the first cavity and the second cavity, it is easy to drive the needle core 101 and the needle body 1011 to move. At the same time, when the first slider 611 slides to the tail end of the first cavity, it can squeeze the second elastic block 6211, so that the second slider 621 switches from the energy storage state to the firing state, so that the second slider 621 drives the needle tube 102 to extend toward the distal end of the shell.

[0071] In some other embodiments, the first cavity and the second cavity may also be provided separately, and the first slider 611 and the second slider 621 may be triggered separately, as long as the first slider 611 and the second slider 621 are triggered in sequence.

[0072] In this embodiment, the inner shell includes a first inner shell 7 and a second inner shell 8, which are buckled and arranged. The first inner shell 7 and the second inner shell 8 are both installed in the shell. The first cavity and the second cavity are formed in the internal space of the first inner shell 7 and the second inner shell 8, which is convenient for rational use of the space in the shell. The first cavity and the second cavity are formed by assembling the first inner shell 7 and the second inner shell 8, which reduces the processing cost of the shell and increases the applicability of the shell. The first inner shell 7 and the second inner shell 8 of other models can also be assembled to install biopsy needle assemblies 1 of different specifications and models (thickness and length of the needle core and the needle tube).

[0073] In this embodiment, the end of the first elastic block 6111 facing the third slider 51 has a first inclined surface 6112, and the inclination direction of the first inclined surface 6112 is inclined upward from the direction close to the third slider 51 to the direction away from the third slider 51. The radial dimension of the first inclined surface 6112 is smaller than the inner diameter of the first clamping hole 16, so that when the first slider 611 slides, the first inclined surface 6112 partially enters the first clamping hole 16 first, and as the first inclined surface 6112 gradually enters, the inner wall of the first clamping hole 16 begins to squeeze the first The inclined surface 6112 causes the first elastic block 6111 to contract radially inward and eventually completely enter the first hole 16. After passing through the first hole 16, the first elastic block 6111 expands radially outward under the action of its own elastic force and recovers its deformation because there is no restriction from the inner wall of the first hole 16. At this time, the radial dimension of the end of the first elastic block 6111 facing the first hole 16 is greater than the inner diameter of the first hole 16, thereby preventing the first elastic block 6111 from detaching from the first hole 16 and keeping the first slider 611 in an energy storage state.

[0074] Furthermore, the end of the third slider 51 facing the first slider 611 has a second inclined surface 511 matching the first inclined surface 6112. When the third slider 51 slides to the trigger position, the first elastic block 6111 moves radially inward under the squeezing of the second inclined surface 511, so that the radial dimension of the first elastic block 6111 is less than or equal to the inner diameter of the first clamping hole 16, so that the first elastic block 6111 can break away from the restriction of the first clamping hole 16 and enter the first clamping hole 16. The first slider 611 switches from the energy storage state to the firing state under the action of the elastic force of the first elastic member 612, driving the needle core 101 to pop out toward the far end of the shell.

[0075] In this embodiment, the end of the second elastic block 6211 facing the first slider 611 has a third inclined surface 6212, and the inclination direction of the third inclined surface 6212 is inclined upward from the direction close to the first slider 611 to the direction away from the first slider 611. The radial dimension of the third inclined surface 6212 is smaller than the inner diameter of the second clamping hole 17, so that when the second slider 621 slides, the third inclined surface 6212 partially enters the second clamping hole 17 first, and as the third inclined surface 6212 gradually enters, the inner wall of the second clamping hole 17 begins to squeeze The third inclined surface 6212 causes the second elastic block 6211 to contract radially inward and eventually completely enter the second clamping hole 17. After passing through the second clamping hole 17, due to the lack of restriction from the inner wall of the second clamping hole 17, the second elastic block 6211 expands radially outward under the action of its own elastic force and recovers its deformation. At this time, the radial dimension of the end of the second elastic block 6211 facing the second clamping hole 17 is greater than the inner diameter of the second clamping hole 17, thereby preventing the second elastic block 6211 from detaching from the second clamping hole 17 and keeping the second slider 621 in an energy storage state.

[0076] Furthermore, the end of the first slider 611 facing the second slider 621 has a fourth inclined surface 18 matching the third inclined surface 6212. When the first slider 611 slides to the tail end of the first cavity, the second elastic block 6211 moves radially inward under the extrusion of the fourth inclined surface 18, so that the radial dimension of the second elastic block 6211 is less than or equal to the inner diameter of the second card hole 17, so that the second elastic block 6211 can break away from the restriction of the second card hole 17 and enter the second card hole 17. The second slider 621 switches from the energy storage state to the firing state under the elastic force of the second elastic member 622, driving the needle tube 102 to pop out toward the distal end of the shell.

[0077] In this embodiment, Figure 2 and Fig. 9As shown, the biopsy needle assembly 1 includes a needle core 101 and a needle tube 102, the needle core 101 includes a needle body 1011 and a needle tip 1012, the needle body 1011 is internally formed with a sensor assembly channel 1013 extending along the length direction of the needle body 1011, the first electromagnetic navigation sensor 11 can be inserted into the sensor assembly channel 1013 through the proximal opening of the needle body 1011, so that during the biopsy operation, the slender first electromagnetic navigation sensor 11 can be inserted from the proximal opening of the needle body 1011 to the distal target position of the needle body 1011, close to the position of the needle tip 1012, so that when the biopsy needle is inserted into the human body, the operator can use the navigation device to identify the spatial position of the first electromagnetic navigation sensor 11 in the human body, and then use the first electromagnetic navigation sensor 11 to identify the spatial position of the first electromagnetic navigation sensor 11 in the human body. The size relationship between the magnetic navigation sensor 11 and the needle tip 1012 and the sampling slot 1014 in the biopsy needle assembly 1 can accurately calculate the spatial position of the needle tip 1012 and the sampling slot 1014 in the human body, wherein the position of the needle tip 1012 and the sampling slot 1014 can be determined according to their own size and the position relationship relative to the first electromagnetic navigation sensor 11, and the navigation device can compensate the needle tip 1012 and the sampling slot 1014 for data relative to the first electromagnetic navigation sensor 11, and then determine the position of the needle tip 1012 according to the position of the first electromagnetic navigation sensor 11, and then determine the distance between the needle tip 1012 and the target position through the first electromagnetic navigation sensor 11, and can accurately sample at the target position. Among them, "proximal end" refers to the end close to the operator, and "distal end" refers to the end away from the operator.

[0078] In this embodiment, a fixed protective tube 14 is further provided in the shell, and the fixed protective tube 14 is aligned with the sensor assembly channel 1013. The first electromagnetic navigation sensor 11 is guided by the fixed protective tube 14 and extends into the sensor assembly channel 1013. The fixed protective tube 14 passes through the elastic wing 52. The elastic wing 52 is formed with an avoidance hole through which the fixed protective tube 14 passes and avoids interference with the fixed protective tube 14 when the trigger link 15 moves. The fixed protective tube 14 passes through the avoidance hole corresponding to the needle body 1011. The diameter of the avoidance hole is slightly larger than the outer diameter of the fixed protective tube 14, so that when the trigger link 15 slides, the avoidance hole drives the elastic wing 52 to deform, and the avoidance hole can move slightly on the fixed protective tube 14, thereby avoiding the avoidance hole of the elastic wing 52 being tightly mounted on the fixed protective tube 14 and unable to move, thereby affecting the sliding of the trigger link 15.

[0079] In order to enable the first electromagnetic navigation sensor 11 to be assembled accurately and conveniently, in the present embodiment, a connecting through hole 12 is opened at the proximal end of the shell, and the connecting through hole 12 is connected to the sensor assembly channel 1013. The connecting through hole 12 is used to install a first connecting piece, and a channel suitable for the slender first electromagnetic navigation sensor 11 to pass through is formed inside the first connecting piece. The first connecting piece is arranged to be relatively fixed with the first connecting piece when the distal end of the first electromagnetic navigation sensor 11 passes through the channel and extends to the target position at the distal end of the sensor assembly channel 1014. The proximal end of the first electromagnetic navigation sensor 11 is suitable for passing through the first connecting piece to be connected to the navigation device.

[0080] Considering that when the surgeon performs a biopsy or the navigation device is working (e.g., needs to be moved), the first electromagnetic navigation sensor may be damaged by the torque of an external force or affect the accuracy of the operation. For example, the housing (also called the handle) of the fully automatic biopsy needle held by the surgeon rotates, or the navigation device is accidentally touched and moves, causing the first electromagnetic navigation sensor to twist, which may cause the first electromagnetic navigation sensor to be damaged by external torque. Therefore, in this embodiment, the connection between the first connecting member and the connecting through hole 12 is set so that the first connecting member can rotate relative to the connecting through hole under external torque. In this way, when the shell is subjected to torque of an external force, the first electromagnetic navigation sensor 11 can adaptively rotate with the first connecting member relative to the guide shell and the biopsy needle assembly 1, so as to avoid the first electromagnetic navigation sensor 11 being damaged by torque or affecting the positioning accuracy.

[0081] To be more specific, in the present embodiment, a connecting cap is provided at the distal end of the first connecting member, and the connecting cap can be inserted into the connecting through hole 12, and an annular groove is provided on the side wall of the connecting through hole 12, and accordingly, an annular protrusion 23 is provided on the inner wall of the connecting through hole 12, and the annular protrusion 23 and the annular groove cooperate with each other. When the first electromagnetic navigation sensor 11 is subjected to external torque, the first connecting member relatively fixed to the first electromagnetic navigation sensor 11 can rotate relative to the connecting through hole with the cooperation of the annular protrusion 23 and the annular groove.

[0082] To be more specific, the proximal end of the first electromagnetic navigation sensor 11 is sleeved with a second connecting piece, the distal end of the first electromagnetic navigation sensor 11 passes through the second connecting piece, the first electromagnetic navigation sensor 11 is fixedly connected to the second connecting piece, the proximal end of the first electromagnetic navigation sensor passes through the second connecting piece and is detachably connected to the navigation device, and the distal end of the second connecting piece is detachably connected to the proximal end of the first connecting piece. In this way, when the first electromagnetic navigation sensor 11 needs to be assembled, the operator can hold the second connecting piece and connect the distal end of the second connecting piece to the proximal end of the first connecting piece installed on the connecting through hole, thus completing the assembly of the first electromagnetic navigation sensor 11 on the fully automatic biopsy needle.

[0083] In order to further ensure the accuracy of assembly, the connection between the second connecting member and the first connecting member is set so that when the two are connected in place, the distal end of the first electromagnetic navigation sensor 11 just extends into the target position of the sensor assembly channel 1014.

[0084] As a preferred implementation of this embodiment, the distal end of the second connector and the proximal end of the first connector are quickly detached. Specifically, the distal end of the second connector is set as a plug, and the proximal end of the first connector is set as a slot. During assembly, the plug can be quickly inserted into the slot to achieve connection. Of course, the positions of the plug and the slot can be interchanged. It should also be noted that the connection between the distal end of the second connector and the proximal end of the first connector can be a fixed connection or a rotating connection, which is not limited in this application.

[0085] As a preferred implementation manner of this embodiment, the first connecting member is a first connecting tube, the second connecting member is a second connecting tube (not shown in the figure), and the inner diameter of the first connecting tube is larger than the outer diameter of the first electromagnetic navigation sensor 11, that is, there is a gap between the first connecting tube and the first electromagnetic navigation sensor 11, which makes it easier to insert the first electromagnetic navigation sensor, and the inner wall of the second connecting tube is fixed to the first electromagnetic navigation sensor 11.

[0086] As an example of the above preferred embodiment, the first electromagnetic navigation sensor 11 is a thin and long wire, and the second connecting tube can be a split structure, which includes a first connecting sub-tube on the distal side and an insulating skin wrapped around the outside of the wire on the proximal side, the wire is fixed in the insulating skin, and the first connecting sub-tube of the second connecting tube and the first connecting tube are both plastic transparent tubes. When making the first electromagnetic navigation sensor 11, the wire without the insulating skin on the distal side is inserted into the first connecting sub-tube, and then the distal end of the insulating skin is fixed to the proximal end of the first connecting sub-tube by a heat shrink tube (other fastening methods can also be used). When assembling the first electromagnetic navigation sensor 11, the operator holds the first connecting sub-tube or the insulating skin on the outside of the wire to insert the wire on the distal side into the first connecting tube until the wire on the distal side extends into the distal end of the sensor assembly channel 1013 of the biopsy needle. Then the operator can quickly plug the distal end of the first connecting sub-tube and the proximal end of the first connecting tube together, and the wire end on the distal side just extends into the target position at the distal end of the sensor assembly channel 1013, thereby completing the assembly of the first electromagnetic navigation sensor 11.

[0087] It should be noted that in this embodiment, the sensor is preferably arranged at the distal end of the wire. However, this application is not limited to this. In some other embodiments, there may be multiple sensors, which can be arranged at other positions along the wire in addition to being arranged at the distal end of the wire.

[0088] In addition, in this embodiment, during actual assembly, the operator first connects the first connecting tube to the connecting through hole 12 through the connecting cap, which is equivalent to providing an installation channel for the installation of the first electromagnetic navigation sensor 11. The operator then holds the second connecting tube to extend the first electromagnetic navigation sensor 11 into the first connecting tube, and then fixes the distal end of the second connecting tube to the proximal end of the first connecting tube. At this time, the first electromagnetic navigation sensor 11 just extends into the target position at the distal end of the sensor assembly channel 1014.

[0089] More specifically, the proximal end of the first electromagnetic navigation sensor 11 is provided with a quick-plug female connector, and the navigation device is provided with a quick-plug male connector for cooperating with the quick-plug female connector. The quick-plug female connector and the quick-plug male connector can form a fixed mechanical connection, and the quick-plug female connector and the quick-plug male connector also realize the electrical connection between the first electromagnetic navigation sensor 11 and the navigation device. The positions of the quick-plug female connector and the quick-plug male connector can be interchanged.

[0090] The present application does not impose any restriction on the detachable fixed connection between the distal end of the second connecting tube and the proximal end of the first connecting tube. It can be a quick-insert fixed connection or a threaded connection, as long as the second connecting tube and the first connecting tube can be fixed and detachable.

[0091] In actual use, the first connecting tube and the fully-automatic biopsy needle are a kit, the first electromagnetic navigation sensor 11 and the second connecting tube are a kit, the fully-automatic biopsy needle may have different length specifications according to actual conditions, and the length of the first electromagnetic navigation sensor 11 is usually fixed. In order to allow the first electromagnetic navigation sensor 11 to be able to extend into the target position of the fully-automatic biopsy needles of different lengths, in this embodiment, the first connecting tube is designed to have different length specifications to match the fully-automatic biopsy needles of different lengths (for example, when the length of the fully-automatic biopsy needle is shorter, the length of the first connecting tube is longer) to ensure that when the first connecting tube and the second connecting tube are connected, the first electromagnetic navigation sensor 11 can be extended into the target position of the fully-automatic biopsy needle.

[0092] In this embodiment, a fixed protection tube 14 is further included, which is arranged at the proximal end of the housing. The proximal end of the biopsy needle assembly 1 extends into the fixed protection tube 14. The fixed protection tube is used to protect the biopsy needle assembly 1 and guide the first electromagnetic navigation sensor 11 to extend into the sensor assembly channel 1013 when assembling the first electromagnetic navigation sensor 11. The fixed protection tube 14 is installed in the housing through the avoidance hole on the elastic wing 52. The fixed protection tube 14 is provided to protect the first electromagnetic navigation sensor 11 on the one hand, to prevent the first electromagnetic navigation sensor 11 from being damaged when other components in the housing are in motion, and on the other hand, to guide the assembly of the first electromagnetic navigation sensor 11, so that the operator can more easily extend the first electromagnetic navigation sensor 11 into the target position of the sensor channel 1013.

[0093] In order to accurately locate the positions of the needle tip 1012 and the sampling slot 1014, in the present embodiment, further, the center of the fixed protection tube 14, the connecting through hole 12 and the center of the sensor assembly channel 1013 are aligned, so that on the one hand, the center of the first electromagnetic navigation sensor 11 can be aligned with the center of the sensor assembly channel 1013 during assembly, thereby facilitating the navigation device to obtain the spatial position of the needle tip 1012 and the sampling slot 1014 according to the specific spatial position of the first electromagnetic navigation sensor 11 and the specific size and relative position relationship of the first electromagnetic navigation sensor 11, the needle tip 1012 and the sampling slot 1014; on the other hand, The slender first electromagnetic navigation sensor 11 is not fired together with the biopsy needle assembly 1 when firing. Because the firing assembly 6 is fired quickly (it can also be said to be fired instantly) when switching from the energy storage state to the firing state, the firing force is large. The rapid and large firing force can easily cause the biopsy needle assembly 1 to form a rapid and large friction force on the first electromagnetic navigation sensor 11. After the center of the fixed protective tube 14 is aligned with the center of the sensor assembly channel 1013, the first electromagnetic navigation sensor 11 can extend in a straight line to the distal end of the needle body 1011, which can prevent the friction force generated at the moment of the needle body 1011 popping out from pulling the first electromagnetic navigation sensor 11 off.

[0094] In this embodiment, the needle tube 102 is used to cooperate with the sampling groove 1014 on the needle tip 1012 to complete sampling.

[0095] Furthermore, a ring blade is provided at the end of the needle tube 102. When the needle tube 102 slides relative to the needle body 1011, the ring blade can cooperate with the sampling groove 1014 to cut and separate the tissue sample in the sampling groove 1014 from the tissue to obtain the tissue sample.

[0096] In this embodiment, the needle tip 1012 is detachably connected to the needle body 1011, the needle tip 1012 is a solid structure, and the sampling slot 1014 is arranged on the needle tip 1012. Furthermore, a plug connector is arranged at the end of the needle body 1011, and a plug hole matching the plug connector is arranged at the end of the needle tip 1012, and the needle tip 1012 is installed on the needle body 1011 by inserting the plug connector into the plug hole. Specifically, the plug connector can be a cylinder integrally formed with the needle body 1011, and the plug hole is a blind hole arranged on the needle tip 1012 and matching the diameter of the cylinder. By inserting the cylinder into the blind hole, the needle tip 1012 is connected to the needle body 1011, wherein glue or adhesive can be applied or welded between the cylinder and the blind hole to make the connection between the needle tip 1012 and the needle body 1011 more firmly.

[0097] In this embodiment, the needle core 101 and the needle tube 102 are slidably arranged, and the needle tube 102 is slidably sleeved on the outside of the needle core 101. The needle core 101 and the needle tube 102 slide in sequence. The needle core 101 first moves to the target position, and the tissue at the target position is filled into the sampling groove 1014. The needle tube 102 then slides relative to the needle core 101. During the sliding process of the needle tube 102, the annular blade at the end thereof cuts and separates the tissue located in the sampling groove 1014 from other tissues when passing through the sampling groove 1014 to complete the sampling work.

[0098] In this embodiment, rubber sleeves can be put on the ends of the needle core 101 and the needle tube 102. When the fully automatic biopsy needle is not in use, the rubber sleeves can be put on the ends of the needle core 101 and the needle tube 102 to protect the ends of the needle core 101 and the needle tube 102 and prevent dust and the like from falling into the needle tube 102.

[0099] In this embodiment, it also includes a side trigger key 4, and the side trigger key 4 and the rear trigger key 3 are respectively arranged on the side and the tail end of the handle formed by the shell, and the side trigger key 4 and the rear trigger key 3 are connected by a trigger link 15, and the side trigger key 4 and the rear trigger key 3 move synchronously. No matter which trigger key the operator presses, the other trigger key moves synchronously. The trigger link 15 is connected to the third slider 51, and the side trigger key 4 and the rear trigger key 3 are both connected to the third slider 51 through the trigger link 15. The trigger link 15 is slidably arranged in the shell, so that no matter the operator operates the side trigger key 4 or the rear trigger key 3, the trigger link 15 can drive the third slider 51 to move from the initial position to the trigger position.

[0100] In this embodiment, it also includes a first push button 10 and a second push button 9. The first push button 10 and the second push button 9 are both slidably installed in the shell. The first push button 10 and the second push button 9 are at least partially exposed on the outside of the shell, wherein the first push button 10 is fixedly connected to the first slider 611, and the second push button 9 is fixedly connected to the second slider 621. By pressing the first push button 10, the operator can control the first slider 611 to retract and move into the shell to the energy storage state, and by pressing the second push button 9, the operator can control the second slider 621 to retract and move into the shell to the energy storage state.

[0101] Example 2

[0102] This embodiment provides a specific implementation of a biopsy system based on electromagnetic positioning, including the fully automatic biopsy needle, the second electromagnetic navigation sensor and the navigation device in the above embodiment. When in use, the second electromagnetic navigation sensor is fixed on the ultrasound probe, and the ultrasound probe can be a surface probe or an intraoperative probe, without limitation. The navigation device is configured to extract the electromagnetic signals of the first electromagnetic navigation sensor 11 and the second electromagnetic navigation sensor, and determine the spatial position relationship between the fully automatic biopsy needle and the ultrasound probe based on the electromagnetic signals.

[0103] Those skilled in the art will easily think of other embodiments of the present application after considering the specification and practicing the embodiments of the present application. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that the present application does not apply for. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the appended claims.

Claims

1. A fully automatic biopsy needle, characterized in that: include: A housing, a biopsy needle assembly, a first electromagnetic navigation sensor, a firing assembly, a trigger assembly, and a locking assembly, wherein the biopsy needle assembly, the first electromagnetic navigation sensor, the firing assembly, the trigger assembly, and the locking assembly are assembled in the housing; The biopsy needle assembly is provided with a hollow sensor assembly channel; the first electromagnetic navigation sensor is used to extend into a target position at the far end of the sensor assembly channel, and is used to locate the biopsy needle assembly under a navigation device; The firing assembly is connected to the biopsy needle assembly, and the firing assembly has an energy storage state in which the biopsy needle assembly is retracted toward the proximal end of the housing, and a firing state in which the biopsy needle assembly is extended toward the distal end of the housing under the triggering of the trigger assembly. During the switching process from the energy storage state to the firing state, the biopsy needle assembly performs biopsy sampling; The trigger assembly is used to trigger the firing assembly and is mounted on the proximal side of the firing assembly on the housing. The trigger assembly has an initial position and a trigger position for moving along a trigger path toward the distal end of the housing to trigger the firing assembly to switch from the energy storage state to the firing state. The locking assembly comprises a locking piece, the locking piece being rotatably mounted on the proximal side of the housing, the locking piece having an unlocking position and a locking position in which the locking piece is rotated along the circumferential direction of the housing and inserted between the trigger assembly and the firing assembly, wherein the locking piece blocks the trigger assembly from moving toward the trigger position; a fixed support disk is formed in the housing, and the fixed support disk is arranged to abut against a distal end surface of the locking piece when the locking piece is rotated to the locking position; The trigger assembly includes a rear trigger key and a trigger link, wherein the rear trigger key can be pressably mounted on the proximal surface of the housing, and the trigger link is mounted on the distal side of the rear trigger key in the housing, and the rear trigger key drives the trigger link to move from the initial position to the trigger position, and the trigger link triggers the firing assembly when in the trigger position; In the locking position, the proximal end surface of the locking member abuts against the trigger connecting rod, and the distal end surface of the locking member is abutted against by the fixed support plate.

2. The fully automatic biopsy needle according to claim 1, characterized in that: The locking assembly also includes a locking key assembled on the shell, which is fixedly connected to the locking piece or is an integral structure. The shell is provided with a waist-shaped hole extending along the circumference of the shell. The locking key can be rotatably installed in the waist-shaped hole along the circumference of the shell and drive the locking piece to switch between the unlocking position and the locking position.

3. The fully automatic biopsy needle according to claim 1, characterized in that: The end surface of the insertion end of the locking member used for inserting between the trigger assembly and the firing assembly is formed with an avoidance slope for cooperating with the trigger connecting rod.

4. The fully automatic biopsy needle according to any one of claims 1 to 3, characterized in that: The shell body includes an outer shell and an inner shell, the outer shell is sleeved on the outside of the inner shell, the inner shell includes a firing assembly mounting cavity on the distal side and a trigger assembly mounting cavity on the proximal side, and a biopsy needle assembly mounting cavity located on one side of the firing assembly mounting cavity and the trigger assembly mounting cavity, the firing assembly, the trigger assembly and the biopsy needle assembly are respectively assembled in the firing assembly mounting cavity, the trigger assembly mounting cavity and the biopsy needle assembly mounting cavity.

5. The fully automatic biopsy needle according to claim 4, characterized in that: The fixed support plate is the cavity wall on the distal side of the trigger assembly mounting cavity, and a first clamping hole is formed in the middle of the fixed support plate for the firing assembly to extend out and engage with the protruding end of the firing assembly. The firing assembly extends from the first clamping hole when in the energy storage state.

6. The fully automatic biopsy needle according to claim 4, characterized in that: The trigger link has a pair of elastic wings extending to both sides, and a retaining wall for resisting the elastic wings is formed in the trigger component mounting cavity. When the trigger link moves from the initial position to the trigger position, the retaining wall resists the elastic wings to deform and store energy. After the rear trigger key releases the drive on the trigger link, the trigger link drives the rear trigger key to automatically move from the trigger position to the initial position under the deformation recovery action of the elastic wings.

7. The fully automatic biopsy needle according to claim 4, characterized in that: The biopsy needle assembly includes a needle core and a needle tube slidably sleeved on the outside of the needle core, the needle core includes a needle tip and a needle body, the needle tip is located at the distal end, the distal end of the needle body is connected to the proximal end of the needle tip and extends toward the proximal end of the housing, the sensor assembly channel is formed inside the needle body, and the sensor assembly channel extends along the length direction of the needle body; The first electromagnetic navigation sensor is a slender structure. When the firing assembly drives the biopsy needle assembly to be in an energy storage state, the distal end of the first electromagnetic navigation sensor extends to the target position at the distal end of the sensor assembly channel, and the proximal end of the first electromagnetic navigation sensor passes through the proximal opening of the biopsy needle assembly mounting cavity.

8. The fully automatic biopsy needle according to claim 7, characterized in that: The firing assembly includes a first sub-firing assembly arranged at the proximal end and a second sub-firing assembly arranged at the distal end. The firing assembly mounting cavity has a first cavity arranged at the proximal end and a second cavity arranged at the distal end. The fixed support plate is formed at the connection between the first cavity and the trigger assembly mounting cavity. The first sub-firing assembly is installed in the first cavity, and the second sub-firing assembly is installed in the second cavity. The needle core is connected to the first sub-firing assembly, and the needle tube is connected to the second sub-firing assembly. The first sub-firing assembly is triggered by the trigger assembly to switch from the energy storage state to the firing state, and at the same time drives the needle core to pop out in the distal direction. When the first sub-firing assembly switches to the firing state, it triggers the second sub-firing assembly to switch from the energy storage state to the firing state, and at the same time drives the needle tube to pop out in the distal direction.

9. The fully automatic biopsy needle according to claim 8, characterized in that: The first sub-firing assembly includes a first slider and a first elastic member, and the second sub-firing assembly includes a second slider and a second elastic member; The needle core is fixedly connected to the first slider, and the first slider is slidably installed in the first cavity. The first slider has an energy storage state in the first cavity for compressing the first elastic member to shrink the needle core, and the first slider also has a firing state in the first cavity for driving the needle core to pop out; The needle tube is fixedly connected to the second slider, and the second slider is slidably installed in the second cavity. The second slider has an energy storage state in the second cavity for compressing the second elastic member to shrink the needle tube, and the second slider also has a firing state in the second cavity for driving the needle tube to pop out.

Images