An ultrasound image-guided multi-needle puncture device and a puncture position determination method thereof

Abstract

The application discloses an ultrasound image guided multi-needle puncture device and a puncture position determination method thereof, and belongs to the technical field of puncture positioning devices. The multi-needle puncture device comprises an ultrasound probe, a needle arrangement plate arranged on the front side of the detection end of the ultrasound probe and kept synchronous with the lifting of the ultrasound probe, a plurality of parallel puncture holes evenly arranged on the needle arrangement plate, an electrode needle installed on a guide support in a clamped manner and arranged in parallel with the ultrasound probe, the electrode needle being kept synchronous with the movement of the ultrasound probe, the adjustment of the electrode needle position by the guide support enabling the electrode needle to be inserted into any one of the puncture holes, the diameters of the plurality of puncture holes being matched with the diameter of the electrode needle, a puncture guide map being pasted on the surface of the needle arrangement plate and covering the excess puncture holes on the surface of the needle arrangement plate, and the guide support being arranged to enable the electrode needle to be parallel to the ultrasound probe, so that the plurality of electrode needles can be arranged in parallel, and the optimal effect of electrode ablation is ensured.

Description

Technical Field

[0001] This invention relates to the field of puncture positioning device technology, and in particular to an ultrasound image-guided multi-needle puncture device and a method for determining the puncture location. Background Technology

[0002] Compared to traditional surgical resection and minimally invasive thermal ablation therapy, in recent years, with the continuous development and maturation of pulsed electric field therapy technology, its minimally invasive, non-thermal approach, low damage to the ureter and blood vessels, low postoperative complication rate, and preservation of function have led to its increasingly widespread application and made it the preferred treatment for prostate diseases.

[0003] Before surgery, doctors will determine the location and size of the lesion based on imaging reports. Guided by ultrasound or other medical imaging equipment, the electrode needles for pulsed electric field therapy are percutaneously inserted into the tumor and connected to the ablation device for treatment. Pulsed electric field therapy for tumors generally requires the placement of multiple needles to achieve full coverage of the ablation area. Currently, in clinical practice, a puncture needle plate is generally used for positioning to achieve the expected target location. Adjusting the ultrasound probe to locate the tumor and placing the electrode needles are generally done manually. This requires repeatedly adjusting the ultrasound probe according to the preoperative plan, manually judging the parallelism of the multiple needles and the position and depth of the electrode needles corresponding to the tumor. The process is tedious and arduous, and due to limitations in experience and inaccurate predictions, failure to achieve the same positioning and placement as the preoperative plan can easily lead to serious consequences such as incomplete ablation or omissions. Summary of the Invention

[0004] This invention provides an ultrasound image-guided multi-needle puncture device and a method for determining the puncture position, in order to solve the problems of cumbersome manual adjustment of the ultrasound probe, low accuracy of multi-needle arrangement, and inability to guarantee parallelism in the prior art.

[0005] The present invention employs the following technical solution: an ultrasound image-guided multi-needle puncture device, comprising: an ultrasound probe, which acquires the position and morphology of a target tumor through movement and rotation; a needle plate, disposed on the front side of the detection end of the ultrasound probe and synchronized with the lifting and lowering of the ultrasound probe, wherein the needle plate is uniformly provided with a plurality of parallel puncture holes; an electrode needle, which is mounted on a guide bracket by a snap-fit ​​method and arranged parallel to the ultrasound probe, wherein the electrode needle moves synchronously when the ultrasound probe moves, and the position of the electrode needle is adjusted by the guide bracket so that the electrode needle can be inserted into any puncture hole, wherein the diameter of the plurality of puncture holes matches the diameter of the electrode needle; and a puncture guide diagram, which is pasted on the surface of the needle plate to cover any excess puncture holes on the surface of the needle plate.

[0006] Preferably, the guide bracket includes at least two elastic retaining rings, each elastic retaining ring having an open end. The outer shell of the electrode needle is embedded in the elastic retaining ring through the open end, and the elastic retaining ring elastically compresses the outer shell of the electrode needle to fix the electrode needle.

[0007] Preferably, the guide bracket further includes an adjusting rod, a bracket fixing rod, and a locking knob. One end of the bracket fixing rod has a boss, which is embedded in a first circular hole on the adjusting rod. The other end of the bracket fixing rod has a threaded hole coaxially provided. The locking knob passes through a first through hole on the adjusting rod and is threaded into the threaded hole, thereby connecting the adjusting rod and the bracket fixing rod. Two elastic retaining rings are both connected to a support rod, and the connection method between the support rod and the adjusting rod is the same as the connection method between the bracket fixing rod and the adjusting rod.

[0008] Preferably, the multi-needle puncture device further includes a lifting mechanism, a pushing mechanism, a lateral moving mechanism, and a rotating mechanism; the pushing mechanism is installed at the execution end of the lifting mechanism, and the driving direction of the pushing mechanism is consistent with the forward direction of the ultrasound probe; the lateral moving mechanism is installed at the execution end of the pushing mechanism, and the rotating mechanism is installed at the execution end of the lateral moving mechanism. The lateral moving mechanism is used to drive the rotating mechanism to move laterally left and right, and the ultrasound probe is engaged with the execution end of the rotating mechanism to realize the self-rotation of the ultrasound probe.

[0009] Preferably, the bottom of the bracket fixing rod is provided with two slots, and the base of the rotating mechanism is provided with two blocks on both the left and right sides. The two blocks on one side of the base of the rotating mechanism are respectively embedded in the two slots to realize the detachable connection of the bracket fixing rod.

[0010] Preferably, the needle plate is fixedly mounted on the base of the propulsion mechanism, and the needle plate is provided with a clearance area, through which the ultrasonic probe can pass when it moves forward.

[0011] Preferably, the rotating mechanism includes a first base, a rotating passive seat, a rotating drive seat, a locking nut, and a clamp. The rotating passive seat and the rotating drive seat are arranged opposite to each other and are both rotatably connected to the first base. The rotating passive seat and the rotating drive seat are fixedly connected by at least one connecting rod. Both the rotating passive seat and the rotating drive seat are provided with arc-shaped walls for placing the ultrasonic probe. The clamp is installed on the connecting rod, and the two movable ends of the clamp are locked and fixed by locking bolts so that the ultrasonic probe is fixed inside the clamp.

[0012] Preferably, at least one rotating limiting plate is also installed on the first base, the end of the rotating limiting plate is provided with a first limiting pin, the rotating passive seat is provided with an arc groove coaxial with the arc wall, and the first limiting pin is at least partially inserted into the arc groove.

[0013] Preferably, a probe holder is provided on the side of the rotary drive seat away from the rotary passive seat. The probe holder is fixedly installed on the connecting rod, and the second limiting pin of the ultrasonic probe housing abuts against the limiting groove of the probe holder to achieve circumferential limiting of the ultrasonic probe.

[0014] Preferably, the rotating mechanism further includes a rotary motor and a rotating wheel. The rotary motor is fixedly mounted on the first base via a motor bracket, and the rotating wheel is coaxially mounted on the output shaft of the rotary motor. The rotating wheel is meshed with a rotary drive seat.

[0015] A method for determining the location of multiple needle punctures guided by ultrasound images, comprising the following steps:

[0016] S1: Based on the tumor tomographic image detected by preoperative ultrasound imaging, and taking the zero point of the coordinate system as the first coordinate system, determine the position of the target tumor in the first coordinate system, as well as the height difference, width difference, and depth difference between the boundary of the target tumor and the zero point of the first coordinate system.

[0017] S2: Establish a second coordinate system with the detection end center of the initial position of the ultrasound probe of the ultrasound image-guided multi-needle puncture device as the zero point, and determine the coordinate positions of several puncture holes on the needle plate in the second coordinate system.

[0018] S3: By transforming and fusing the second coordinate system with the first coordinate system, the coordinates of the needle plate in the second coordinate system are determined based on the target tumor coordinates in the first coordinate system, as well as the positions of several puncture holes on the needle plate corresponding to the electrode needles, the number of electrode needles, the order of electrode needle placement, and the depth of electrode needle insertion.

[0019] S4: Print the puncture guide diagram according to step S3, stick the puncture guide diagram on the needle plate and cover the excess puncture holes on the surface of the needle plate, and mark the needle placement sequence of the electrode needles on the puncture guide diagram.

[0020] The above-described at least one technical solution adopted in the embodiments of the present invention can achieve the following beneficial effects:

[0021] Based on the imaging, the doctor develops a surgical plan and simultaneously outputs a puncture guidance diagram, covering any excess puncture holes on the needle placement plate. The diagram guides the needle placement sequence, allowing the doctor to clearly observe and place multiple electrode needles. A guide bracket ensures the electrode needles are parallel to the ultrasound probe, guaranteeing parallel placement of multiple needles and maximizing ablation effectiveness. During operation, a propulsion mechanism allows the electrode needles to advance synchronously with the ultrasound probe. Guided by the ultrasound image, the entire puncture process is clearly displayed, improving accuracy. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0023] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0024] Figure 2 This is a partial structural diagram of the present invention;

[0025] Figure 3 This is a three-dimensional structural diagram of the electrode needle and guide bracket of the present invention;

[0026] Figure 4 This is an exploded view of the guide bracket of the present invention;

[0027] Figure 5 This is a cross-sectional view of the guide bracket of the present invention;

[0028] Figure 6 This is a schematic diagram of the installation of the guide bracket and the rotating mechanism of the present invention;

[0029] Figure 7 This is a three-dimensional structural diagram of the rotating mechanism and ultrasonic probe of the present invention;

[0030] Figure 8 This is an exploded view of the rotating mechanism and ultrasonic probe of the present invention;

[0031] Figure 9 This is an exploded view of the ultrasonic probe and probe holder of the present invention;

[0032] Figure 10 This is an assembly diagram of the first base, rotary drive base, rotary passive base, and probe mounting base of the present invention;

[0033] Figure 11 This is a frontal schematic diagram of the ultrasound probe and needle plate of the present invention relative to the tumor position;

[0034] Figure 12 This is a side view of the ultrasound probe, needle plate, and electrode needle of the present invention relative to the tumor position.

[0035] Figure 13 This is a schematic diagram of the rotating ultrasound probe used in this invention to scan for tumors.

[0036] Figure 14 This is a schematic diagram of the rotating and lateral shifting ultrasound probe of the present invention for scanning tumors.

[0037] Figure Labels

[0038] 1-Ultrasonic probe; 11-Second limiting pin;

[0039] 2-Needle plate; 21-Puncture hole; 22-Avoidance area;

[0040] 3-Electrode needle;

[0041] 4-Guide bracket; 41-Elastic retaining ring; 411-Open end; 42-Adjusting rod; 421-First round hole; 422-First through hole; 43-Bracket fixing rod; 431-Boss; 432-Threaded hole; 433-Slot; 44-Locking knob; 45-Support rod;

[0042] 5-Puncture guidance diagram;

[0043] 6- Lifting mechanism;

[0044] 7-Propulsion mechanism;

[0045] 8-Transverse movement mechanism;

[0046] 9-Rotating mechanism; 91-First base; 911-Clamping block; 912-Rotating limit plate; 913-First limit pin; 92-Rotating passive seat; 921-Arc-shaped wall; 922-Arc-shaped groove; 93-Rotating drive seat; 94-Locking nut; 95-Clamping clamp; 951-Locking bolt; 96-Connecting rod; 97-Probe clamping seat; 971-Limiting groove; 98-Rotating motor; 99-Rotating wheel. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0048] The technical solutions provided by the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0049] Reference Figures 1 to 13 As shown, this embodiment of the invention provides an ultrasound image-guided multi-needle puncture device, mainly comprising an ultrasound probe 1, a needle plate 2, electrode needles 3, and a puncture guide. Figure 5 .

[0050] The ultrasound probe 1 acquires the location and shape of the target tumor by moving and rotating.

[0051] In some practical applications, such as Figure 1 and Figure 2As shown, the multi-needle puncture device further includes a lifting mechanism 6, a pushing mechanism 7, a lateral moving mechanism 8, and a rotating mechanism 9. The pushing mechanism 7 is installed at the execution end of the lifting mechanism 6, and the driving direction of the pushing mechanism 7 is consistent with the forward direction of the ultrasound probe 1. The lateral moving mechanism 8 is installed at the execution end of the pushing mechanism 7, and the rotating mechanism 9 is installed at the execution end of the lateral moving mechanism 8. The lateral moving mechanism 8 is used to drive the rotating mechanism 9 to move laterally left and right. The ultrasound probe 1 is engaged with the execution end of the rotating mechanism 9 to realize the self-rotation of the ultrasound probe 1. Thus, the movement of the ultrasound probe 1 in various directions can be controlled by the operation of the lifting mechanism 6, the pushing mechanism 7, the lateral moving mechanism 8, and the rotating mechanism 9, and the rotation of the ultrasound probe 1 can be realized.

[0052] The needle plate 2 is located on the front side of the detection end of the ultrasonic probe 1 and moves synchronously with the ultrasonic probe 1. The needle plate 2 is evenly provided with a number of parallel puncture holes 21.

[0053] In some practical applications, such as Figure 1 , Figure 2 and Figure 11 As shown, the needle plate 2 is fixedly installed on the base of the propulsion mechanism 7, so as to realize synchronous lifting and lowering with the ultrasonic probe 1. The needle plate 2 is provided with a clearance area 22. When the ultrasonic probe 1 moves forward, it can pass through the needle plate 2 through the clearance area 22.

[0054] The electrode needle 3 is mounted on the guide bracket 4 by snap-fit ​​and is arranged parallel to the ultrasonic probe 1. When the ultrasonic probe 1 moves, the electrode needle 3 moves synchronously. The position of the electrode needle 3 is adjusted by the guide bracket 4 so that the electrode needle 3 can be inserted into any puncture hole 21. The diameter of the puncture holes 21 is matched with the diameter of the electrode needle 3.

[0055] In some practical applications, such as Figures 3 to 5 As shown, the guide bracket 4 includes at least two elastic retaining rings 41, each elastic retaining ring 41 having an open end 411. The outer shell of the electrode needle 3 is embedded in the elastic retaining ring 41 through the open end 411. The elastic retaining ring 41 elastically squeezes the outer shell of the electrode needle 3 to fix the electrode needle 3, thereby achieving the snap-fit ​​between the electrode needle 3 and the guide bracket 4.

[0056] Specifically, such as Figures 3 to 5As shown, the guide bracket 4 also includes an adjusting rod 42, a bracket fixing rod 43, and a locking knob 44. One end of the bracket fixing rod 43 has a boss 431, which is embedded in the first circular hole 421 on the adjusting rod 42. The other end of the bracket fixing rod 43 has a threaded hole 432 coaxially. The locking knob 44 passes through the first through hole 422 on the adjusting rod 42 and is threaded into the threaded hole 432, thus connecting the adjusting rod 42 and the bracket fixing rod 43. Two elastic retaining rings 41 are connected to a support rod 45. The connection method between the support rod 45 and the adjusting rod 42 is the same as the connection method between the bracket fixing rod 43 and the adjusting rod 42. Therefore, by tightening or loosening the locking knob 44, the relative position of the electrode needle 3 and the ultrasound probe 1 can be adjusted, and they are always kept parallel. This allows the electrode needle 3 to be directly facing any puncture hole 21, and with the help of the pushing mechanism 7, the electrode needle 3 can be inserted into the corresponding puncture hole 21.

[0057] Puncture guidance Figure 5 It is pasted onto the surface of the needle plate 2 to cover the excess puncture holes 21 on the surface of the needle plate 2, so that only the puncture holes 21 that need to be punctured are displayed on the needle plate 2, avoiding doctor's misoperation. Specifically, this puncture guide... Figure 5 The procedure is also marked with the puncture sequence, allowing doctors to perform punctures in that order.

[0058] In summary, doctors develop surgical plans based on imaging data and simultaneously provide puncture guidance. Figure 5 Cover the excess puncture holes 21 on the surface of the needle plate 2, and guide the needle through puncture. Figure 5 The guide bracket 4 guides the needle placement sequence, allowing doctors to clearly observe and place multiple electrode needles 3. The guide bracket 4 ensures that the electrode needles 3 are parallel to the ultrasound probe 1, guaranteeing that multiple electrode needles 3 can be arranged in parallel, thus ensuring optimal electrode ablation results. In actual operation, the advancing mechanism 7 allows the electrode needles 3 and the ultrasound probe 1 to advance synchronously. Under the image guidance of the ultrasound probe 1, the entire puncture process is clearly displayed, improving puncture accuracy.

[0059] In some practical applications, such as Figures 4 to 6As shown, the bottom of the support fixing rod 43 is provided with two slots 433, and the base of the rotating mechanism 9 is provided with two locking blocks 911 on both the left and right sides. The two locking blocks 911 on one side of the base of the rotating mechanism 9 are respectively embedded in the two slots 433 to realize the detachable connection of the support fixing rod 43. Therefore, the guide bracket 4 is installed on the base of the rotating mechanism 9 (i.e., the first base 91 shown in the figure) in a snap-fit ​​manner. The electrode needle 3 installed on the guide bracket 4 can move synchronously with the movement of the ultrasound probe 1. When the ultrasound probe 1 rotates, the electrode needle 3 remains stationary. The guide bracket 4 is detachably installed on the left or right side of the base of the rotating mechanism 9. Therefore, the doctor can determine the installation position of the guide bracket 4 according to the actual tumor location of the patient and the position of the tumor location relative to the needle plate 2, so as to ensure that the movement of the guide bracket 4 can allow multiple electrode needles 3 to be adapted to enter the corresponding puncture hole 21. The guide bracket 4 is fixed in a snap-fit ​​manner, which makes it easy for the doctor to change the installation position of the guide bracket 4.

[0060] Based on the above embodiments, the rotating mechanism 9 can adopt at least the following schemes:

[0061] refer to Figure 1 , Figures 7 to 10 As shown, the rotating mechanism 9 includes a first base 91, a rotating passive seat 92, a rotating drive seat 93, a locking nut 94, and a clamp 95. The rotating passive seat 92 and the rotating drive seat 93 are arranged opposite to each other and are rotatably connected to the first base 91. The rotating passive seat 92 and the rotating drive seat 93 are fixedly connected by at least one connecting rod 96. Both the rotating passive seat 92 and the rotating drive seat 93 are provided with an arc-shaped wall 921 for placing the ultrasonic probe 1. The clamp 95 is installed on the connecting rod 96. The two movable ends of the clamp 95 are locked and fixed by locking bolts 951 so that the ultrasonic probe 1 is fixed in the clamp 95.

[0062] In this embodiment, the first base 91 serves as the support for the rotating mechanism 9. The first base 91 is made of a robust and durable material to ensure stability and durability. The rotating passive seat 92 is mounted on the first base 91 via a rotatable connection, and it has an arc-shaped wall 921 for placing the ultrasonic probe 1. The rotating drive seat 93 is positioned opposite the rotating passive seat 92 and is also mounted on the first base 91 via a rotatable connection. It also has an arc-shaped wall 921 for placing the ultrasonic probe 1. At least one connecting rod 96 is provided to fix the rotating passive seat 92 and the rotating drive seat 93 together, ensuring synchronous movement during rotation. A clamp 95 is mounted on the connecting rod 96, and its two movable ends are locked and fixed by locking bolts 951, so that the ultrasonic probe 1 is fixed within the clamp 95. A locking nut 94 is used to fix the position of the connecting rod 96 and the clamp 95, ensuring the stability of the ultrasonic probe 1. When it is necessary to install the ultrasonic probe 1, the locking bolts 951 are first loosened, allowing the two movable ends of the clamp 95 to move freely. The ultrasonic probe 1 is placed on the arc-shaped wall 921 of the rotating passive seat 92 and the rotating drive seat 93, and then the bolt 951 is tightened again to fix the ultrasonic probe 1 in the clamp 95. The rotating passive seat 92 and the rotating drive seat 93 are fixedly connected by the connecting rod 96 to realize the rotational movement of the ultrasonic probe 1.

[0063] Specifically, at least one rotating limiting plate 912 is also installed on the first base 91. The end of the rotating limiting plate 912 is provided with a first limiting pin 913. The rotating passive seat 92 is provided with an arc groove 922 coaxial with the arc wall 921. The first limiting pin 913 is at least partially inserted into the arc groove 922. Therefore, the travel range of the rotating drive seat 93 and the rotating passive seat 92 is determined by the travel of the first limiting pin 913 in the arc groove 922, which ensures the precise control of the rotating mechanism 9 within a specific angle range and improves the accuracy and safety of operation.

[0064] Specifically, a probe holder 97 is provided on the side of the rotary drive seat 93 away from the rotary passive seat 92. The probe holder 97 is fixedly installed on the connecting rod 96. The second limiting pin 11 of the outer shell of the ultrasonic probe 1 presses against the limiting groove 971 of the probe holder 97 to realize the circumferential limiting of the ultrasonic probe 1, further ensuring the stability of the ultrasonic probe 1 during rotation and avoiding probe shaking.

[0065] Specifically, the rotating mechanism 9 also includes a rotary motor 98 and a rotating wheel 99. The rotary motor 98 is fixedly mounted on the first base 91 via a motor bracket. The rotating wheel 99 is coaxially mounted on the output shaft of the rotary motor 98 and is engaged with a rotary drive seat 93. The rotary motor 98 is fixed to the first base 91 via a motor bracket. After the power is turned on, the rotary motor 98 begins to work. The rotating wheel 99 engages with the rotary drive seat 93, causing the rotary drive seat 93 to rotate in tandem with the rotation of the rotary motor 98. Through the control of the rotary motor 98, precise rotation and positioning of the rotating mechanism 9 can be achieved.

[0066] In some practical applications, the lifting mechanism 6 adopts a worm gear lift (which is existing technology, and its internal structure will not be described in detail). The worm gear lift is installed on the equipment base, which is also equipped with a handle, brake, casters and other structures. The equipment base is also equipped with a control system and an operating screen electrically connected to the control system to facilitate doctors' real-time observation of ultrasound images.

[0067] The lateral movement mechanism 8 adopts a linear propulsion structure with gear and rack meshing, which is a prior art technology, to realize the lateral movement of the ultrasonic probe 1 and the electrode needle 3. The propulsion mechanism 7 adopts a lead screw linear module, which is a prior art technology, to realize the forward and backward propulsion of the ultrasonic probe 1 and the electrode needle 3.

[0068] A method for determining the location of a multi-needle puncture under ultrasound guidance, employing the ultrasound-guided multi-needle puncture device described above, includes the following steps:

[0069] S1: Based on the tumor tomographic image detected by preoperative ultrasound imaging, and taking the zero point of the coordinate system as the first coordinate system, determine the position of the target tumor in the first coordinate system, as well as the height difference, width difference, and depth difference between the boundary of the target tumor and the zero point of the first coordinate system.

[0070] S2: Based on the detection end center of the initial position of the ultrasound probe 1 of the ultrasound image-guided multi-needle puncture device, a second coordinate system is established with the zero point as the zero point, and the coordinate positions of several puncture holes 21 on the needle plate 2 in the second coordinate system are determined.

[0071] S3: By transforming and fusing the second coordinate system with the first coordinate system, the coordinates of the needle plate 2 in the second coordinate system are determined according to the target tumor coordinates in the first coordinate system, as well as the positions of the electrode needles 3 corresponding to several puncture holes 21 on the needle plate 2, the number of electrode needles 3, the order of electrode needles 3, and the insertion depth of electrode needles 3.

[0072] S4: Print the puncture guide according to step S3. Figure 5 puncture guidance Figure 5 It is adhered to the needle plate 2, covering any excess puncture holes 21 on the surface of the needle plate 2, and is used for puncture guidance. Figure 5 The needle placement sequence of electrode needle 3 is marked above.

[0073] In summary, in actual surgical procedures, the ultrasound-guided multi-needle puncture device is used to treat prostate tumors. The method of using the ultrasound-guided multi-needle puncture device includes the following steps:

[0074] Step 1: Based on the tumor tomographic image obtained from preoperative ultrasound imaging, and using the zero point as the first coordinate system, determine the position of the target tumor in the first coordinate system, as well as the height difference, width difference, and depth difference between the target tumor boundary and the zero point of the first coordinate system; establish a second coordinate system with the detection end center of the ultrasound probe 1 of the ultrasound image-guided multi-needle puncture device as the zero point, and determine the coordinate positions of several puncture holes 21 on the needle plate 2 in the second coordinate system.

[0075] Step 2: By transforming and fusing the second coordinate system with the first coordinate system, determine the coordinates of the needle plate 2 in the second coordinate system based on the target tumor coordinates in the first coordinate system, as well as the positions of the electrode needles 3 corresponding to several puncture holes 21 on the needle plate 2, the number of electrode needles 3, the order of electrode needle placement, and the insertion depth of electrode needles 3; and print the puncture guide diagram and paste it on the surface of the needle plate 2 to cover the excess puncture holes 21 on the surface of the needle plate 2.

[0076] Step 3: The doctor fixes the ultrasound probe 1, adjusts the height of the ultrasound probe 1 according to the height of the bed and the patient's fixed position, pushes the ultrasound probe 1 into the patient's anus, locates the tumor on the display screen, and locks the position of the device.

[0077] Step 4: The ultrasound image-guided multi-needle puncture device automatically controls the lifting mechanism 6 to make the height of the center coordinate of the ultrasound probe 1 consistent with the height H of the tumor coordinate corresponding to the probe determined in the surgical plan. Similarly, it automatically controls the transverse movement mechanism 8 and the propulsion mechanism 7 of the ultrasound probe 1 to make the center coordinate of the ultrasound probe 1 consistent with the width W and depth D of the tumor coordinate corresponding to the probe determined in the surgical plan.

[0078] Step 5: Using an ultrasound-guided multi-needle puncture device, the height H and width W of the ultrasound probe 1 are kept constant, and the ultrasound probe 1 is withdrawn from the patient's body.

[0079] Step 6: The doctor secures electrode needle 3 to the needle holder (parallel to ultrasound probe 1) and moves the needle holder parallel to the first position to be punctured according to the surgical plan;

[0080] Step 7: The ultrasound-guided multi-needle puncture device controls the synchronous advancement of electrode needle 3 and ultrasound probe 1. Under ultrasound image guidance, electrode needle 3 is safely inserted into the required position under visual guidance. If necessary, the rotation mechanism 9 and the lateral movement mechanism 8 can be controlled to rotate or move ultrasound probe 1 left and right to check whether the needle placement position and depth meet the preoperative plan. If so, release the electrode needle 3 from the locking position and withdraw ultrasound probe 1 to the initial position (electrode needle 3 and ultrasound probe 1 advance synchronously, automatically completing the depth direction check of electrode needle 3).

[0081] Step 8: Similarly, following the needle placement sequence planned in the surgery, repeat steps 6-7 to insert electrode needle 3 into the tumor tissue or the area surrounding the tumor in sequence to form an electrode treatment array; connect the tail wire of electrode needle 3 to the ablation device to emit pulsed electric fields to treat the tumor.

[0082] It should be noted that when the depth of the electrode needle 3 in one insertion is insufficient to perform comprehensive ablation treatment of the target tumor, a segmented treatment plan established by the surgical plan is adopted. Since (1) the coordinates of the needle plate 2 in the second coordinate system, and the positions of several puncture holes 21 on the needle plate 2 corresponding to the electrode needle 3, and the number of electrode needles 3 are determined in advance; (2) the volume of the target tumor, including its shape and the depth of the ultrasound cross-section as the scanning plane, the depth distance of the cross-section extending into the target tumor corresponding to the position is determined by several puncture holes and the coordinates of the corresponding electrode needles, and the needle withdrawal distance and number of times are determined according to the ablation range of the electrode needle. The electrode needle 3 is inserted into the deepest part of the target tumor for electrode ablation treatment, and then the needle is slowly withdrawn. The doctor observes the scale line on the electrode needle 3 to move the electrode needle 3 to the set position to perform ablation treatment on the periphery of the target tumor. The full range of electrode ablation treatment of the target tumor is completed by withdrawing the needle multiple times.

[0083] like Figure 11 For example, if the tumor is an irregular sphere, and the area covered by the tumor is [area missing], use 6 electrode needles (corresponding to the six puncture holes in the diagram), numbered 1-6. When cutting along the cross-sectional scan, for example, if the tumor depth corresponding to electrode needle 1 is 3.2cm and the ablation radius of the electrode needle is 1cm, then the innermost electrode needle (number 1) will first puncture into the deepest part of the sphere for ablation. Then, it needs to be withdrawn 1cm at a time, for three withdrawals, to completely ablate that location. Electrode needles 2 and 3 on the left and right sides correspond to tumor depths of 0.5cm and 1cm respectively, so only one puncture and withdrawal is needed. Needles 4 and 5 above correspond to tumor depths of 1.5cm and 2cm respectively, requiring one withdrawal. The bottom needle (number 6) corresponds to a tumor depth of 2.3cm, requiring two withdrawals.

[0084] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. An ultrasound-guided multi-needle puncture device, characterized in that, include: An ultrasound probe (1) acquires the location and shape of the target tumor through movement and rotation. The needle plate (2) is located on the front side of the detection end of the ultrasonic probe (1) and is synchronized with the lifting and lowering of the ultrasonic probe (1). The needle plate (2) is evenly provided with several parallel puncture holes (21). The electrode needle (3) is installed on the guide bracket (4) by snap-fit ​​and is arranged parallel to the ultrasonic probe (1). When the ultrasonic probe (1) moves, the electrode needle (3) moves synchronously. The position of the electrode needle (3) is adjusted by the guide bracket (4) so ​​that the electrode needle (3) can be inserted into any puncture hole (21). The diameter of several puncture holes (21) is matched with the diameter of the electrode needle (3). Puncture guide diagram (5), which is pasted on the surface of the needle plate (2) to cover the excess puncture holes (21) on the surface of the needle plate (2). The guide bracket (4) includes at least two elastic retaining rings (41), each elastic retaining ring (41) having an open end (411). The outer shell of the electrode needle (3) is embedded in the elastic retaining ring (41) through the open end (411). The elastic retaining ring (41) elastically squeezes the outer shell of the electrode needle (3) to fix the electrode needle (3). The guide bracket (4) also includes an adjusting rod (42), a bracket fixing rod (43), and a locking knob (44). One end of the bracket fixing rod (43) is provided with a boss (431), which is embedded in the first round hole (421) on the adjusting rod (42). The other end of the bracket fixing rod (43) is coaxially provided with a threaded hole (432). The locking knob (44) passes through the first through hole on the adjusting rod (42) and is threaded into the threaded hole (432) to realize the connection between the adjusting rod (42) and the bracket fixing rod (43). Two elastic retaining rings (41) are connected to a support rod (45). The connection method between the support rod (45) and the adjusting rod (42) is the same as the connection method between the bracket fixing rod (43) and the adjusting rod (42).

2. The ultrasound image-guided multi-needle puncture device according to claim 1, characterized in that, The multi-needle puncture device also includes a lifting mechanism (6), a propulsion mechanism (7), a transverse mechanism (8), and a rotation mechanism (9); the propulsion mechanism (7) is installed at the execution end of the lifting mechanism (6), and the driving direction of the propulsion mechanism (7) is consistent with the forward direction of the ultrasound probe (1); the transverse mechanism (8) is installed at the execution end of the propulsion mechanism (7), and the rotation mechanism (9) is installed at the execution end of the transverse mechanism (8). The transverse mechanism (8) is used to drive the rotation mechanism (9) to move left and right. The ultrasound probe (1) is engaged with the execution end of the rotation mechanism (9) to realize the self-rotation of the ultrasound probe (1).

3. The ultrasound image-guided multi-needle puncture device according to claim 2, characterized in that, The bottom of the bracket fixing rod (43) is provided with two slots (433), and the base of the rotating mechanism (9) is provided with two blocks (911) on both the left and right sides. The two blocks (911) on one side of the base of the rotating mechanism (9) are respectively embedded in the two slots (433) to realize the detachable connection of the bracket fixing rod (43).

4. The ultrasound image-guided multi-needle puncture device according to claim 2, characterized in that, The needle plate (2) is fixedly installed on the base of the propulsion mechanism (7). The needle plate (2) is provided with a clearance area (22). When the ultrasonic probe (1) moves forward, it can pass through the needle plate (2) through the clearance area (22).

5. The ultrasound image-guided multi-needle puncture device according to claim 2, characterized in that, The rotating mechanism (9) includes a first base (91), a rotating passive seat (92), a rotating drive seat (93), a locking nut (94), and a clamp (95). The rotating passive seat (92) and the rotating drive seat (93) are arranged opposite to each other and are rotatably connected to the first base (91). The rotating passive seat (92) and the rotating drive seat (93) are fixedly connected by at least one connecting rod (96). The rotating passive seat (92) and the rotating drive seat (93) are both provided with an arc-shaped wall (921) for placing the ultrasonic probe (1). The clamp (95) is installed on the connecting rod (96). The two movable ends of the clamp (95) are locked and fixed by locking bolts (951) so that the ultrasonic probe (1) is fixed in the clamp (95).

6. The ultrasound image-guided multi-needle puncture device according to claim 5, characterized in that, At least one rotating limiting plate (912) is also installed on the first base (91). The end of the rotating limiting plate (912) is provided with a first limiting pin (913). The rotating passive seat (92) is provided with an arc groove (922) coaxial with the arc wall (921). The first limiting pin (913) is at least partially inserted into the arc groove (922).

7. The ultrasound image-guided multi-needle puncture device according to claim 5, characterized in that, The rotating drive seat (93) is provided with a probe holder (97) on the side away from the rotating passive seat (92). The probe holder (97) is fixedly installed on the connecting rod (96). The second limiting pin (11) of the outer shell of the ultrasonic probe (1) presses against the limiting groove (971) of the probe holder (97) to realize the circumferential limiting of the ultrasonic probe (1).

8. The ultrasound image-guided multi-needle puncture device according to claim 5, characterized in that, The rotating mechanism (9) further includes a rotating motor (98) and a rotating wheel (99). The rotating motor (98) is fixedly mounted on the first base (91) by a motor bracket. The rotating wheel (99) is coaxially mounted on the output shaft of the rotating motor (98). The rotating wheel (99) is meshed with the rotating drive seat (93).

9. A method for determining the location of a multi-needle puncture under ultrasound image guidance, using the multi-needle puncture device under ultrasound image guidance as described in any one of claims 1-8, characterized in that... Includes the following steps: S1: Based on the tumor tomographic image detected by preoperative ultrasound imaging, and taking the zero point of the coordinate system as the first coordinate system, determine the position of the target tumor in the first coordinate system, as well as the height difference, width difference, and depth difference between the boundary of the target tumor and the zero point of the first coordinate system. S2: Based on the initial position of the detection end center of the ultrasound probe (1) of the ultrasound image-guided multi-needle puncture device, a second coordinate system is established with the zero point as the zero point, and the coordinate positions of several puncture holes (21) on the needle plate (2) in the second coordinate system are determined. S3: By transforming and fusing the second coordinate system with the first coordinate system, the coordinates of the needle plate (2) in the second coordinate system are determined according to the target tumor coordinates in the first coordinate system, as well as the positions of several puncture holes (21) on the needle plate (2) corresponding to the electrode needle (3), the number of electrode needles (3), the order of electrode needles (3), and the insertion depth of the electrode needle (3).

10. The method for determining the location of a multi-needle puncture under ultrasound image guidance according to claim 9, characterized in that, It also includes step S4: print the puncture guide diagram (5) according to step S3, stick the puncture guide diagram (5) on the needle plate (2) and cover the excess puncture holes (21) on the surface of the needle plate (2), and mark the needle placement sequence of the electrode needles (3) on the puncture guide diagram (5).

11. The method for determining the location of multiple needle punctures guided by ultrasound image according to claim 10, characterized in that, When the ablation radius of the electrode needle (3) cannot cover the target tumor in one go, the electrode needle (3) has at least two ablation points: The first insertion position of the electrode needle (3) is determined based on the ratio between the ablation radius of the electrode needle (3) and its depth at the target tumor. This is the first ablation point of the electrode needle. Then, based on the ablation radius of the electrode needle (3), the subsequent withdrawal positions of the electrode needle (3) are determined. This is the subsequent ablation point of the electrode needle. The length of each withdrawal of the electrode needle is not greater than the ablation diameter of the electrode needle.

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