Puncture system for ultrasound intervention puncture and application method

Abstract

The present application relates to the puncture system and application method for the ultrasound intervention puncture, including the fixing frame, the fixing frame is provided with the manipulator, the movable end of the manipulator is fixed with the transverse glass plate, the glass plate is provided with the through hole corresponding with the ultrasound area, the through hole is provided with the ultrasound probe, the glass plate is provided with the locking unit and the floating unit, the ultrasound probe is provided with the controller, the fixing frame is provided with the control host, the movable end of the manipulator is fixed with the HUD projector, the lower edge of the through hole is provided with the inflatable sealing ring with elasticity, the inflatable sealing ring is provided with the first pressure sensor, the front end of the ultrasound probe is provided with the second pressure sensor, the glass plate is provided with the processing module, the pressure holding degree of the human body can be maintained well, the position of the ultrasound probe is quickly self-adaptive adjustment under the displacement of the human body, the doctor does not need to hold the ultrasound probe, the picture stability and reliability are greatly improved, and the burden of the doctor is reduced.

Description

Technical Field

[0001] This invention relates to the field of interventional puncture device technology, and more specifically, to a puncture system and application method for ultrasound interventional puncture. Background Technology

[0002] Interventional ultrasound, a branch of modern ultrasound medicine, is a new technology developed based on ultrasound imaging to further meet the needs of clinical diagnosis and treatment. Its main characteristic is that various puncture biopsies, X-ray angiography, aspiration, catheterization, and drug injection procedures can be performed under ultrasound monitoring or guidance, avoiding certain surgical procedures while achieving results comparable to surgical procedures. In recent years, with the continuous improvement and development of various puncture needles, catheters, guiding devices, and ultrasound instruments, interventional ultrasound has been increasingly widely used in clinical practice.

[0003] Currently, when using interventional ultrasound equipment for surgery, to ensure accuracy, doctors typically hold the ultrasound probe in their left hand and the puncture needle in their right. They rely on the ultrasound image and experience to determine the appropriate needle insertion position and angle. This approach faces two challenges: 1. Doctors need to look up or tilt their heads to view the ultrasound image, causing their gaze to leave their hands, increasing the risk of hand-eye coordination errors; 2. During puncture, the doctor's elbow lacks support, and after holding the ultrasound probe for a certain period, it can become unstable, directly affecting the ultrasound image (especially prominent in some time-consuming surgeries), requiring readjustment before continuing the puncture. These two challenges make interventional ultrasound surgery a high-barrier procedure. Currently, there is no equipment in the industry that can solve these problems, relying entirely on the doctor's experience (derived from clinical practice and self-training using training tools). Furthermore, due to image instability, the surgery time often exceeds expectations. Therefore, a puncture system and application method for ultrasound-guided interventional puncture that can solve these problems is needed to fill this gap in the industry. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a puncture system for ultrasound interventional puncture, and a method for applying the puncture system for ultrasound interventional puncture, in view of the above-mentioned defects of the prior art.

[0005] The technical solution adopted by this invention to solve its technical problem is:

[0006] A puncture system for ultrasound-guided interventional puncture is constructed, comprising a fixation frame, on which a robotic arm is mounted, and a transverse glass plate is fixed to the movable end of the robotic arm. The glass plate has a through-hole corresponding to the area to be ultrasoundd, through which an ultrasound probe is inserted. The glass plate has a locking unit for locking the ultrasound probe and a floating unit for moving the locking unit up and down. The ultrasound probe has a controller for controlling the locking and unlocking of the locking unit. The fixation frame has a control host that receives the ultrasound probe signal and generates a corresponding ultrasound image signal. The movable end of the robotic arm has a HUD projector for projecting the ultrasound image signal onto the glass plate. The glass plate has a coupling agent pump for adding coupling agent to the through-hole. An elastic inflatable sealing ring is provided at the lower edge of the hole, and the glass plate holds the patient's ultrasound area by the inflatable sealing ring. A first pressure sensor is provided on the inflatable sealing ring to detect its internal air pressure, and a second pressure sensor is provided at the front end of the ultrasound probe to detect the pressure of the ultrasound probe on the human body. A processing module is provided on the glass plate. The processing module records the reading of the second pressure sensor as the initial pressure value when the controller is triggered. Based on the data of the first pressure sensor, it determines the magnitude of the pressure force of the inflatable sealing ring on the human body. If it exceeds the set range, it controls the robotic arm to adjust the position of the glass plate for pressure compensation. At the same time, if the glass plate moves, it controls the floating unit to adjust the locking unit to float accordingly, so that the reading of the second pressure sensor returns to the initial pressure value.

[0007] The puncture system for ultrasound-guided interventional puncture of the present invention includes a vertical plate fixed to the movable end of the robotic arm, a glass plate fixed to the lower end of the vertical plate, and a projector mounting plate fixed to the upper end of the vertical plate. The HUD projector is fixedly mounted on the projector mounting plate. A projection area is provided on the glass plate to the left of the through hole, and a semi-circular puncture groove is provided on the glass plate to the right of the through hole. The HUD projector is directly opposite the projection area.

[0008] The puncture system for ultrasound interventional puncture of the present invention includes a through hole located inside the semi-circular region of the puncture channel and concentrically arranged with the puncture channel; a puncture bracket for connecting a puncture needle corresponding to the puncture channel is provided on the glass plate; a semi-circular slide rail and a moving unit for moving the slider on the slide rail are provided at the upper opening edge of the puncture channel; the puncture bracket includes a slider slidably arranged on the slide rail; a transverse block and a transverse unit for adjusting the transverse movement of the transverse block are provided on the slider; the transverse block moves towards or away from the center of the semi-circular shape of the slide rail when it moves laterally; a clamp for holding the puncture needle and a rotary motor for driving the clamp to rotate longitudinally are provided on the transverse block.

[0009] The puncture system for ultrasound interventional puncture of the present invention includes a puncture needle comprising a needle core, a guide unit for guiding the needle core, and an electric push rod for pushing the needle core; the guide unit comprises a guide ring mounting plate, two guide rings, and an electrically controlled actuating fork located between the two guide rings, the electrically controlled actuating fork being used to adjust the position of the needle core, and the rod portion of the needle core being made of plastic.

[0010] The puncture system for ultrasound interventional puncture of the present invention includes a locking unit comprising a spline rod fixed to the tail end of an ultrasound probe and a spline sleeve sleeved on the spline rod. The spline sleeve is provided with a drive gear and a first drive motor for locking and unlocking the position of the drive gear. The spline rod is provided with a strip-shaped toothed groove along its length direction that meshes with the drive gear.

[0011] The puncture system for ultrasound interventional puncture of the present invention includes a locking unit further comprising a mounting base, wherein the mounting base is provided with a longitudinal rotating shaft and a second drive motor for locking and unlocking the rotational position of the rotating shaft, and the outer surface of the rotating shaft is fixedly connected to the outer surface of the spline sleeve; the controller is used to control the first drive motor and the second drive motor to unlock or lock synchronously.

[0012] The puncture system for ultrasound interventional puncture of the present invention includes a floating unit comprising a sleeve and a lifting electric push rod for driving the sleeve to move longitudinally up and down. The sleeve is provided with a sliding groove for slidingly connecting the mounting base and a return spring for resetting the mounting base.

[0013] A method for using a puncture system for ultrasound-guided interventional puncture, comprising the steps described above, wherein the method includes:

[0014] The robotic arm is controlled to move the glass plate above the patient's ultrasound area and then move the glass plate downwards, using an inflatable sealing ring to elastically hold the patient's ultrasound area.

[0015] The handheld ultrasound probe is pressed on the area of ​​the patient to be ultrasoundd to perform ultrasound detection. The control host receives the ultrasound probe signal and generates corresponding ultrasound image signal. The ultrasound image signal is converted into an image and projected onto a glass plate through the HUD projector.

[0016] Based on the image, the position of the ultrasound probe and the pressure applied to the patient's area to be ultrasoundd are adjusted. The controller then locks the ultrasound probe using the locking unit. The processing module records the reading of the second pressure sensor when the controller is triggered as the initial pressure value, thus completing the initialization of the ultrasound probe's position.

[0017] During the puncture operation, the pressure of the inflatable sealing ring on the human body is determined based on the data from the first pressure sensor. If it exceeds the set range, the robot arm is controlled to adjust the position of the glass plate for pressure compensation. At the same time, if the glass plate moves, the floating unit is controlled to adjust the locking unit to float accordingly, so that the reading of the second pressure sensor returns to the initial pressure value.

[0018] The beneficial effects of this invention are as follows: The robotic arm moves a glass plate above the patient's ultrasound area and then moves it downwards, using an inflatable sealing ring to elastically press the patient's ultrasound area. An ultrasound probe is held in place to press on the patient's ultrasound area for ultrasound detection. The control unit receives the ultrasound probe signal and generates a corresponding ultrasound image signal. The ultrasound image signal is converted into an image and projected onto the glass plate using a HUD projector. The position of the ultrasound probe and the pressure applied to the patient's ultrasound area are adjusted based on the image. The locking unit is then controlled by the controller to lock the ultrasound probe. The processing module records the reading of the second pressure sensor when the controller is triggered as the initial pressure value. The position initialization of the ultrasound probe is completed. During the puncture operation, the pressure of the inflatable sealing ring on the human body is determined based on the data from the first pressure sensor. If the pressure exceeds the set range, the robotic arm is controlled to adjust the position of the glass plate for pressure compensation. Simultaneously, if the glass plate moves, the floating unit is controlled to adjust the corresponding floating of the locking unit, restoring the second pressure sensor reading to the initial pressure value.

[0019] The method described in this application provides a platform using a glass plate, which not only supports the doctor's hands during operation but also forms a HUD projection screen to directly project ultrasound images into the operating field of view. Furthermore, based on the glass plate, an adaptive pressure floating adjustment system is constructed by combining an inflatable sealing ring, a first pressure sensor, a second pressure sensor, a robotic arm, and a processing module located on the glass plate. This system can effectively maintain the pressure on the human body and quickly and adaptively adjust the position of the ultrasound probe in case of human displacement, eliminating the need for the doctor to hold the ultrasound probe. This significantly improves image stability and reliability while reducing the doctor's workload. The inflatable sealing ring elastically holds the patient's ultrasound area and also forms a groove area to facilitate the addition of coupling agent by the coupling agent pump, enabling automated operation of coupling agent application. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort:

[0021] Figure 1This is a schematic diagram of the distribution structure of the glass plate and HUD projector of the puncture system for ultrasound interventional puncture according to a preferred embodiment of the present invention.

[0022] Figure 2 This is a top view of a glass plate of a puncture system for ultrasound-guided interventional puncture according to a preferred embodiment of the present invention (puncture support not shown);

[0023] Figure 3 This is a partial cross-sectional view of the glass plate of the puncture system for ultrasound-guided interventional puncture according to a preferred embodiment of the present invention.

[0024] Figure 4 This is a schematic diagram of the splined rod of the puncture system for ultrasound interventional puncture according to a preferred embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the puncture stent structure of the puncture system for ultrasound-guided interventional puncture according to a preferred embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the puncture needle structure of a puncture system for ultrasound-guided interventional puncture according to a preferred embodiment of the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, a clear and complete description will be provided below in conjunction with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the protection scope of the present invention.

[0028] A preferred embodiment of the present invention includes a puncture system for ultrasound-guided interventional puncture, such as... Figure 1 As shown, see also Figures 2-6 The device includes a fixed frame 1, a robotic arm 2 mounted on the fixed frame 1, and a horizontal glass plate 3 fixed to the movable end of the robotic arm 2. The glass plate 3 has a through hole 30 corresponding to the area to be ultrasoundd, and an ultrasound probe 4 is inserted through the through hole 30. The glass plate 3 has a locking unit 31 for locking the ultrasound probe 4 and a floating unit 32 for moving the locking unit 31 up and down. The ultrasound probe 4 has a controller 40 for controlling the locking and unlocking of the locking unit 31.

[0029] A control host 10 is installed on the fixed frame 1 to receive signals from the ultrasound probe 4 and generate corresponding ultrasound image signals. A HUD projector 5, which projects ultrasound image signals onto a glass plate 3, is fixed to the movable end of the robotic arm 2. A coupling agent pump 33 is installed on the glass plate 3 to add coupling agent to the through hole 30. An elastic inflatable sealing ring 300 is installed at the lower edge of the through hole 30. The glass plate 3 holds the patient's ultrasound area through the inflatable sealing ring 300. A first pressure sensor 301 is installed on the inflatable sealing ring 300 to detect its internal air pressure. A pressure sensor 301 is installed at the front end of the ultrasound probe 4 to detect ultrasound signals. The acoustic probe 4 presses against the second pressure sensor 41, which is the pressure of the human body. A processing module 34 is provided on the glass plate 3. The processing module 34 records the reading of the second pressure sensor 41 when the controller 40 is triggered as the initial pressure value. Based on the data of the first pressure sensor 301, it determines the magnitude of the pressure force of the inflatable sealing ring 300 on the human body. If it exceeds the set range, it controls the robotic arm 2 to adjust the position of the glass plate 3 for pressure compensation. At the same time, if the glass plate 3 moves, it controls the floating unit 32 to adjust the locking unit 31 to float accordingly, so that the reading of the second pressure sensor 41 returns to the initial pressure value.

[0030] The robotic arm 2 moves the glass plate 3 above the patient's ultrasound area and then moves it downwards, using the inflatable sealing ring 300 to elastically press the patient's ultrasound area. The handheld ultrasound probe 4 is pressed against the patient's ultrasound area to perform ultrasound detection. The control host 10 receives the ultrasound probe signal and generates a corresponding ultrasound image signal. The HUD projector 5 converts the ultrasound image signal into an image and projects it onto the glass plate 3. Based on the image (clarity), the position of the ultrasound probe 4 and the pressure applied to the patient's ultrasound area are adjusted. The controller 40 controls the locking unit 31 to lock the ultrasound probe 4. The processing module 34 records the reading of the second pressure sensor 41 when the controller 40 is triggered as the initial pressure value, thus completing the initialization of the ultrasound probe 4's position.

[0031] During the puncture operation, the pressure of the inflatable sealing ring 300 on the human body is determined based on the data of the first pressure sensor 301. If it exceeds the set range, the robot arm 2 is controlled to adjust the position of the glass plate 3 to compensate for the pressure (restore it to the set range). At the same time, if the glass plate 3 moves, the floating unit 32 is controlled to adjust the locking unit 31 to float accordingly, so that the reading of the second pressure sensor 41 is restored to the initial pressure value.

[0032] By employing the method described in this application, a platform is provided using a glass plate 3. This platform not only provides support for the doctor's hands during operation but also forms a HUD projection screen to directly project ultrasound images into the operating field of view. Furthermore, based on the glass plate 3, a pressure adaptive floating adjustment system is constructed by combining an inflatable sealing ring 300, a first pressure sensor 301, a second pressure sensor 41, a robotic arm 2, and a processing module 34 located on the glass plate 3. This system can effectively maintain the pressure on the human body and quickly and adaptively adjust the position of the ultrasound probe 4 in case of human displacement. This eliminates the need for the doctor to hold the ultrasound probe, significantly improving image stability and reliability while reducing the doctor's workload. While the inflatable sealing ring 300 elastically holds the patient's ultrasound area, it also forms a groove area to facilitate the addition of coupling agent by the coupling agent pump 33, thus facilitating the automated operation of adding coupling agent.

[0033] Preferably, the movable end of the robotic arm 2 is fixed with a vertical plate 20, the lower end of the vertical plate 20 is fixed with a glass plate 3, and the upper end of the vertical plate 20 is fixed with a projector mounting plate 21. The HUD projector 5 is fixedly mounted on the projector mounting plate 21. A projection area 35 is provided on the glass plate 3 to the left of the through hole 30, and a semi-circular puncture groove 36 is provided on the glass plate 3 to the right of the through hole 30. The HUD projector 5 is directly opposite the projection area 35. The installation structure is simple, easy to assemble and debug. The position and angle of the glass plate 3 can be quickly adjusted by adjusting the position of the vertical plate 20 through the robotic arm 2. At the same time, during the adjustment of the angle of the glass plate 3, the HUD projector 5 can always maintain the distance and facing position with the glass plate 3. This layout structure is reasonable and compact, which is beneficial for supporting the doctor's hand.

[0034] Preferably, the through hole 30 is located inside the semi-circular annular area of ​​the puncture groove 36 and the through hole is concentric with the puncture groove 36; the glass plate 3 is provided with a puncture bracket 6 corresponding to the puncture groove 36 for connecting the puncture needle; the upper opening edge of the puncture groove 36 is provided with a semi-circular annular slide rail 360 and a moving unit (using existing gears and semi-circular internal gear rings for driving the slider on the slide rail); the puncture bracket 6 includes a slider 60 slidably disposed on the slide rail; the slider 60 is provided with a transverse block 61 and a transverse unit 62 for adjusting the transverse movement of the transverse block 61. 1. The semi-circular center of the transverse block 61 is oriented towards or away from the slide rail 360 during transverse movement; the transverse block 61 is equipped with a clamp 63 for holding the puncture needle 7 and a rotary motor 64 for driving the clamp 63 to rotate longitudinally; the layout is reasonable and compact. Relying on the cooperation of the slide rail 360 and the slider 60, as well as the transverse block 61 and the transverse unit 62, the position of the automatic needle insertion can be well adjusted, and the coverage area is large, which can be applied to most puncture scenarios. The cooperation of the clamp 63 and the rotary motor 64 can easily adjust the angle of automatic puncture, with a high degree of automation and a small overall size.

[0035] Preferably, the puncture needle 7 includes a needle core 70, a guide unit 71 for guiding the needle core, and an electric push rod 72 for pushing the needle core. The guide unit 71 includes a guide ring mounting plate 712, two guide rings 710, and an electrically controlled actuating fork 711 located between the two guide rings 710. The electrically controlled actuating fork 711 is used to adjust the position of the needle core 70. The rod of the needle core 70 is made of plastic. The structure is simple. The electric push rod 72 is used to provide the pushing force for needle insertion, while the electrically controlled actuating fork 711 is used to actuate the rod of the needle core 70, thereby fine-tuning the needle insertion angle. The electrically controlled actuating fork 711 can be implemented using a U-shaped fork and a micro motor structure, with the micro motor driving the U-shaped fork to swing up and down.

[0036] Preferably, the locking unit 31 includes a splined rod 310 fixed to the tail end of the ultrasonic probe 4 and a splined sleeve 311 sleeved on the splined rod 310. The splined sleeve 311 is provided with a drive gear 312 and a first drive motor 313 for locking and unlocking the position of the drive gear 312. The splined rod 310 is provided with a strip-shaped toothed groove 314 along its length direction that meshes with the drive gear 312. The locking unit 31 also includes a mounting base 315, on which a longitudinal rotating shaft 316 is provided and a second drive motor 317 for locking and unlocking the rotational position of the rotating shaft 316. The outer surface of the rotating shaft 316 is fixedly connected to the outer surface of the splined sleeve 311. The controller 40 is used to control the first drive motor 313 and the second drive motor 317 to unlock or lock synchronously.

[0037] With the above structure, there are two ways to use it. One is manual operation, in which the first and second drive motors are locked in the initial state. After the doctor holds the ultrasound probe 4, the first and second drive motors are unlocked through the controller 40. At this time, the doctor can manually operate the ultrasound probe 4 to raise and lower and rotate it around the rotation axis 316 to find a suitable puncture position (including pressure). After finding the position, the first and second drive motors are locked through the controller 40, and neither of the first and second drive motors can be rotated. The other way is automatic operation, in which the first and second drive motors are directly controlled by external input signals to adjust the position of the ultrasound probe 4. After the position is adjusted, the first and second drive motors are locked by external input signals to complete the adjustment.

[0038] Preferably, the floating unit 32 includes a sleeve 320 and a lifting electric push rod 321 that drives the sleeve 320 to rise and fall longitudinally. The sleeve 320 is provided with a sliding groove for slidingly connecting the mounting base 315 and a return spring 322 for resetting the mounting base 315. This facilitates the provision of floating force, avoids accidental injury caused by hard contact with the human body, and improves equipment safety.

[0039] A method for using a puncture system for ultrasound-guided interventional puncture, comprising the steps described above, wherein the method includes:

[0040] The robotic arm is controlled to move the glass plate above the patient's ultrasound area and then move the glass plate downwards, using an inflatable sealing ring to elastically hold the patient's ultrasound area.

[0041] The handheld ultrasound probe is pressed on the area of ​​the patient to be ultrasoundd to perform ultrasound detection. The control host receives the ultrasound probe signal and generates corresponding ultrasound image signal. The ultrasound image signal is converted into an image and projected onto a glass plate through the HUD projector.

[0042] Based on the image, the position of the ultrasound probe and the pressure applied to the area to be ultrasoundd on the patient are adjusted. The controller locks the ultrasound probe in place using the locking unit. The processing module records the reading of the second pressure sensor when the controller is triggered as the initial pressure value. The position initialization of the ultrasound probe is then completed.

[0043] During the puncture operation, the pressure of the inflatable sealing ring on the human body is determined based on the data from the first pressure sensor. If it exceeds the set range, the robot arm is controlled to adjust the position of the glass plate for pressure compensation. At the same time, if the glass plate moves, the floating unit is controlled to adjust the locking unit to float accordingly, so that the reading of the second pressure sensor returns to the initial pressure value.

[0044] The method described in this application provides a platform using a glass plate, which not only supports the doctor's hands during operation but also forms a HUD projection screen to directly project ultrasound images into the operating field of view. Furthermore, based on the glass plate, an adaptive pressure floating adjustment system is constructed by combining an inflatable sealing ring, a first pressure sensor, a second pressure sensor, a robotic arm, and a processing module located on the glass plate. This system can effectively maintain the pressure on the human body and quickly and adaptively adjust the position of the ultrasound probe in case of human displacement, eliminating the need for the doctor to hold the ultrasound probe. This significantly improves image stability and reliability while reducing the doctor's workload. The inflatable sealing ring elastically holds the patient's ultrasound area and also forms a groove area to facilitate the addition of coupling agent by the coupling agent pump, enabling automated operation of coupling agent application.

[0045] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A puncture system for ultrasound intervention puncture, characterized by, The utility model provides a kind of ultrasonic puncture device, including fixed frame, which is provided with manipulator, the movable end of the manipulator is fixed with transverse glass plate;The glass plate is provided with through hole corresponding to the region to be ultrasonic, the through hole is provided with ultrasonic probe, the glass plate is provided with locking unit for locking ultrasonic probe and floating unit for driving the locking unit to float up and down, the ultrasonic probe is provided with controller for controlling the locking and unlocking of the locking unit;The fixed frame is provided with control host for receiving ultrasonic probe signal and generating ultrasonic image signal correspondingly, the movable end of the manipulator is fixed with HUD projector for projecting ultrasonic image signal to glass plate;The glass plate is provided with coupling agent pump for adding coupling agent to the through hole, the lower edge of the through hole is provided with inflatable sealing ring with elasticity, and the glass plate is pressed against the region to be ultrasonic of patient through the inflatable sealing ring;The inflatable sealing ring is provided with first pressure sensor for detecting the internal air pressure thereof, the front end of the ultrasonic probe is provided with second pressure sensor for detecting the pressure of the ultrasonic probe pressed against human body, and the glass plate is provided with processing module; In use, the manipulator drives the glass plate to move above the region to be ultrasonic of patient, and moves the glass plate downward to press the region to be ultrasonic of patient through the inflatable sealing ring; The ultrasonic probe is pressed against the region to be ultrasonic of patient for ultrasonic detection, the control host receives ultrasonic probe signal and generates ultrasonic image signal correspondingly, and the HUD projector converts ultrasonic image signal into image and projects it onto the glass plate; The position of the ultrasonic probe and the pressing force on the region to be ultrasonic of patient are adjusted according to the image, and the locking unit is controlled by the controller to lock the ultrasonic probe;The processing module records the reading of the second pressure sensor as initial pressure value when the controller is triggered, and the position of the ultrasonic probe is initialized; When puncture operation is performed, the pressure of the inflatable sealing ring pressed against human body is determined according to the data of the first pressure sensor, and if it exceeds the set range, the manipulator adjusts the position of the glass plate to compensate the pressure, and if the glass plate moves, the floating unit adjusts the corresponding floating of the locking unit so that the reading of the second pressure sensor returns to the initial pressure value.

2. The puncture system for ultrasound intervention puncture according to claim 1, characterized by, The movable end of the manipulator is fixed with vertical plate, the lower end of the vertical plate is fixed with the glass plate, the upper end of the vertical plate is fixed with projector mounting plate, and the HUD projector is fixedly installed on the projector mounting plate;The glass plate is provided with projection area on the left side of the through hole, and is provided with puncture through slot in the shape of semicircular ring on the right side of the through hole;The HUD projector is opposite to the projection area.

3. The puncture system for ultrasound intervention puncture according to claim 2, characterized by, The through hole is located inside the semicircular annular area of the puncture channel and is concentric with the puncture channel; the glass plate is provided with a puncture support corresponding to the puncture channel for connecting the puncture needle; the upper end opening edge of the puncture channel is provided with a semicircular annular slide rail, the puncture support includes a sliding block slidingly arranged on the slide rail and a moving unit for moving the sliding block on the slide rail, the sliding block is provided with a transverse block and a transverse unit for adjusting the transverse movement of the transverse block, the transverse block moves towards or away from the center of the semicircular annular slide rail; the transverse block is provided with a clamp for clamping the puncture needle and a rotating motor for rotating the clamp longitudinally.

4. The puncture system for ultrasound intervention puncture according to claim 3, characterized by, The puncture needle includes a needle core, a guide unit for guiding the needle core, and an electric push rod for pushing the needle core; the guide unit includes a guide ring mounting plate, two guide rings, and an electric control prong located between the two guide rings, the electric control prong is used to adjust the position of the needle core, the rod part of the needle core is made of plastic material.

5. The puncture system for ultrasound intervention puncture according to claim 2, characterized by, The locking unit includes a spline shaft fixed at the tail end of the ultrasonic probe and a spline sleeve sleeved on the spline shaft, the spline sleeve is provided with a drive gear and a first drive motor for locking and unlocking the position of the drive gear, the spline shaft is provided with a strip-shaped tooth groove along the length direction and engaged with the drive gear.

6. The puncture system for ultrasound intervention puncture according to claim 5, characterized by, The locking unit further includes a mounting seat, the mounting seat is provided with a longitudinal rotating shaft and a second drive motor for locking and unlocking the rotating position of the rotating shaft, the outer surface of the rotating shaft is fixedly connected with the outer surface of the spline sleeve; the controller is used to control the first drive motor and the second drive motor to be unlocked or locked synchronously.

7. The puncture system for ultrasound intervention puncture according to claim 6, characterized by, The floating unit includes a sleeve and a lifting electric push rod for lifting the sleeve longitudinally, the sleeve is provided with a sliding groove for slidingly connecting the mounting seat and a reset spring for resetting the mounting seat.

Images