Puncture device and puncture system

Abstract

The invention discloses a puncture device and a puncture system. The puncture device comprises a needle cylinder, a piston, a puncture needle and an installation assembly. Exhaust holes are formed in the circumferential side wall of the needle cylinder, a needle cylinder connector used for being connected with a pressure injection device is arranged at the first end of the needle cylinder, and the second end of the needle cylinder is detachably connected with the mounting assembly; the mounting assembly is used for being connected to a patient; the piston is located in the needle cylinder and is in sliding fit and sealing connection with the needle cylinder; the tail end of the puncture needle is located in the needle cylinder, and the tail end of the puncture needle abuts against or is detachably connected with the piston; the axis of the puncture needle passes through the center of the connecting ball, and the connecting ball is provided with a through hole for the puncture needle to pass through; the needle cylinder, the piston and the installation assembly are all non-metal parts. The puncture device can conduct puncture operation under real-time guidance of CT or MRI, the accuracy of single puncture is improved, the number of times of puncture and the number of times of image scanning can be reduced, and therefore side effects caused by puncture and image scanning are reduced.

Description

Technical Field

[0001] The present application relates to the technical field of image-guided puncture, and more specifically, to a puncture device and a puncture system. Background Art

[0002] Image-guided puncture technology can be used for human puncture biopsy and treatment. The image can be an ultrasound image, CT (Computed Tomography) image or MRI (Nuclear Magnetic Resonance Imaging) image. The content and accuracy of ultrasound images are limited, and many puncture operations can only be performed under the guidance of CT or MRI.

[0003] However, CT-guided and MRI-guided puncture operations are "stereotactic" operations without real-time image monitoring. The specific puncture operations under CT-guided and MRI-guided procedures are as follows: after scanning the image, the human body exits the scanning frame, and an optical or Bluetooth stereotactic device is used to guide or locate the grid for "blind puncture". After the puncture needle reaches the estimated position, the human body enters the scanning frame again, rescans the image, and confirms whether the puncture needle has reached the estimated position.

[0004] It can be seen from the above puncture operation that multiple scan images and multiple punctures are required, especially when the puncture site is located in a moving organ. The damage caused by the puncture and the radiation dose of the scan image are side effects that cannot be ignored.

[0005] In summary, how to reduce the side effects caused by puncture and scanning images is a problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0006] In view of this, the purpose of the present application is to provide a puncture device and a puncture system that can perform real-time puncture under the guidance of CT and MRI to reduce the side effects caused by puncture and scanning images.

[0007] In order to achieve the above objectives, this application provides the following technical solutions:

[0008] A puncture device, comprising: a syringe, a piston, a puncture needle, and a mounting assembly;

[0009] The circumferential side wall of the syringe is provided with an exhaust hole, the first end of the syringe is provided with a syringe interface for connecting to a pressure injection device, the second end of the syringe is detachably connected to the mounting assembly; the mounting assembly is used to be connected to a patient;

[0010] The piston is located in the syringe, and the piston and the syringe are slidably matched and sealed; the tail end of the puncture needle is located in the syringe, and the tail end of the puncture needle and the piston are abutted or detachably connected; the axis of the puncture needle passes through the center of the connecting ball, and the connecting ball has a through hole for the puncture needle to pass through;

[0011] The syringe, the piston and the mounting assembly are all non-metallic parts.

[0012] In some possible embodiments, the puncture device further includes a connecting ball, the second end of the syringe and the connecting ball are detachably connected, and the connecting ball is a non-metallic part;

[0013] The mounting assembly has a ball socket, the ball socket and the connecting ball form a ball joint, and the ball socket has a first opening for the top end of the connecting ball to extend out, and a second opening for the bottom end of the connecting ball to extend out.

[0014] In some possible embodiments, the surface of the connection ball has a longitude mark and a latitude mark;

[0015] The top surface of the mounting assembly in the axial direction has an angle mark for positioning the longitude, the angle mark is arranged along the circumference of the mounting assembly, and the angle mark is located at the periphery of the first opening;

[0016] The mounting assembly has at least three positioning marks, which can be developed on a CT machine and / or an MRI machine. All of the positioning marks are located at the same position in the axial direction of the mounting assembly, and all of the positioning marks are coplanar with the center of the connecting ball.

[0017] In some possible embodiments, the positioning marks are evenly distributed along the circumference of the mounting assembly, and the distances between any two of the positioning marks and the center of the connecting ball are equal.

[0018] In some possible embodiments, the positioning marker includes: a receiving groove and a contrast agent filled in the receiving groove.

[0019] In some possible embodiments, the mounting assembly includes a mounting plate and a mounting cap, and the mounting cap and the mounting plate are fixedly connected to form the ball socket.

[0020] In some possible embodiments, the mounting plate includes a mounting plate body and a boss that are fixedly connected, and the mounting cap is fitted over the boss;

[0021] Among them, the mounting cap has a first opening for making way for the connecting ball, and a first accommodating hole for accommodating the connecting ball and the boss; the mounting plate body has a second opening for making way for the connecting ball, and the boss has a second accommodating hole for accommodating the connecting ball, the diameters of the first opening and the second opening are both smaller than the diameter of the connecting ball, and the first opening, the first accommodating hole, the second opening and the second accommodating hole form the ball socket.

[0022] In some possible embodiments, the mounting cap and the mounting plate are detachably fixedly connected.

[0023] In some possible embodiments, the connecting ball and the second end of the syringe are threadedly matched.

[0024] In some possible embodiments, the puncture device further includes a fixing component, the mounting component is connected to the fixing component, the fixing component is used to be connected to the patient, and the fixing component is a non-metallic component.

[0025] In some possible embodiments, the fixing assembly includes a first strap and a second strap, wherein the first end of the first strap is connected to one end of the mounting assembly, the first end of the second strap is connected to the other end of the mounting assembly, and the second end of the first strap and the second end of the second strap are detachably connected to be tied to the patient.

[0026] In some possible embodiments, the fixing assembly further includes: a first air bag connected to the first strap and used for contacting the patient, and a second air bag connected to the second strap and used for contacting the patient.

[0027] In some possible embodiments, the puncture device further includes a piston gasket, and the tail end of the puncture needle is abutted against or detachably connected to the piston through the piston gasket; wherein the piston gasket is a non-metallic part, and the hardness of the piston gasket is greater than the hardness of the piston.

[0028] In some possible embodiments, the piston has a first groove, and the piston gasket is located in the first groove;

[0029] And / or, the piston gasket has a second groove, and the tail end of the puncture needle is located in the second groove.

[0030] Based on the puncture device provided above, the present application also provides a puncture system, which includes: a pressure injection device, a controller, and the puncture device described in any of the above embodiments;

[0031] Wherein, the controller is connected to the pressure injection device and is used to control the pressure injection device to control the puncture depth and puncture speed of the puncture needle.

[0032] In some possible embodiments, the pressure injection device and the controller are integrated into one; and / or, the pressure injection device is a high-pressure injector.

[0033] In the puncture device provided by the present application, the syringe is connected to the patient through the mounting assembly, the first end of the syringe is used to connect with the pressure injection device, and the pressure injection device can be used to drive the piston in the syringe to move toward the second end of the syringe, thereby pushing the puncture needle that is against or connected to the piston to move and perform puncture. Since the puncture device is driven by the pressure injection device, the puncture device and the pressure injection device are relatively independent, the volume of the puncture device is reduced, and the puncture device can be extended into the scanning frame (the frame of the CT machine or the frame of the MRI machine); the syringe, the piston, the connecting ball and the mounting assembly are all non-metallic material parts, which will not affect the image scanning, so that the puncture device can be extended into the scanning frame and perform puncture in the scanning frame; since the puncture device is driven by the pressure injection device, the distance between the pressure injection device and the syringe can be increased, and the pressure injection device can be arranged outside the scanning frame, and the puncture of the puncture needle can be controlled by controlling the pressure injection device outside the scanning frame, thereby realizing puncture in the scanning frame.

[0034] From the above content, it can be seen that the puncture device provided in the present application can perform puncture in the scanning frame, so that real-time puncture operation can be performed under the guidance of CT or MRI. In this way, the image can be scanned and the real-time position of the puncture needle can be observed while puncturing, which improves the accuracy of a single puncture, and can effectively reduce the number of punctures and the number of image scans, thereby reducing the side effects caused by puncture and image scanning. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0036] Figure 1 A schematic diagram of the structure of the puncture system provided in an embodiment of the present application;

[0037] Figure 2 A schematic diagram of the structure of the puncture needle in the puncture device provided in an embodiment of the present application without moving;

[0038] Figure 3 for Figure 2A cross-sectional view of the puncture device shown;

[0039] Figure 4 A schematic diagram of the structure of a piston and a piston gasket in a puncture device provided in an embodiment of the present application;

[0040] Figure 5 Another structural schematic diagram of a piston and a piston gasket in the puncture device provided in an embodiment of the present application;

[0041] Figure 6 An axonometric diagram of a connecting ball in a puncture device provided in an embodiment of the present application;

[0042] Figure 7 A top view of a connecting ball in a puncture device provided in an embodiment of the present application;

[0043] Figure 8 A bottom view of a connecting ball in a puncture device provided in an embodiment of the present application;

[0044] Fig. 9 A schematic diagram of the structure of the mounting cap in the puncture device provided in an embodiment of the present application;

[0045] Fig.10 for Fig. 9 EE section view;

[0046] Fig.11 A cross-sectional view of a mounting cap in a puncture device provided in an embodiment of the present application;

[0047] Fig.12 A schematic diagram of the puncture of a puncture needle in the puncture device provided in an embodiment of the present application;

[0048] Fig.13 A schematic diagram of a portion of the structure of the puncture device provided in an embodiment of the present application;

[0049] Fig.14 A cross-sectional view of a mounting plate in a puncture device provided in an embodiment of the present application;

[0050] Fig.15 A schematic diagram of the structure of the puncture needle after the puncture needle is removed from the connecting ball in the puncture device provided in an embodiment of the present application;

[0051] Fig.16 for Fig.15 A schematic structural diagram of the puncture device in another direction is shown;

[0052] Fig.17 for Fig.15 A partial structural schematic diagram of the puncture device shown;

[0053] Fig.18 for Fig.17 A cross-sectional view of the structure shown.

[0054] Description of reference numerals:

[0055] 100 is a puncture system, 10 is a puncture device, 20 is a pressure injection device, and 30 is a delivery tube;

[0056] 1 is a syringe, 11 is a syringe interface, 12 is an exhaust hole, and 13 is a volume mark;

[0057] 2 is a connecting ball, 21 is a through hole, 22 is a mounting hole, 23 is a warp line, and 24 is a weft line;

[0058] 3 is a mounting assembly, 31 is a mounting plate, 311 is a mounting plate body, 3111 is a second opening, 312 is a boss, 3121 is a second receiving hole, 32 is a mounting cap, 321 is a protrusion, 322 is an angle mark, 323 is a positioning mark, 324 is a first receiving hole, 325 is a first opening, 3251 is an opening edge, and 326 is a gradually expanding hole;

[0059] 4 is a fixing assembly, 41 is a first strap, 411 is a first buckle, 42 is a second strap, 421 is a second buckle, 43 is a first airbag, and 44 is a second airbag;

[0060] 5 is a piston, 51 is a first groove;

[0061] 6 is a puncture needle;

[0062] 7 is a piston gasket, and 71 is a second groove. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0064] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. The terms used in the following embodiments are only for the purpose of describing specific embodiments and are not intended to be used as limitations on the present application. As used in the specification and the appended claims of the present application, the singular expressions "one", "a kind", "said", "above", "the" and "this" are intended to also include expressions such as "one or more", unless there is a clear contrary indication in the context. It should also be understood that in the embodiments of the present application, "one or more" refers to one, two or more; "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist; for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0065] References to "one embodiment" or "some embodiments" etc. described in this specification mean that a particular feature, structure or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear at different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0066] The multiple involved in the embodiments of the present application means greater than or equal to two. It should be noted that in the description of the embodiments of the present application, the words "first", "second", etc. are only used for the purpose of distinguishing the description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying an order.

[0067] The "parallel" and "perpendicular" involved in this application are "substantially parallel" and "substantially perpendicular" in actual operation. "Substantially parallel" can be understood as parallel with a certain error, and similarly, "substantially perpendicular" can be understood as perpendicular with a certain error.

[0068] When CT and MRI machines are scanning, operators cannot get close to them. Therefore, in conventional technologies, punctures guided by CT (Computed Tomography) and MRI (Nuclear Magnetic Resonance Imaging) require various robots, robotic arms or other mechanical devices to complete the puncture of the needle.

[0069] The aperture of the scanning gantry is usually 60cm-70cm. When the human body is located behind the scanning gantry, there is only 10cm-30cm of space left for the puncture needle. However, the mechanical equipment is too large to enter the scanning gantry, resulting in the inability of the mechanical equipment to perform puncture operations in the scanning gantry. In addition, since the mechanical equipment inevitably contains metal materials, when the metal materials enter the scanning gantry of the CT machine, hardening artifacts will be formed on the CT image. The hardening artifacts will cover the puncture path and lesion location. Mechanical equipment containing metal materials cannot be used under magnetic resonance conditions, which also results in the inability of the mechanical equipment to perform puncture operations in the scanning gantry.

[0070] Therefore, puncture guided by CT and MRI can only be performed by withdrawing the patient from the scanning frame and using "stereotactic" or "three-dimensional positioning" technology for non-real-time directional puncture. Robots, mechanical arms or other mechanical equipment are used for spatial positioning with a higher degree of automation. It can be understood that puncture guided by CT and MRI are both non-real-time "stereotactic" operations.

[0071] The specific puncture operation guided by CT and MRI is as follows: after scanning the image, the human body withdraws from the scanning frame, and uses an optical or Bluetooth stereo positioning device to guide or position the grid for "blind puncture". After the puncture needle reaches the estimated position, the human body enters the scanning frame again, rescans the image and confirms whether the puncture needle has reached the estimated position.

[0072] It can be seen from the above puncture operation that multiple scan images and multiple punctures are required, especially when the puncture site is located in a moving organ. The damage caused by the puncture and the radiation dose of the scan image are side effects that cannot be ignored.

[0073] In order to solve the above technical problems, the embodiments of the present application provide a puncture device and a puncture system, which can perform puncture on a scanning frame and perform real-time puncture under the guidance of CT and MRI to reduce the side effects caused by puncture and scanning images.

[0074] like Figure 1 As shown, the puncture system 100 provided in the embodiment of the present application includes: a puncture device 10, a pressure injection device 20, a delivery tube 30 and a controller (not shown in the figure).

[0075] The pressure injection device 20 is connected to the puncture device 10 through the delivery tube 30, so that the pressure injection device drives the puncture device 10 to puncture. The delivery tube 30 can be a metal tube or a non-metal tube, which is selected according to actual conditions, and the embodiment of the present application does not limit this.

[0076] In order to avoid the formation of hardening artifacts on CT images and MRI images, the delivery tube 30 may be selected to be a non-metallic tube, for example, the delivery tube 30 may be a plastic tube.

[0077] In actual situations, the pressure injection device 20 may also be connected to the puncture device 10 via other connecting components, and is not limited to the delivery tube 30 .

[0078] The controller is connected to the pressure injection device 20 , and is used to control the pressure injection device 20 to control the puncture depth and puncture speed of the puncture device 10 .

[0079] The type of controller is selected according to actual conditions and is not limited in the embodiments of the present application.

[0080] The controller and the pressure injection device 20 may be a separate structure or an integrated structure. In some embodiments, the controller and the pressure injection device 20 are an integrated structure, which can be understood as: the controller and the pressure injection device 20 are integrated into one.

[0081] The pressure injection device can drive the puncture device 10 to perform puncture by injecting liquid or gas with a set pressure into the puncture device 10.

[0082] In some embodiments, the pressure injection device 20 may be a high-pressure injector, in which case the high-pressure injector is integrated with a controller. The high-pressure injector provides driving force, and the high-pressure injector is an existing device in the radiology department. In this way, the existing equipment in the radiology department can be directly used to provide driving force, and there is no need to equip an additional device for providing driving force, which effectively reduces the use cost of the puncture device 10 and facilitates the promotion and use of the puncture device 10.

[0083] It should be noted that the high-pressure injector can reach a pressure of 300 psi. As an auxiliary device in the radiological diagnosis and treatment system, the high-pressure injector is gradually used in clinical practice with the development of technologies such as X-rays, rapid film changers, image intensifiers, and artificial contrast agents. The basic function of a high-pressure injector is to quickly and accurately inject a sufficient amount of high-concentration X-ray contrast agent into the examination site through percutaneous puncture into the blood vessels or through the original channels of the human body within a certain period of time, so as to perform diagnostic imaging and treatment on the lesion site. Therefore, the high-pressure injector is generally used in conjunction with an indwelling needle, and in the embodiment of the present application, the high-pressure injector is used in conjunction with a puncture device to develop a new function for the high-pressure injector.

[0084] In actual situations, the pressure injection device 20 may also be other equipment, which is not limited in the embodiments of the present application.

[0085] In the puncture system 100 provided in the embodiment of the present application, since the pressure injection device drives the puncture device 10 to perform puncture, the puncture device and the pressure injection device are relatively independent, the volume of the puncture device is reduced, and the puncture device can be extended into the scanning frame; since the puncture device is driven by the pressure injection device, the distance between the pressure injection device and the syringe can be increased, and the pressure injection device can be arranged outside the scanning frame, then the controller can control the puncture of the puncture needle by controlling the pressure injection device outside the scanning frame, thereby realizing puncture in the scanning frame.

[0086] It should be noted that the scanning gantry may be a scanning gantry of a CT machine or a scanning gantry of an MRI machine.

[0087] Next, the puncture device 10 will be described.

[0088] like Figure 2 and Figure 3 As shown, the puncture device 10 includes: a syringe 1, a piston 5, a puncture needle 6, a connecting ball 2, a mounting assembly 3 and a fixing assembly 4.

[0089] The first end of the syringe 1 is provided with a syringe interface 11, and the syringe interface 11 is used to connect with the pressure injection device 20. The second end of the syringe 1 is detachably connected with the connecting ball 2.

[0090] In order to make the pressure injection device 20 as far away from the syringe 1 as possible, the syringe interface 11 can be selected to be connected to the pressure injection device 20 through the delivery tube 30. In order to facilitate the connection between the syringe interface 11 and the pressure injection device 20, the syringe interface 11 is connected to a locking Luer interface. In this way, the syringe interface 11 is connected to the pressure injection device 20 through the locking Luer interface (not shown in the figure). Of course, the syringe interface 11 can also be connected to other types of interfaces, which is not limited in the embodiment of the present application.

[0091] In some embodiments, the syringe interface 11 is connected to one end of the delivery tube 30 through a locking Luer interface, and the other end of the delivery tube 30 is connected to the pressure injection device 20. In this way, it is convenient to connect the syringe interface 11 and the pressure injection device 20, and it is convenient to keep the pressure injection device 20 away from the syringe 1 as far as possible, so as to keep the pressure injection device 20 away from the scanning frame as far as possible.

[0092] The piston 5 is located in the syringe 1, and the piston 5 and the syringe 1 are slidably matched and sealed. The tail end of the puncture needle 6 is located in the syringe 1, and the tail end of the puncture needle 6 and the piston 5 are abutted or detachably connected; the axis of the puncture needle 6 passes through the center of the connecting ball 2, and the connecting ball 2 has a through hole 21 for the puncture needle 6 to pass through. The diameter of the through hole 21 is slightly greater than or equal to the needle tube diameter of the puncture needle.

[0093] In order to ensure that the piston 5 moves under the action of the pressure injection device 20, the circumferential side wall of the syringe 1 is provided with an exhaust hole 12. In order to facilitate puncture, the exhaust hole 12 is located at the second end of the syringe 1, or the exhaust hole 12 is located between the first end and the second end of the syringe 1.

[0094] Since the syringe 1 is provided with the vent hole 12, foreign matter can easily enter the syringe 1 through the vent hole 12 and contaminate the puncture needle 6. In order to avoid the above problems, the puncture device 10 also includes a sealing film (not shown in the figure), which can detachably seal the vent hole 12. In this way, after the puncture device 10 leaves the factory, the sealing film seals the vent hole 12; when the puncture device 10 needs to be used, the sealing film can be torn off. It should be noted that the sealing film is a disposable item.

[0095] The piston 5 can be made of rubber, silicone or other materials.

[0096] The pressure injection device 20 injects a medium with a set pressure into the syringe 1 from the syringe interface 11, and the medium pushes the piston 5 to move toward the second end of the syringe 1, thereby pushing the puncture needle 6 in contact with or connected to the piston 5 to move relative to the connecting ball 2, so that the puncture needle 6 can puncture. Therefore, the piston 5 plays a role in transmitting force. If the piston 5 is greatly deformed or reversed, it will affect the puncture force and puncture depth of the puncture needle 6, as well as the accuracy of the puncture depth.

[0097] In some embodiments, Figure 4 and Figure 5 As shown, in order to ensure the puncture force and puncture depth of the puncture needle 6, as well as to ensure the accuracy of the puncture depth, the puncture device 10 also includes a piston gasket 7, and the tail end of the puncture needle 6 is abutted against or detachably connected to the piston 5 through the piston gasket 7; wherein the piston gasket 7 is a non-metallic part, and the hardness of the piston gasket 7 is greater than the hardness of the piston 5.

[0098] In order to facilitate the separation of the puncture needle 6 and the piston 5, the piston gasket 7 and the puncture needle 6 may be abutted against each other, the piston gasket 7 and the piston 5 may be fixedly connected, or the piston gasket 7 and the piston 5 may be abutted against each other.

[0099] The specific hardness and material of the piston gasket 7 are selected according to actual conditions, and are not limited in this embodiment of the present application.

[0100] In order to facilitate the installation of the piston gasket 7 , the piston 5 has a first groove 51 , and the piston gasket 7 is located in the first groove 51 .

[0101] In the axial direction of the syringe 1 , the piston gasket 7 may protrude from the piston 5 , or the piston gasket 7 and the piston 5 may be arranged flush, or the piston gasket 7 may be sunken in the piston 5 and the tail end of the puncture needle 6 may also be located in the first groove 51 .

[0102] The size and shape of the first groove 51 can be selected according to actual conditions, as long as the first groove 51 and the piston gasket 7 are matched.

[0103] In order to facilitate installation of the puncture needle 6 , the piston gasket 7 has a second groove 71 , and the tail end of the puncture needle 6 is located in the second groove 71 .

[0104] The size and shape of the second groove 71 can be adapted to the tail end of the puncture needle 6, so as to facilitate the installation of the puncture needle 6. Exemplarily, the second groove 71 is square, and the diagonal length of the square can be 10 mm.

[0105] In actual situations, the first groove 51 and the second groove 71 may be provided at the same time or separately, and this embodiment of the present application does not limit this.

[0106] In some other embodiments, in order to prevent the piston 5 from being greatly deformed and reversed, the hardness of the piston 5 may be increased, and / or the thickness of the piston 5 may be increased. For example, the thickness of the piston 5 may be 15 mm.

[0107] As mentioned above, the second end of the syringe 1 and the connecting ball 2 are detachably connected, so that after the puncture is completed, the syringe 1 and the connecting ball 2 are separated, and the piston 5 and the puncture needle 6 can be separated, thereby ensuring subsequent operations through the puncture needle 6.

[0108] As mentioned above, the second end of the syringe 1 and the connecting ball 2 are detachably connected. It can be understood that the connecting ball 2 has a mounting hole 22, and the mounting hole 22 accommodates the second end of the syringe 1.

[0109] In order to facilitate the separation of the connecting ball 2 and the syringe 1, the second end of the syringe 1 can be selected to be threadedly matched with the connecting ball 2. Exemplarily, the connecting ball 2 has a threaded hole, and the second end of the syringe 1 is provided with an external thread that is threadedly matched with the threaded hole. In actual situations, the second end of the syringe 1 and the connecting ball 2 can also be detachably connected by snap-fitting or other means, which is not limited in the embodiments of the present application.

[0110] In order to reduce the probability of the puncture needle 6 being contaminated, the second end of the syringe 1 and the connecting ball 2 are sealed and connected. In this case, the second end of the syringe 1 and the connecting ball 2 can be sealed and connected by threaded fitting or other structures.

[0111] The connecting ball 2 is hinged to the mounting assembly 3. In this way, the connecting ball 2 can rotate around its ball center, so that the angle between the syringe 1 and the puncture needle 6 can be adjusted, thereby adjusting the puncture angle of the puncture needle 6. Under the real-time guidance of CT and MRI, the puncture operation is not limited by the puncture angle, which facilitates puncture.

[0112] It can be understood that the mounting assembly 3 has a ball socket, and the connecting ball 2 is hinged in the ball socket, which can be understood as: the ball socket and the connecting ball 2 form a ball joint. There is a damping force between the connecting ball 2 and the mounting assembly 3 to ensure that the connecting ball 2 remains at any angle to which the connecting ball 2 can rotate. Exemplarily, the friction between the connecting ball 2 and the ball socket can keep the connecting ball 2 at any angle.

[0113] In order to increase the rotation angle of the connecting ball 2, the ball socket has a first opening 325 for the top end of the connecting ball 2 to extend out, and a second opening 3111 for the bottom end of the connecting ball 2 to extend out. The diameters of the first opening 325 and the second opening 3111 are smaller than the diameters of the connecting ball 2. It should be noted that after the connecting ball 2 is installed on the patient, the bottom end of the connecting ball 2 is close to the patient, and the top end of the connecting ball 2 is away from the patient. In the direction in which the first opening 325 and the second opening 3111 are distributed in sequence, the first opening 325 and the second opening 3111 also play the role of limiting the connecting ball 2.

[0114] The rotation angle range of the connecting ball 2 is selected according to the actual situation. In some embodiments, the rotation angle of the connecting ball 2 is 30°~45°. It should be noted that when the rotation angle of the connecting ball 2 is positive or negative, the positive rotation angle of the connecting ball 2 is +30°~+45°, and the reverse rotation angle of the connecting ball 2 is -45°~-30°.

[0115] The installation component 3 is connected to the patient via the fixing component 4. Of course, the installation component 3 can also be connected to the patient via bonding or other components, which is not limited in the present embodiment.

[0116] In actual situations, it is also possible to select that the second end of the syringe 1 is detachably connected to the mounting assembly 3 via other structures (structures other than the connecting ball 2 ), or the second end of the syringe 1 is detachably connected to the mounting assembly 3 directly.

[0117] The syringe 1, the piston 5, the connecting ball 2, the mounting assembly 3 and the fixing assembly 4 are all non-metallic parts. In this way, the syringe 1, the piston 5, the connecting ball 2, the mounting assembly 3 and the fixing assembly 4 will not form hardening artifacts on the CT image and the MRI image, avoiding affecting the scanning images of the CT (Computed Tomography) machine and the MRI (Nuclear Magnetic Resonance Imaging) machine, so that the entire puncture device 10 can be scanned in the scanning frame (not shown in the figure).

[0118] In order to facilitate material acquisition and reduce costs, the syringe 1, the connecting ball 2 and the mounting assembly 3 can be selected to be plastic parts, the piston 5 can be a rubber part, the fixing assembly 4 can be a plastic part, or the fixing assembly 4 can include a plastic part and a cloth part. Of course, the syringe 1, the piston 5, the connecting ball 2, the mounting assembly 3 and the fixing assembly 4 can also be other non-metal parts, and the implementation of this application does not limit this.

[0119] The radial dimensions of the syringe 1 and the connecting ball 2 are both larger than the radial dimensions of the puncture needle 6. Therefore, as long as the syringe 1 and the connecting ball 2 can be extended into the scanning frame, the entire puncture device 10 can be extended into the scanning frame.

[0120] In order to facilitate the puncture device to enter the scanning frame, the inner diameter (inner diameter) of the syringe 1 can be 6cm-10cm, and the wall thickness of the syringe 1 can be selected according to actual conditions, as long as the syringe 1 can enter the scanning frame.

[0121] In order to facilitate the puncture device to enter the scanning frame, the diameter of the connecting ball 2 can be 25mm-30mm, for example, the diameter of the connecting ball 2 is 20mm. Of course, the diameter of the connecting ball 2 can also be selected to be other sizes, which is not limited in the embodiment of the present application.

[0122] The puncture needle 6 may be a metal needle. In the case of CT-guided puncture, the puncture needle 6 may be a magnetic metal needle or a non-magnetic metal needle. In the case of MRI-guided puncture, the puncture needle 6 may be a non-magnetic metal needle.

[0123] As mentioned above, the tail end of the puncture needle 6 is located inside the syringe 1. The head end of the puncture needle 6 can be located outside the syringe 1 or inside the syringe 1.

[0124] In some embodiments, the entire puncture needle 6 is located inside the syringe 1. The length of the syringe 1 is designed according to the length of the puncture needle 6. For example, the length of the puncture needle 6 is 8 cm-12 cm, and the length of the syringe 1 is greater than 12 cm.

[0125] In some other embodiments, the head end of the puncture needle 6 is located outside the syringe 1, and the head end of the puncture needle 6 is located inside the connecting ball 2 to prevent the head end of the puncture needle 6 from being contaminated. Of course, the head end of the puncture needle 6 can also be located outside the connecting ball 2. In this case, a needle cap can be set on the part of the puncture needle 6 exposed to the connecting ball 2 to prevent the puncture needle 6 from being contaminated.

[0126] The puncture process of the puncture device 10 provided in the embodiment of the present application is as follows:

[0127] After determining the puncture position, puncture angle and puncture depth, the connecting ball 2 is installed on the patient's body surface (the position where puncture is required) through the mounting component 3 and the fixing component 4, the pressure injection device 20 and the syringe interface 11 of the syringe 1 are connected, the sealing film is torn off, and the pressure injection device 20 is started. The piston 5 pushes the puncture needle 6 to move relative to the connecting ball 2 under the action of pressure, and the puncture guided by CT or MRI in real time can be performed according to the puncture requirements; after the puncture is completed, the pressure injection device 20 stops driving; then the syringe 1 and the connecting ball 2 are separated, and the piston 5 and the puncture needle 6 are separated at the same time when the syringe 1 and the connecting ball 2 are separated, and then subsequent operations can be performed.

[0128] It should be noted that after the syringe 1 and the connecting ball 2 are separated, the puncture needle 6 is located in the patient's body, and the puncture needle 6 is maintained in the puncture state with the assistance of the through hole 21 of the connecting ball 2. The syringe 1, the piston 5, the piston gasket 7, the connecting ball 2 and the puncture needle 6 are all disposable items.

[0129] The method of using the puncture device 10 is as follows:

[0130] After determining the puncture position, puncture angle and puncture depth, the connecting ball 2 is installed on the patient's body surface (the position where puncture is required) through the mounting assembly 3 and the fixing assembly 4, the pressure injection device 20 is connected to the syringe interface 11 of the syringe 1, the sealing film is torn off, the pressure injection device 20 is started, and the puncture is performed under the real-time guidance of CT or MRI according to the puncture requirements;

[0131] The puncture depth and puncture speed are controlled by the propellant dosage and propulsion speed of the pressure injection device 20, and the puncture device 10 can be remotely controlled outside the scanning frame; wherein the propellant dosage is the propulsion volume, and the puncture depth can be obtained by dividing the propellant dosage by the cross-sectional area of ​​the syringe 1; the propulsion speed and the puncture speed vary according to the density and hardness of the punctured tissue, and there is no fixed ratio. The puncture speed can be controlled by adjusting the flow rate of the pressure injection device 20, and can be observed in the real-time image and adjusted in real time;

[0132] After the puncture is completed, the puncture needle 6 penetrates the connecting ball 2. Figure 15-18 The connecting ball 2 is still connected to the patient, and the syringe 1 and the connecting ball 2 are separated to separate the piston 5 and the puncture needle 6. The puncture needle 6 remains in the puncture state, and subsequent injection of drugs, introduction of biopsy needles, introduction of radiofrequency ablation needles or other subsequent operations can all be completed through the puncture needle 6.

[0133] As can be seen from the above method of use, the outer wall of the syringe 1 is provided with at least one of a length mark and a volume mark 13, so as to know the position of the piston 5, thereby knowing the propellant amount and the puncture depth. For example, the position of the piston 5 can be known by a camera or other device, and the camera is connected to the controller.

[0134] As mentioned above, since the puncture device 10 is driven by the pressure injection device 20, the puncture device 10 and the pressure injection device 20 are relatively independent, the volume of the puncture device 10 is reduced, and the puncture device 10 can be extended into the scanning frame; the syringe 1, the piston 5, the connecting ball 2, the mounting assembly 3 and the fixing assembly 4 are all non-metallic parts, which will not affect the image scanning, so that the puncture device 10 can be extended into the scanning frame and perform puncture in the scanning frame; since the puncture device 10 is driven by the pressure injection device 20, the distance between the pressure injection device 20 and the syringe 1 can be increased, and the pressure injection device 20 can be arranged outside the scanning frame, and the puncture of the puncture needle 6 can be controlled by controlling the pressure injection device 20 outside the scanning frame, thereby realizing remote control of the puncture device 10 for puncture outside the scanning frame, thereby realizing puncture in the scanning frame. It can be seen from the above content that the puncture device 10 provided in the embodiment of the present application can perform puncture in the scanning frame, so that real-time puncture operation can be performed under the guidance of CT or MRI. In this way, the image can be scanned and the real-time position of the puncture needle can be observed while puncturing, which improves the accuracy of a single puncture, and can effectively reduce the number of punctures and the number of image scans, thereby reducing the side effects caused by puncture and image scanning.

[0135] In the embodiment of the present application, the pressure injection device 20 does not need to enter the scanning frame, which avoids the high-pressure injector occupying the scanning space in the scanning frame. Accordingly, the operating space of the puncture device 10 is increased, which provides a prerequisite for the puncture operation at various puncture angles. The high-pressure injector can control the puncture depth and puncture speed of the puncture needle 6. In this way, the puncture device 10 is remotely controlled outside the scanning frame to perform puncture, which avoids the operator from getting close to the scanning machine and reduces the damage to the operator caused by the scanned image.

[0136] At the same time, the puncture device 10 provided in the embodiment of the present application has a simpler structure and lower cost compared with the existing method of using mechanical equipment to operate the puncture needle 6.

[0137] Based on the above content, it can be seen that the puncture device 10 provided in the embodiment of the present application can remotely control the directional puncture operation in the narrow space of the scanning frame and under the guidance of the real-time scanning image to accurately reach the predetermined lesion position.

[0138] In some embodiments, in order to facilitate the adjustment of the puncture angle of the puncture needle 6, the surface of the connecting ball 2 has longitude and latitude markings, such as Figure 6-Figure 8 As shown, the longitude mark includes multiple meridians 23 and longitude values ​​corresponding to at least two meridians 23 , and the latitude mark includes multiple latitudes 24 and latitude values ​​corresponding to at least two latitudes 24 .

[0139] For example, Figure 6-Figure 8As shown, the longitude mark includes twelve meridians 23, longitude 90° and longitude 270°, and the twelve meridians 23 equally divide the connecting sphere 2. The latitude mark includes ten latitudes 24, two latitudes 30°, and two latitudes 60°. One latitude 30° and one latitude 60° are distributed on one side of the equator, and another latitude 30° and another latitude 60° are distributed on the other side of the equator.

[0140] like Fig. 9 As shown, the top surface of the mounting assembly 3 in the axial direction has an angle mark 322 for positioning the longitude, and the angle mark 322 is arranged along the circumference of the mounting assembly 3. The angle mark 322 is located at the periphery of the first opening 325. Exemplarily, the angle mark 322 includes a scale line and an angle value corresponding to the scale line.

[0141] like Fig.10 and Fig.11 As shown, the mounting component 3 has at least three positioning marks 323, which can be developed on a CT machine and / or an MRI machine. All positioning marks 323 are located at the same position in the axial direction of the mounting component 3, and all positioning marks 323 are coplanar with the center of the connecting ball 2.

[0142] Based on the above structure, combined with Fig.12 and Fig.13 The adjustment principle of the puncture angle and the puncture depth of the puncture needle 6 are described.

[0143] The puncture device 10 is connected to the patient, and the connecting ball 2 does not rotate. The patient's lesion position L is scanned by image; the center of the connecting ball 2 is recorded as the coordinate origin O, the coordinates of each positioning mark are marked, and three positioning marks are selected as point A, point B and point C respectively; the vector is calculated. , and , the puncture depth of the puncture needle 6 is Calculate the puncture angle of the puncture needle 6.

[0144] Determining the puncture direction of the puncture needle 6 specifically includes: using the vector and Then calculate the normal vector of plane ABC where points A, B, C and O are located ;calculate The angle β with plane ABC is, specifically, and The dot product of The mold length, Calculate the included angle β from the modulus length; Calculate and The angle θ is, first, for The projection on plane ABC, Subtract its The component in the direction is , is the unit vector in the OC direction.

[0145] During the above calculation process, graphics can be drawn. For example, in Python, the matplotlib library can be used to draw 3D graphics. The above calculation can be calculated by software or manually. In order to improve automation, the above calculation can be completed by a calculation module, which can be integrated into the controller or not.

[0146] The angle β is the angle between the puncture needle (the puncture needle in the puncture position) and the equatorial plane (plane ABC). Move the puncture needle to the puncture position. The latitude β1=90°-β that the connecting ball 2 needs to rotate, and the longitude θ that the connecting ball 2 needs to rotate. After the connecting ball 2 rotates according to β1 and θ, the puncture angle (three-dimensional angle) of the puncture needle 6 can be obtained, that is, the puncture direction of the puncture needle 6 can be obtained.

[0147] Exemplarily, when the connecting ball 2 is in the initial position, the equator of the connecting ball 2 is located in the plane ABC, the longitude of point C is 100°, and the longitude of 100° corresponds to the scale line with an angle of 60° in the angle mark 322, β1=30°, θ=40°, first rotate the longitude of 100° in the connecting ball 2 in the positive direction by 40°, and finally the longitude of 100° corresponds to the scale line with an angle of 100° in the angle mark 322, keeping the longitude unchanged, and then rotate the latitude of 30° in the connecting ball 2 in the positive direction to the opening edge 3251 of the first opening 325, so that the connecting ball 2 rotates to the set position and the puncture needle 6 reaches the puncture angle.

[0148] It should be noted that Fig.13 In the figure, facing the connecting ball 2, the connecting ball 2 rotates clockwise to adjust the position of the longitude, which can be understood as a positive rotation; the connecting ball 2 rotates counterclockwise to adjust the position of the longitude, which can be understood as a reverse rotation; facing the connecting ball 2, the connecting ball 2 rotates downward to adjust the position of the latitude, which can be understood as a positive rotation; the connecting ball 2 rotates upward to adjust the position of the latitude, which can be understood as a reverse rotation.

[0149] The above-mentioned positioning marks 323 can be three, four, five, six or seven or more. In order to facilitate the determination of the coordinates of the positioning marks 323, the positioning marks 323 can be evenly distributed along the circumference of the mounting assembly, and the distance between any two positioning marks 323 and the center of the connecting ball 2 is equal. The lines connecting the points A, B and C mentioned above can form an equilateral triangle.

[0150] In order to facilitate the setting of the positioning mark on the mounting assembly 3, the positioning mark 323 may include: a receiving groove and a contrast agent filled in the receiving groove. The size of the receiving groove is selected according to actual conditions, and the embodiment of the present application does not limit this.

[0151] The point A mentioned above can be understood as a point of a positioning mark 323 , the point B can be understood as a point of another positioning mark 323 , and the point C can be understood as a point of another positioning mark 323 .

[0152] In some other embodiments, the puncture angle of the puncture needle 6 may also be adjusted by other structures and methods, which are not limited to the above embodiments.

[0153] In the embodiment of the present application, the specific structure of the installation component 3 is selected according to the actual situation. In order to simplify the installation and use, Figure 3 As shown, the mounting assembly 3 includes a mounting plate 31 and a mounting cap 32 , and the mounting cap 32 and the mounting plate 31 are fixedly connected to form a ball socket.

[0154] In some embodiments, Figure 3 , Fig. 9 , Fig.10 and Fig.14 As shown, the mounting plate 31 includes a mounting plate body 311 and a boss 312 that are fixedly connected, and the mounting cap 32 is sleeved on the boss 312; wherein the mounting cap 32 has a first opening 325 for making way for the connecting ball 2, and a first receiving hole 324 for accommodating the connecting ball 2 and the boss 312; the mounting plate body 311 has a second opening 3111 for making way for the connecting ball 2, and the boss 312 has a second receiving hole 3121 for accommodating the connecting ball 2, the diameters of the first opening 325 and the second opening 3111 are both smaller than the diameters of the connecting ball 2, and the first opening 325, the first receiving hole 324, the second opening 3111 and the second receiving hole 3121 form a ball socket.

[0155] In the above structure, the angle mark 322 is arranged on the top surface of the mounting cap 32 , and the positioning mark 323 is arranged on the circumferential side surface of the mounting cap 32 .

[0156] In order to facilitate the rotation of the connecting ball 2 , the top of the first opening 325 may be provided with a gradually expanding hole 326 , the small end of the gradually expanding hole 326 is connected to the first opening 325 , and the large end of the gradually expanding hole 326 is away from the first opening 325 .

[0157] For easy installation and removal, the mounting cap 32 is detachably fixedly connected to the mounting plate 31. For example, the mounting cap 32 and the boss 312 are threadedly matched, or the mounting cap 32 and the boss 312 are detachably fixedly connected through a snap-fit ​​structure, which is not limited in the present embodiment.

[0158] In some other embodiments, the mounting plate 31 and the mounting cap 32 may also be other structures, which is not limited in the embodiments of the present application.

[0159] In the embodiment of the present application, the specific structure of the fixing component 4 is selected according to the actual situation. In some embodiments, the fixing component 4 includes a first strap 41 and a second strap 42, a first end of the first strap 41 is connected to one end of the mounting component 3, a first end of the second strap 42 is connected to the other end of the mounting component 3, and a second end of the first strap 41 and a second end of the second strap 42 are detachably connected to be tied to the patient.

[0160] In order to improve the fixing effect of the fixing assembly 4, the fixing assembly 4 further includes: a first airbag 43 connected to the first strap 41 and used to contact the patient, and a second airbag 44 connected to the second strap 42 and used to contact the patient. In this way, the first airbag 43 and the second airbag 44 play a buffering role and also increase the contact area with the patient, thereby improving the fixing effect of the fixing assembly 4 on the patient.

[0161] The size and shape of the first airbag 43 and the second airbag 44 are selected according to actual conditions, and are not limited in the embodiment of the present application.

[0162] The second end of the first strap 41 and the second end of the second strap 42 are detachably connected, and the specific structure of the detachable connection is selected according to actual conditions. For example, the second end of the first strap 41 is provided with a first buckle 411, and the second end of the second strap 42 is provided with a second buckle 421, and the first buckle 411 and the second buckle 421 are detachably connected.

[0163] In order to make the fixing assembly 4 suitable for different patients, the position of the first buckle 411 in the length direction of the first strap 41 is adjustable, and / or the position of the second buckle 412 in the length direction of the second strap 42 is adjustable.

[0164] In actual situations, in order to make the fixing assembly 4 suitable for different patients, the first binding strap 41 and the second binding strap 42 may be elastic straps.

[0165] Since the puncture device 10 has the above-mentioned technical effects, the puncture system 100 provided in the embodiment of the present application includes the above-mentioned puncture device 10, and the puncture system 100 provided in the embodiment of the present application also has corresponding technical effects, which will not be repeated herein.

[0166] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A puncture device, characterized in that: include: Syringes, plungers, puncture needles, and mounting assemblies; The circumferential side wall of the syringe is provided with an exhaust hole, the first end of the syringe is provided with a syringe interface for connecting to a pressure injection device, the second end of the syringe is detachably connected to the mounting assembly; the mounting assembly is used to be connected to a patient; The piston is located in the syringe, and the piston and the syringe are slidably matched and sealed; the tail end of the puncture needle is located in the syringe, and the tail end of the puncture needle and the piston are abutted or detachably connected; the axis of the puncture needle passes through the center of the connecting ball, and the connecting ball has a through hole for the puncture needle to pass through; The syringe, the piston and the mounting assembly are all non-metallic parts.

2. The puncture device according to claim 1, characterized in that: It also includes a connecting ball, the second end of the syringe and the connecting ball are detachably connected, and the connecting ball is a non-metallic part; the mounting assembly has a ball socket, the ball socket and the connecting ball form a ball joint, and the ball socket has a first opening for the top end of the connecting ball to extend out, and a second opening for the bottom end of the connecting ball to extend out.

3. The puncture device according to claim 2, characterized in that: The surface of the connection ball has longitude marks and latitude marks; The top surface of the mounting assembly in the axial direction has an angle mark for positioning longitude, the angle mark is arranged along the circumference of the mounting assembly, and the angle mark is located at the periphery of the first opening; The mounting assembly has at least three positioning marks, which can be developed on a CT machine and / or an MRI machine. All of the positioning marks are located at the same position in the axial direction of the mounting assembly, and all of the positioning marks are coplanar with the center of the connecting ball.

4. The puncture device according to claim 3, characterized in that: The positioning marks are evenly distributed along the circumference of the mounting assembly, and the distances between any two of the positioning marks and the center of the connecting ball are equal.

5. The puncture device according to claim 3, characterized in that: The positioning mark includes: a containing groove and a contrast agent filled in the containing groove.

6. The puncture device according to claim 2, characterized in that: The mounting assembly comprises a mounting plate and a mounting cap, wherein the mounting cap is fixedly connected to the mounting plate to form the ball socket.

7. The puncture device according to claim 6, characterized in that: The mounting plate comprises a mounting plate body and a boss that are fixedly connected, and the mounting cap is fitted over the boss; Among them, the mounting cap has a first opening for making way for the connecting ball, and a first accommodating hole for accommodating the connecting ball and the boss; the mounting plate body has a second opening for making way for the connecting ball, and the boss has a second accommodating hole for accommodating the connecting ball, the diameters of the first opening and the second opening are both smaller than the diameter of the connecting ball, and the first opening, the first accommodating hole, the second opening and the second accommodating hole form the ball socket.

8. The puncture device according to claim 6, characterized in that: The mounting cap and the mounting plate are detachably fixedly connected.

9. The puncture device according to claim 2, characterized in that: The connecting ball is threadably matched with the second end of the syringe.

10. The puncture device according to claim 1, characterized in that: It also includes a fixing component, the mounting component is connected to the fixing component, the fixing component is used to be connected to the patient, and the fixing component is a non-metallic component.

11. The puncture device according to claim 10, characterized in that: The fixing assembly includes a first strap and a second strap, wherein the first end of the first strap is connected to one end of the mounting assembly, the first end of the second strap is connected to the other end of the mounting assembly, and the second end of the first strap and the second end of the second strap are detachably connected to be tied to the patient.

12. The puncture device according to claim 11, characterized in that: The fixing assembly further includes: a first air bag connected to the first strap and used for contacting the patient, and a second air bag connected to the second strap and used for contacting the patient.

13. The puncture device according to claim 1, characterized in that: It also includes a piston gasket, through which the tail end of the puncture needle is abutted against or detachably connected to the piston; wherein the piston gasket is a non-metallic part, and the hardness of the piston gasket is greater than the hardness of the piston.

14. The puncture device according to claim 13, characterized in that: The piston has a first groove, and the piston gasket is located in the first groove; And / or, the piston gasket has a second groove, and the tail end of the puncture needle is located in the second groove.

15. A puncture system, characterized in that: include: A pressure injection device, a controller, and a puncture device as described in any one of claims 1 to 14; Wherein, the controller is connected to the pressure injection device and is used to control the pressure injection device to control the puncture depth and puncture speed of the puncture needle.

16. The puncture system according to claim 15, characterized in that: The pressure injection device and the controller are integrated into one; and / or, the pressure injection device is a high-pressure injector.

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