Minimally invasive puncture biopsy excision device for pulmonary nodules

Abstract

The invention relates to a pulmonary nodule minimally invasive needle biopsy excision device, and relates to the technical field of medical instruments. The system comprises a mechanical arm electrically connected with CT equipment, navigation auxiliary equipment, a puncture assembly detachably connected with the mechanical arm and used for puncturing human tissue, a sampling assembly for sampling tissue at a nodule and a marking assembly for marking the sampling position; the puncture assembly comprises a mounting base detachably connected with the mechanical arm and a puncture needle arranged on the mounting base, and the end of the puncture needle is sharp. The puncture needle is arranged in a hollow mode, the sampling assembly comprises a rotary cutting cylinder rotationally arranged in the puncture needle and a power part for driving the rotary cutting cylinder to rotate, a first rotary cutting opening is formed in the puncture needle, a second rotary cutting opening is formed in the rotary cutting cylinder, and the first rotary cutting opening movably corresponds to the second rotary cutting opening. The biopsy sampling device has the advantages that the sampling amount of each biopsy sampling is conveniently increased, the puncture sampling frequency is reduced, and meanwhile the radiation dosage is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a minimally invasive puncture biopsy and resection device for lung nodules. Background Art

[0002] Lung nodules refer to round or irregular lesions with a diameter of less than 3 cm that appear in the lungs due to environmental influences, smoking, or occupational factors. Lung nodules may be relatively small in the early stages, without compressing surrounding tissues, and have little impact on the structure and function of lung tissue, so most have no obvious symptoms. However, lung nodules are divided into benign and malignant. Benign lung nodules can be directly treated conservatively through medication or observation, while malignant lung nodules tend to increase significantly in a short period of time, compressing lung tissue, causing patients to have symptoms such as persistent coughing, coughing up blood, and chest pain, which will subsequently affect the patient's life span. Since lung nodules can only be observed through CT in the early stages, and it is not easy to directly determine the benign or malignant nature of lung nodules by appearance, biopsy sampling is usually used, and the sampled specimens are tested to determine the benign or malignant nature of the lung nodules, so that subsequent targeted treatment can be carried out based on the results.

[0003] Medical staff usually use a biopsy sampling needle when taking biopsy samples of lung nodules. Common biopsy sampling needles include a puncture needle and a sampling needle coaxially arranged in the puncture needle. The end side of the puncture needle is sharp and the end side of the puncture needle is open. The sampling needle moves through the end side of the puncture needle. The side wall of the sampling needle is barbed. When sampling at the lung nodule, the doctor first inserts the puncture needle into the human body, and uses CT to determine whether the needle tip of the puncture needle has reached the nodule. Then the technician slides the puncture needle to extend the needle head of the puncture needle so that the barb part is located at the nodule, and then retracts the sampling needle. At this time, the barb part removes the tissue at the nodule and retracts the cavity in the sampling needle for removal, completing the sampling.

[0004] Regarding the above-mentioned related technologies, since puncture is often performed manually by doctors, it is difficult to locate the nodules during surgery for small lung nodules (diameter <10 mm), pure ground glass nodules or subsolid nodules that are far away from the visceral pleura (>15 mm), and it is difficult to accurately control the puncture angle by manual puncture. When performing puncture sampling, it is not easy to accurately sample the tissue at the nodule through the sampling needle, and the tissue sampled at the barb often involves normal tissue. In subsequent testing, if the nodule tissue does not meet the detection standards, multiple punctures and multiple samplings are required, which cause obvious pain to the patient, and multiple punctures are prone to cause pneumothorax and bleeding. Summary of the invention

[0005] In order to increase the sampling volume of each biopsy, reduce the number of puncture sampling and reduce the radiation dose, the present application provides a minimally invasive puncture biopsy and resection device for lung nodules.

[0006] The present application provides a minimally invasive puncture biopsy and resection device for lung nodules, which adopts the following technical solution: A minimally invasive puncture biopsy and removal device for lung nodules, comprising a mechanical arm electrically connected to a CT device, a puncture assembly detachably connected to the mechanical arm for puncturing human tissue, a sampling assembly for sampling tissue at the nodule, and a marking assembly for marking the sampling site; the puncture assembly comprises a mounting seat detachably connected to the mechanical arm, a puncture needle arranged on the mounting seat, and the end of the puncture needle is sharp; the puncture needle is hollow, the sampling assembly comprises a rotary cutting cylinder rotatably arranged in the puncture needle, and a power member driving the rotary cutting cylinder to rotate, and the A first rotary cutting opening is provided on the puncture needle, and a second rotary cutting opening is provided on the rotary cutting cylinder, and the first rotary cutting opening is movably corresponding to the second rotary cutting opening; a marking cavity is provided in the rotary cutting cylinder, and a plugging object is stored in the marking cavity; a third connecting port is also provided on the rotary cutting cylinder, and the third connecting port is movably corresponding to the first rotary cutting opening, and the second rotary cutting opening and the third connecting port are selectively movably corresponding to the first rotary cutting opening, and a switching component is also provided on the mounting seat to switch the first rotary cutting opening with the second rotary cutting opening and the third connecting port.

[0007] By adopting the above technical solution, the navigation aid device is an optical navigation aid device or a magnetic navigation aid device. When the navigation aid device is a magnetic navigation aid device, when performing biopsy sampling on lung nodules, first properly place magnetic pole markers on the patient's body surface as spatial positioning reference points. Subsequently, computed tomography (CT equipment) technology is used to perform a comprehensive scan of the human body to obtain detailed anatomical image information. Based on these image data, computer-assisted three-dimensional reconstruction technology and magnetic navigation aids are used to accurately simulate and plan the puncture path required for nodule biopsy. In this process, the puncture needle is regarded as the probe element of the magnetic navigation system, and the mounting seat and the puncture needle are controlled by the robotic arm to perform guided puncture operations according to the pre-constructed puncture path.

[0008] When the navigation aid device is an optical navigation aid device, it is necessary to set a displacement sensor and an optical sensor on the robotic arm. First, the human body is still scanned comprehensively using computed tomography technology to obtain detailed anatomical image information. Based on these image data, computer-assisted three-dimensional reconstruction technology is used to simulate and plan the puncture path required for nodule biopsy. Then, the displacement sensor and optical sensor set on the robotic arm transmit data back to simulate the path of the puncture needle, which is then presented in the form of an image.

[0009] This process requires ensuring that the puncture needle moves accurately along the planned path until its tip reaches the target location of the lung nodule, thereby completing the precise execution of the biopsy sampling. By combining the puncture needle with the CT equipment, the puncture path can be accurately achieved and human operation errors can be reduced.

[0010] It should be noted here that no matter what kind of navigation assistance equipment is used, when the final puncture needle moves close to the nodule, the doctor needs to use the CT equipment to compound and ask the patient to hold his breath to ensure the relative static of the lungs, so as to perform the final puncture and sampling to ensure the accuracy of the puncture sampling.

[0011] The power member is provided to drive the rotary cutting cylinder to rotate, and through the correspondence and separation of the first rotary cutting opening and the second rotary cutting opening, the human tissue enters the first rotary cutting opening of the sampling needle under the condition of its own elasticity, and the rotary cutting of the rotating cylinder is used to excise and sample the tissue entering the first rotary cutting opening. The sampling efficiency is improved by the rotary cutting sampling method. When a large number of samples are required, there is no need for multiple needle insertions, thereby reducing the pain caused by multiple needle insertions.

[0012] At the same time, by setting up the marking cavity and the sealing material in the marking cavity, after the tissue rotary cutting and sampling is completed, the tissue resection site is sealed by the set sealing material to reduce the occurrence of pneumothorax and reduce complications such as puncture bleeding and infection.

[0013] When the sampling site and the puncture site need to be blocked, there is no need to insert the needle a second time. The third connecting port is connected to the first rotary incision port through the provided switching component, so that the blocking material enters the rotary incision site from the first rotary incision port for blocking, thereby reducing the complexity of the puncture and blocking operations, thereby improving the efficiency of the operation.

[0014] Optionally, the power part includes a rotating cylinder arranged in the sampling needle, a wavy slot is provided on the outer peripheral wall of the rotating cylinder, a limiting cylinder is rotatably and slidably arranged in the puncture needle, the limiting cylinder is connected to the rotary cutting cylinder, a rotating output part connected to the limiting cylinder is provided on the mounting seat, a blocking block is provided on the inner peripheral wall of the limiting cylinder, and the blocking block is slidably adapted to the slot.

[0015] By adopting the above technical solution, a rotating output member is provided to drive the limiting cylinder to rotate, and the limiting cylinder drives the rotary cutting cylinder to rotate, so as to perform rotary cutting on the tissues entering the first rotary cutting opening and the second rotary cutting opening. At the same time, a wavy card groove is provided on the outer peripheral wall of the rotating cylinder. During the rotary cutting process, the rotary cutting cylinder not only rotates but also slides along the length direction of the sampling needle. When the card block corresponds to the trough position of the card groove, the first rotary cutting opening completely corresponds to the second rotary cutting opening. When the card block corresponds to the trough position of the card groove, the first rotary cutting opening does not completely correspond to the second rotary cutting opening. This facilitates the subsequent suction of the cut tissue by negative pressure, while reducing the influence of negative pressure on the normal tissue around the sampling needle, thereby improving the sampling accuracy.

[0016] Optionally, a first negative pressure tube and a second positive pressure tube are connected to the mounting seat, a separation tube is coaxially provided in the rotating cylinder, the separation tube member divides the rotating cylinder into a first negative pressure cavity and a second positive pressure cavity, the first negative pressure tube is connected to the first negative pressure cavity, the second positive pressure tube is connected to the second positive pressure cavity, the first negative pressure tube is used to provide negative pressure in the first negative pressure cavity, and the second positive pressure tube is used to provide positive pressure toward the second positive cavity, the second positive pressure cavity is located in the separation tube, the first negative pressure cavity is located between the separation tube and the rotating cylinder, a plurality of groups of rotary cutters are provided in the rotary cutting cylinder, the rotary cutters are arranged at intervals along the circumference direction of the rotary cutting cylinder, the cavity enclosed by two adjacent groups of rotary cutters is connected to the first negative pressure cavity, the end of the rotary cutter away from the mounting seat is enclosed by the puncture needle to form a marking cavity, the blocking object is located in the marking cavity, and the marking cavity is connected to the second positive pressure cavity.

[0017] By adopting the above technical scheme, through the setting of the first negative pressure cavity and the second negative pressure cavity, when tissue excision sampling is performed, the first negative pressure tube provides negative pressure toward the first negative pressure cavity. At this time, the exciter shears and samples the tissue entering the first excision port relative to the side wall of the sampling needle. At the same time, when the exciter tube moves toward the mounting seat, the second excision port is not completely connected with the first excision port. The negative pressure part in the first negative pressure tube collects the excised tissue under negative pressure, and at the same time reduces the influence of negative pressure on the surrounding normal tissue.

[0018] At the same time, by setting up multiple sets of rotary cutting knives, during the process of rotary cutting of tissue by the rotary cutting cylinder, multiple samples can be taken every rotation, thereby improving the sampling efficiency, shortening the operation time, and reducing complications caused by the operation time.

[0019] When the tissue biopsy sampling is completed, the switching component slides the marked cavity to a position connected to the first rotary incision. At this time, positive pressure is generated toward the second positive pressure cavity through the second positive pressure tube, and the sealing material in the marked cavity is squeezed toward the position of the first rotary incision through the positive pressure, thereby sealing the rotary incision site and the puncture site, thereby achieving the effect of stopping bleeding and reducing pneumothorax.

[0020] Optionally, the plugging object is a medical polylactic acid ball, one end of the plugging object is connected to a marking line, the marking line is a polydioxanone absorbable line, and a marker is also provided in the marking cavity, the marker is a capsule storing a fluorescent colorant, and when the switching component switches to the third connecting hole corresponding to the first rotary incision, the capsule ruptures, and the plugging object enters the sampling and resection site through the first rotary incision.

[0021] By adopting the above technical solution, by setting the plugging material to a medical polylactic acid ball, since there is less tissue fluid in the lung cells, tissue fluid will only be produced at the puncture site. Therefore, through the characteristics of polylactic acid absorbing water and swelling, when the plugging material enters the puncture sampling site, it absorbs the surrounding tissue fluid to expand and seals the puncture site to reduce pneumothorax. At the same time, the medical polylactic acid ball is harmless to the human body, and compared with metal plugging materials, it causes less burden and pain to the human body, thereby improving the comfort of patients.

[0022] At the same time, since the tissue after sampling is for biopsy to determine whether the nodule is benign or malignant, if it is a malignant nodule, subsequent surgery is required at the sampling site. Therefore, in order to facilitate subsequent surgical operations, the polydioxanone absorbable marking line connected to the marker will remain in the body and be completely absorbed after sampling, or remain outside the lung body along the puncture channel, so as to facilitate subsequent endoscopy or robot to perform a secondary resection operation under the guidance of the marking line; and the marking line is set to the form of a polydioxanone absorbable line. Since the detection cycle is often 3-7 days, and the human body's absorption cycle of polydioxanone absorbable lines and polylactic acid is longer than the detection cycle, that is, before the test results come out, the marking line and the occluding material can achieve normal marking and occluding hemostasis functions.

[0023] If the test result is benign, the marking line is set to a polydioxanone absorbable line and the occluder is set to a polyemulsifier form, which also reduces the need for a secondary surgery to remove the occluder and marking line. It is directly absorbed by the human body, further reducing the risk of secondary surgery and the patient's comfort.

[0024] At the same time, a bag with indocyanine green fluorescent dye is set to mark and dye the tissue site after rotary cutting. At the same time, due to the small amount of lung tissue fluid, the liquid in the bag, which is the solvent of the fluorescent dye, is used as the polylactic acid absorption expansion liquid. When the rotary cutting site needs to be blocked, the bag band ruptures, and the fluorescent dye and the blocking material form a complex that not only has the near-infrared fluorescence characteristics of ICG, but also retains the biodegradability and biocompatibility of PLA, and plays the role of a marker during the secondary operation. At the same time, under the positive pressure of the second positive pressure tube, the first rotary cutting site is squeezed out to block the rotary cutting site. Optionally, the switching component includes a switching cylinder slidably set in the sampling needle, one end of the switching cylinder is connected to the rotating cylinder, and a shift block is provided on the switching cylinder, and the shift block protrudes from the mounting seat.

[0025] By adopting the above technical solution, the position of the rotating cylinder in the sampling needle is adjusted by the sliding switching cylinder, thereby realizing the switching of the two functions of sampling and blocking, and the adjustment operation of the rotating cylinder is simplified by the shifting block arranged at the mounting seat; When the device is separated from the robot arm, the doctor can operate it by simply switching between the two functions, thus improving the adaptability of the device.

[0026] Optionally, a limiting rod is rotatably connected to the shift block, one end of the limiting rod is in contact with the shift block, the other end of the limiting rod is provided with a limiting block, a limiting groove is provided on the switching cylinder, and the limiting block is movably engaged with the limiting groove.

[0027] By adopting the above technical solution, after the sampling is completed, both the rotary cutting needle and the sampling needle need to be removed from the human body. Through the provided limit rod, limit block and limit groove on the switching cylinder, when it is necessary to switch between the sampling and blocking functions, the technician does not operate the limit rod. At this time, the limit block is always engaged with the limit groove. The technician slides the dial block to drive the switching cylinder to slide, thereby driving the rotating cylinder to slide, thereby realizing the correspondence between the second rotary cutting port / the third connecting port and the first rotary cutting port.

[0028] When it is necessary to take the peeling cylinder out of the sampling needle, the technician presses the limit rod to separate the limit block from the limit groove. At this time, the switching cylinder and the rotating cylinder can be smoothly taken out of the sampling needle, which is convenient for operation after the sampling is completed. At the same time, during peeling, the rotation of the switching cylinder and the rotating cylinder is further limited by the set shift block, making the rotation and sliding of the peeling cylinder more stable, thereby improving the stability of the peeling operation.

[0029] Optionally, a partition is provided at one end of the rotary cutter away from the mounting seat, and the partition and the end side of the sampling needle enclose a marking cavity. The sealing object is located on the side of the partition away from the mounting seat. A connecting hole connected to the second positive pressure cavity is opened on the partition, and the marking line is arranged through the connecting hole. When the third connecting port is arranged opposite to the first rotary cutting port, a clamping and conveying member for conveying the marking line is also provided on the partition.

[0030] By adopting the above technical scheme, in order to avoid the plugging material from falling off during the preparation work, the polydioxanone absorbable thread is often in a stretched state, that is, the plugging material is located at the center of the partition, and when the plugging material needs to be squeezed out during sealing, the polydioxanone absorbable thread is needed to provide a movable space for the plugging material. Therefore, when the plugging material needs to be squeezed into the rotary cutting position after sampling, the plugging material is delivered to the rotary cutting position by the positive pressure in the connecting hole, and the marking line is delivered to the second positive pressure cavity by the provided clamping conveying member, thereby improving the sealing efficiency of the plugging material. At the same time, the clamping conveying member continues to deliver the polydioxanone absorbable thread to the second positive pressure cavity, thereby facilitating the subsequent removal of the rotary cutter from the sampling needle, thereby reducing the problem of pulling the polydioxanone absorbable thread and the plugging material out of the rotary cutting position when the rotary cutter is taken out.

[0031] Optionally, the clamping and conveying member includes a clamping rod rotatably arranged on the partition, the end side of the clamping rod protrudes from the outer peripheral wall of the partition, and a baffle is provided on the inner peripheral wall of the sampling needle, the protruding end side of the clamping rod is movably fitted with the baffle, an elastic return member is provided at the rotating shaft of the clamping rod, and the clamping rod adjusts the opening size of the connecting hole near the axis center of the partition.

[0032] By adopting the above technical solution, when the third connecting port slides to a position corresponding to the first rotary cutting port, the rotary cutting cylinder continues to rotate and slide under the action of power. During the rotation and sliding process of the rotary cutting cylinder, the end side of the clamping rod is pressed against the baffle, so that the clamping rod rotates on the partition to adjust the opening size of the connecting port, thereby clamping the polydioxanone absorbable thread and conveying it in the direction close to the tip of the sampling needle. At this time, due to the rotation and sliding forward or backward of the rotary cutting cylinder, the end side of the clamping rod is pressed against the baffle when the rotary cutting cylinder is rotated and slid forward. When sliding to the extreme position of the rotary cutting cylinder, the clamping rod just slides to the baffle. When the rotary cutting cylinder is in the phase separation position, the clamping rod rebounds under the elastic force of the elastic recovery member to open the connecting port, thereby loosening the polydioxanone absorbable suture. Therefore, when the rotary cutting cylinder retreats, the polydioxanone absorbable suture will not move back with the rotary cutting cylinder, thereby realizing the function of always conveying the polydioxanone absorbable suture toward the tip of the sampling needle. Since the rotary cutting cylinder always rotates in one direction, when it slides toward the tip of the sampling needle next time, the clamping rod rotates to a position where it is tightly fitted with the baffle, thereby realizing the function of always conveying the polydioxanone absorbable suture toward the tip of the sampling needle.

[0033] Optionally, an auxiliary plate is rotatably provided on one side of the partition close to the tip of the sampling needle, the tip of the sampling needle is provided with a limiting structure for rotationally limiting the auxiliary plate, and the auxiliary plate is arranged obliquely toward the first rotary cut.

[0034] By adopting the above technical solution, when the second positive pressure tube inputs positive pressure into the second positive pressure cavity, the auxiliary plate is always arranged obliquely toward the first rotary cut, thereby guiding the blockage so that the blockage can be smoothly squeezed out from the first rotary cut, enter the rotary cut part, and seal the rotary cut part.

[0035] Optionally, the auxiliary plate is slidably and rotatably connected to the partition, the marker is embedded in the inner wall of the sampling needle, and the end side of the auxiliary plate close to the first rotary cut is movably fitted with the marker.

[0036] By adopting the above technical solution, when the first rotary cutting opening corresponds to the third connecting opening, when the rotary cutting tube rotates and slides, it drives the end side of the auxiliary plate to slide, so that the tip of the auxiliary plate slides on the capsule band and punctures the capsule bag, thereby facilitating the outflow of the fluorescent color developer and the combination of the fluorescent color developer and the polylactic acid balls, thereby achieving simultaneous marking and blocking.

[0037] In summary, the present application includes at least one of the following beneficial technical effects: 1. Through the provision of a hollow puncture needle, a rotary cutting cylinder arranged in the puncture needle, a second rotary cutting port and a third connecting port provided on the rotary cutting cylinder and a switching component, the puncture, sampling and blocking operations are realized through one device, and at the same time, the amount of single puncture sampling is increased, and the pain caused to the patient by multiple needle insertions is reduced. The switching of functions is realized through the switching component, and the extension of the operation time caused by multiple needle insertions is reduced, and the surgical risk is further reduced; 2. By setting the first negative pressure tube, the second positive pressure tube, the first negative pressure cavity, and the second positive pressure cavity, when the rotary cutting and plugging functions are switched, the tissue sample can be stably collected and the plugging material can be stably extruded; 3. By setting the occluder as a polylactic acid ball, the marking line as a polydioxanone absorbable line, and the marker as a bag containing a fluorescent colorimetric agent, when the test result is benign, there is no need for a second operation to remove the occluder and the marking line, thereby reducing the risk and pain of the second operation. At the same time, when the test result is malignant, the polylactic acid ball and the fluorescent colorimetric agent are used to mark the excised area to facilitate subsequent surgical resection, thereby improving the accuracy and efficiency of subsequent resection surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application; Figure 2 It is a schematic diagram of the connection structure of the puncture component and the sampling component in the embodiment of the present application; Figure 3 It is a schematic diagram of the connection structure of the puncture component and the sampling component; Figure 4 It is a schematic diagram of the connection structure of the marking component and the switching component; Figure 5 It is a schematic diagram of the connection structure of the handle and the mounting base; Figure 6 yes Figure 5 Schematic diagram of the connection structure of parts A and B.

[0039] Figure numerals: 1, puncture assembly; 11, puncture needle; 12, mounting seat; 13, first rotary cutting opening; 14, power piece; 141, rotating cylinder; 142, card slot; 143, limit cylinder; 144, card block; 15, mechanical arm; 2, sampling assembly; 21, rotary cutting cylinder; 211, rotary cutting knife; 22, second rotary cutting opening; 23, third connecting port; 24, first negative pressure tube; 25, second positive pressure tube; 26, first negative pressure cavity; 27, first Two positive pressure cavities; 28. Separation cylinder; 29. ​​Collecting cylinder; 3. Marking assembly; 31. Blocking object; 32. Marking line; 33. Marking object; 34. Marking cavity; 35. Partition plate; 36. Connecting hole; 37. Clamping conveying member; 371. Clamping rod; 372. Baffle; 373. Elastic recovery member; 38. Auxiliary plate; 4. Switching assembly; 41. Switching cylinder; 42. Dial block; 43. Limit rod; 44. Limit block; 45. Limit groove. DETAILED DESCRIPTION

[0040] The following is combined with Figure 1-6 This application is described in further detail.

[0041] The present application embodiment discloses a minimally invasive puncture biopsy and resection device for lung nodules. Figure 1 and Figure 2 A minimally invasive puncture biopsy and resection device for lung nodules includes a mechanical arm electrically connected to a CT device and a puncture assembly 1 detachably connected to the mechanical arm. The CT device in this application is a conventional CT device, and the mechanical arm 15 is a common six-axis mechanical arm. The CT device is not shown in the figure. Figure 1 In the enlarged partial figure, the mechanical arm 15 is provided with a component for adjusting the switching component, and the mechanical arm 15 is also provided with an auxiliary part for assisting the positioning of the puncture site, referring to Figure 1 It can be seen that the auxiliary parts include an auxiliary plate that is rotatably arranged on the robot arm with six axes. The auxiliary plate is provided with a positioning hole for the puncture needle to pass through. During biopsy puncture, the robot arm first controls the auxiliary plate to move to the puncture position, and rotates the auxiliary plate to the optimal puncture angle during simulation. Then, the robot arm controls the puncture needle to pass through the positioning hole for puncture, thereby performing biopsy sampling. The setting of the auxiliary parts can further accurately locate and control the puncture angle and puncture position.

[0042] The puncture assembly 1 includes a mounting base 12 which is detachably connected to the robotic arm, wherein the detachable connection is fixed by bolts. A puncture needle 11 is provided on the mounting base 12. The puncture needle 11 is hollow and has a sharp end. A first rotary cut 13 is provided on the side wall of the tip of the puncture needle 11.

[0043] The mounting seat 12 is also provided with a sampling assembly 2 for sampling tissue at the nodule. The sampling assembly 2 includes a rotary cutting cylinder 21 that is rotatably and slidably arranged in the sampling needle. The mounting seat 12 is provided with a power member 14 that drives the rotary cutting cylinder 21. A second rotary cutting opening 22 is opened on the rotary cutting cylinder 21. A plurality of groups of rotary cutting knives 211 are fixedly connected to the rotary cutting cylinder 21. The plurality of groups of rotary cutting knives 211 are arranged at intervals along the circumference direction of the rotary cutting cylinder 21. The rotary cutting knives 211 are movably fitted with the inner wall of the sampling needle, and the rotary cutting knives 211 are located at the second rotary cutting opening 22.

[0044] Reference Figure 1 and Figure 2 The power member 14 includes a rotating cylinder 141 coaxially arranged in the sampling needle, the rotating cylinder 141 is not easy to rotate relative to the sampling needle, the rotary cutting cylinder 21 is connected to a limiting cylinder 143, the limiting cylinder 143 is slidably and rotatably arranged in the sampling needle, and the mounting seat 12 is provided with a rotating output member for driving the limiting cylinder 143 to rotate. A continuous and wavy groove 142 is opened on the outer peripheral wall of the rotating cylinder 141, and a clamping block 144 is fixedly connected to the inner peripheral wall of the limiting cylinder 143, and the clamping block 144 is slidably adapted to the groove 142.

[0045] Therefore, when the rotating output member drives the limiting cylinder 143 to rotate, the limiting cylinder 143 rotates, and the clamping block 144 drives the rotary cutting cylinder 21 to rotate and slide under the limiting action of the clamping groove 142, so that when the second rotary cutting opening 22 corresponds to the first rotary cutting opening 13, the rotary cutting knife 211 shears the tissue falling into the first rotary cutting opening 13 to complete the sampling. The multiple sets of rotary cutting knives 211 are set to perform multiple samplings when rotating one circle, thereby increasing the sampling amount while reducing the number of needle insertions.

[0046] At the same time, since the sampling site will be missing after the sampling is completed, in order to reduce the occurrence of pneumothorax, the sampling site needs to be blocked. At this time, the sampling site needs to be blocked. At the same time, according to the quality of the test results after sampling, it is necessary to judge whether the nodule requires surgery. Therefore, the sampling site needs to be marked. In order to solve this problem, the mounting seat 12 is also provided with a marking component 3 for blocking and marking the sampling site. Figure 2 and Figure 3 A marking cavity 34 is left between the rotary cutting cylinder 21 and the end side of the sampling needle. The marking component 3 includes a plugging object 31 arranged in the marking cavity 34, and a third connecting port 23 is opened on the rotary cutting cylinder 21. The third connecting port 23 is connected to the marking cavity 34, and the third connecting port 23 is movably corresponding to the first rotary cutting port 13. The mounting seat 12 is also provided with a switching component 4 for making the first rotary cutting port 13 movably corresponding to the second rotary cutting port 22 / the third connecting port 23.

[0047] The mounting seat 12 is connected with a first negative pressure tube 24 and a second positive pressure tube 25, and a separation tube 28 is coaxially arranged in the limiting tube 143, and the separation tube 28 divides the inner cavity of the limiting tube 143 into a first negative pressure cavity 26 and a second positive pressure cavity 27, and a filter is arranged at the end of the first negative pressure cavity 26 away from the puncture needle 11, so as to facilitate the filtration of the tissue after peeling, and reduce the problem caused by the tissue directly entering the negative pressure power part. The first negative pressure cavity 26 is located between the separation tube 28 and the limiting tube 143, the second positive pressure cavity 27 is located in the limiting tube 143, and the axis of the peeling tube 21 is connected with the second positive pressure cavity 27, the first negative pressure cavity 26 is located between the limiting tube 143 and the separation tube 28, and the cavity between adjacent peeling knives 211 is connected with the first negative pressure cavity 26.

[0048] The first negative pressure tube 24 is connected with the first negative pressure cavity 26, and the first negative pressure tube 24 provides negative pressure toward the first negative pressure cavity 26. The second positive pressure tube 25 is connected with the second positive pressure cavity 27, and the second positive pressure tube 25 provides positive pressure toward the second positive pressure cavity 27, and the second positive pressure cavity 27 is connected with the marking cavity 34. The first negative pressure tube 24 is connected with a collecting tube 29, and a filter is provided at one end of the collecting tube 29 away from the puncture needle 11 for filtering and collecting tissue, and the collecting tube 29 is detachably arranged on the first negative pressure tube 24.

[0049] It should be noted that the plugging material 31 is a polylactic acid ball, and one end of the plugging plate is connected to a marking line 32, which is connected to the second positive pressure cavity 27. The marking line 32 in the present application is an absorbable polydioxanone line. At the same time, a marker 33 is also embedded in the marking cavity 34, and the marker 33 is a bag storing a fluorescent color developer. The fluorescent color developer in the present application is indocyanine green fluorescent color developer. When the switching component 4 switches the rotary cutting cylinder 21 from being connected with the first rotary cutting port 13 and the second rotary cutting port 22 to being connected with the first rotary cutting port 13 and the third connecting port 23, the capsule band ruptures, and the plugging material 31 enters the sampling and resection site through the first rotary cutting port 13.

[0050] Since there is less tissue fluid in the lung cells, tissue fluid is only produced at the puncture site. Therefore, due to the water absorption and expansion characteristics of polylactic acid, when the plug 31 enters the puncture sampling site, it absorbs the surrounding tissue fluid to expand and plug the puncture site to reduce pneumothorax. At the same time, medical polylactic acid balls are harmless to the human body, and compared with metal plugging materials, they cause less burden and pain to the human body, thereby improving the comfort of patients.

[0051] At the same time, since the sampled tissue is used for biopsy to determine whether the nodule is benign or malignant, if it is a malignant nodule, subsequent surgery is required at the sampling site. Therefore, in order to facilitate subsequent surgical operations, the marking line 32 connected to the marker 33 will remain outside the body along the puncture channel after the sampling is completed, so that the subsequent CT equipment can perform a secondary resection operation under the guidance of the marking line 32; and the marking line 32 is set to the form of a polydioxanone absorbable line. Since the detection cycle is often 3-7 days, and the human body's absorption cycle for the polydioxanone absorbable line and polylactic acid is longer than the detection cycle, that is, before the test results come out, the marking line 32 and the occluding material 31 can achieve normal marking and occluding hemostasis functions.

[0052] If the test result is benign, the marking line 32 is set to a polydioxanone absorbable line and the occluding material 31 is set to a polyemulsifying form, which also reduces the need for a secondary operation to remove the occluding material 31 and the marking line 32. They are directly absorbed by the human body, further reducing the risk of secondary surgery and the patient's comfort.

[0053] At the same time, a bag with a fluorescent dye is provided to mark and dye the tissue area after rotary cutting. At the same time, since there is less lung tissue fluid, the liquid in the bag, which serves as a solvent for the fluorescent dye, is used as the polylactic acid to absorb and expand the liquid. When it is switched to the need to seal the rotary cut area, the bag band ruptures, and the fluorescent dye and the sealing material 31 are squeezed out of the first rotary cut opening 13 under the positive pressure of the second positive pressure tube 25 to seal the rotary cut area.

[0054] One end of the rotary cutting cylinder 21 away from the mounting seat 12 is fixedly connected with a partition 35 , and the partition 35 and the inner wall of the sampling needle form a marking cavity 34 , and the marker 33 and the blocking object 31 are both located in the marking cavity 34 .

[0055] When tissue excision sampling is performed, the first negative pressure tube 24 provides negative pressure toward the first negative pressure cavity 26. At this time, the exciter 211 shears and samples the tissue entering the first excision opening 13 relative to the side wall of the sampling needle. At the same time, when the exciter cylinder 21 moves toward the mounting seat 12, the second excision opening 22 is not completely connected to the first excision opening 13. The negative pressure component in the first negative pressure tube 24 collects the excised tissue under negative pressure, while reducing the impact of the negative pressure on the surrounding normal tissue.

[0056] When the tissue biopsy sampling is completed, the switching component 4 slides the marking cavity 34 to a position connected to the first rotary incision 13. At this time, positive pressure is generated toward the second positive pressure cavity 27 through the second positive pressure tube 25, and the blocking material 31 in the marking cavity 34 is squeezed toward the position of the first rotary incision 13 through the positive pressure, thereby blocking the rotary incision site and the puncture site, thereby achieving the effect of stopping bleeding and reducing pneumothorax.

[0057] Reference Figure 4 and Figure 5 The switching assembly 4 includes a switching cylinder 41 slidably arranged in the sampling needle. The switching cylinder 41 is sleeved on the rotating cylinder 141 and is detachably connected to the rotating cylinder 141. The sliding direction of the switching cylinder 41 is consistent with the length direction of the sampling needle. A shift block 42 is slidably arranged on the switching cylinder 41. A switching groove is provided on the outer wall of the sampling needle. The shift block 42 protrudes from the switching groove. At the same time, a limiting rod 43 is rotatably connected to the switching cylinder 41. One end of the limiting rod 43 is located in the sampling needle, and the other end of the limiting rod 43 is movably fitted with the shift block 42. One end of the limiting rod 43 located in the sampling needle is fixedly connected to the limiting block 44. A limiting groove 45 is provided on the outer peripheral wall of the rotating cylinder 141, and the limiting block 44 is movably engaged with the limiting groove 45.

[0058] After the sampling is completed, both the rotary cutting needle and the sampling needle need to be removed from the human body. Through the provided limit rod 43, limit block 44 and limit groove 45 on the switching cylinder 41, when it is necessary to switch between the sampling and blocking functions, the technician does not operate the limit rod 43. At this time, the limit block 44 is always engaged with the limit groove 45. The technician slides the dial block 42 to drive the switching cylinder 41 to slide, thereby driving the rotating cylinder 141 to slide, thereby realizing the correspondence between the second rotary cutting opening 22 / the third connecting opening 23 and the first rotary cutting opening 13.

[0059] When it is necessary to take the peeling cylinder 21 out of the sampling needle, the technician presses the limit rod 43 to separate the limit block 44 from the limit groove 45. At this time, the switching cylinder 41 and the rotating cylinder 141 can be smoothly taken out of the sampling needle, which is convenient for operation after the sampling is completed. At the same time, during peeling, the setting block 42 further limits the rotation of the switching cylinder 41 and the rotating cylinder 141, so that the rotation and sliding of the peeling cylinder 21 is more stable, thereby improving the stability of the peeling operation.

[0060] At this time, if the mechanical arm 15 is used to remove and disassemble the peeling tube 21, refer to Figure 1 In the enlarged schematic diagram, the limit rod 43 is pressed by the structure provided on the robot arm 15, so that the limit block 44 is separated from the limit groove 45.

[0061] If the rotary cutting and blocking switching operation is performed by the mechanical arm 15, the jaw structure provided on the mechanical arm 15 directly moves the limit rod 43 to make the switching cylinder 41 slide, thereby driving the rotating cylinder 141 to slide, thereby realizing the correspondence between the second rotary cutting opening 22 / the third connecting opening 23 and the first rotary cutting opening 13.

[0062] During the preparation work, in order to prevent the plugging object 31 from falling off, the polydioxanone absorbable suture is often in a stretched state, that is, the plugging object 31 is located at the center of the partition 35, and when the plugging object 31 needs to be squeezed out during sealing, the polydioxanone absorbable suture is needed to provide a movable space for the plugging object 31. Therefore, in order to achieve this function, a connecting hole 36 connected to the second positive pressure cavity 27 is opened on the partition 35, and a clamping conveying member 37 for conveying the marking line 32 toward the tip of the sampling needle is also provided on the partition 35.

[0063] Reference Figure 3 The clamping and conveying member 37 includes a clamping rod 371 rotatably arranged on the partition 35, the end side of the clamping rod 371 protrudes from the outer peripheral wall of the partition 35, and the other end side of the clamping rod 371 is arc-shaped, the rotation axis of the clamping rod 371 is consistent with the axis of the partition 35, and the opening size of the connecting hole 36 is adjusted when the clamping rod 371 rotates, and a baffle 372 is fixedly connected to the inner wall of the sampling needle, the end side of the clamping rod 371 is movably fitted and pressed against the baffle 372, and an elastic return member 373 is provided at the rotating shaft of the clamping rod 371. In the present application, the elastic return member 373 can be a miniature torsion spring, or the material of the clamping rod 371 itself can be set to an elastic material, and the length of the baffle 372 is less than the sliding length of the rotary cutting cylinder 21.

[0064] When the third connecting port 23 slides to a position corresponding to the first rotary cutting port 13, the rotary cutting cylinder 21 continues to rotate and slide under the action of power. During the rotation and sliding of the rotary cutting cylinder 21, the end side of the clamping rod 371 is pressed against the baffle 372, so that the clamping rod 371 rotates on the partition 35 to adjust the opening size of the connecting port, thereby clamping the polydioxanone absorbable thread and transporting it toward the direction close to the tip of the sampling needle.

[0065] When sliding to the extreme position of the rotary cutting cylinder 21, the clamping rod 371 just slides to the position separated from the baffle 372, and the clamping rod 371 rebounds under the elastic force of the elastic return member 373 to open the connecting port, thereby loosening the polydioxanone absorbable thread. Therefore, when the rotary cutting cylinder 21 retreats, the polydioxanone absorbable thread will not return with the rotary cutting cylinder 21, thereby realizing the function of always transporting the polydioxanone absorbable thread toward the tip of the sampling needle.

[0066] The rotary cutting cylinder 21 always rotates in one direction, so that when it slides toward the tip of the sampling needle next time, the clamping rod 371 rotates to a position where it fits tightly against the baffle 372, thereby achieving the function of always transporting the polydioxanone absorbable thread toward the tip of the sampling needle, thereby facilitating the operation of squeezing the occluding material 31 toward the biopsy sampling site.

[0067] In order to further facilitate the extrusion operation of the blocker 31, an auxiliary plate 38 is rotatably provided on one side of the partition 35 close to the tip of the sampling needle. The auxiliary plate 38 is always arranged obliquely toward the first rotary cut 13, and a receiving groove for storing the marker 33 is opened on the inner wall of the sampling needle. The end side of the auxiliary plate 38 close to the first rotary cut 13 is sharp, and the sharp side of the auxiliary plate 38 is movably fitted with the marker 33.

[0068] When the second positive pressure tube 25 inputs positive pressure into the second positive pressure cavity 27, the auxiliary plate 38 is always arranged obliquely toward the first rotary cut 13, thereby guiding the blocker 31 so that the blocker 31 can be smoothly squeezed out from the first rotary cut 13, enter the rotary cut part, and block the rotary cut part.

[0069] When the first rotary cutting opening 13 corresponds to the third connecting opening 23, when the rotary cutting cylinder 21 rotates and slides, it drives the end side of the auxiliary plate 38 to slide, so that the tip of the auxiliary plate 38 slides on the capsule band and punctures the capsule bag, thereby facilitating the outflow of the fluorescent color developer and the combination of the fluorescent color developer and the polylactic acid balls, thereby achieving simultaneous marking and blocking.

[0070] At the same time, a limiting structure for limiting the rotation of the auxiliary plate 38 is provided on the inner wall of the sampling needle. In this application, the limiting structure is a clamping block provided on the inner wall of the tip of the sampling needle. A clamping groove is provided on the auxiliary plate 38, and the clamping block is slidably adapted to the clamping groove.

[0071] It should be noted at this point that when assembling the rotary cutting cylinder 21 and the sampling needle before puncture, it is necessary to first install the shift block 42. The limit block 44 never protrudes from the inner surface of the switch cylinder. At this time, the technician slides the rotary cutting cylinder 21, the rotating cylinder 141, and the limit cylinder 143 into the sampling needle until the auxiliary plate 38 slides over the position of the first rotary cutting opening 13. At this time, the medical staff places the marker 33 into the inner wall of the sampling needle through the first rotary cutting opening 13.

[0072] The implementation principle of a minimally invasive puncture biopsy and resection device for lung nodules in an embodiment of the present application is as follows: when taking biopsy samples from a patient, the human body is first scanned by a CT device, a puncture route is constructed by a computer, and the mounting seat 12 and the puncture needle 11 are controlled by a robotic arm to perform puncture according to the constructed puncture route until the first rotary incision 13 on the puncture needle 11 reaches the nodule.

[0073] At this time, the rotating output member works, driving the limiting cylinder 143 to rotate, and the limiting cylinder 143 drives the rotary cutting cylinder 21 to rotate, and the tissue entering the first rotary cutting opening 13 and the second rotary cutting opening 22 is rotary cut. At the same time, a wavy groove 142 is opened on the outer peripheral wall of the rotating cylinder 141. During the rotary cutting process, the rotary cutting cylinder 21 rotates and slides along the length direction of the sampling needle. When the block 144 corresponds to the trough position of the groove 142, the first rotary cutting opening 13 and the second rotary cutting opening 22 are completely corresponding. When the block 144 corresponds to the trough position of the groove 142, the first rotary cutting opening 13 and the second rotary cutting opening 22 are not completely corresponding, so as to facilitate the subsequent suction of the cut tissue by negative pressure.

[0074] When sampling is completed, the technician slides the dial block 42 to drive the switching cylinder 41 to slide, thereby driving the rotating cylinder 141 to slide, so that the third connecting port 23 corresponds to the first rotary cutting port 13. At this time, the rotating output member continues to work to drive the rotary cutting cylinder 21 to rotate. At the same time, the second positive pressure tube 25 outputs positive pressure toward the second positive pressure cavity 27, squeezing the blocking material 31 out of the first rotary cutting port 13 to block the tissue sampling site.

[0075] At the same time, during the rotation and sliding of the rotary cutting cylinder 21, the end side of the clamping rod 371 is pressed against the baffle 372, so that the clamping rod 371 rotates on the partition 35 and adjusts the opening size of the connecting port, thereby clamping the polydioxanone absorbable thread and transporting it toward the direction close to the tip of the sampling needle.

[0076] After sampling and sealing are completed, the technician presses the shift block 42 and removes the mounting seat 12, the rotary cutting cylinder 21, the limiting cylinder 143, and the rotating cylinder 141 from the sampling needle, and finally removes the sampling needle. The marking line 32 remains outside the human body through the first rotary cutting opening 13. After the sampling needle is taken out, the marking line 32 can be cut off.

[0077] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A minimally invasive puncture biopsy and resection device for lung nodules, characterized by: The invention comprises a mechanical arm electrically connected to a CT device, a navigation auxiliary device, a puncture component (1) detachably connected to the mechanical arm for puncturing human tissue, a sampling component (2) for sampling tissue at a nodule, and a marking component (3) for marking the sampling site, wherein the navigation auxiliary device is one of an optical navigation auxiliary device and a magnetic navigation auxiliary device; The puncture assembly (1) comprises a mounting seat (12) detachably connected to the mechanical arm, and a puncture needle (11) disposed on the mounting seat (12), wherein the end of the puncture needle (11) is sharp; The puncture needle (11) is hollow, the sampling assembly (2) comprises a rotary cutting cylinder (21) rotatably arranged in the puncture needle (11) and a power member (14) driving the rotary cutting cylinder (21) to rotate, the puncture needle (11) is provided with a first rotary cutting opening (13), the rotary cutting cylinder (21) is provided with a second rotary cutting opening (22), and the first rotary cutting opening (13) and the second rotary cutting opening (22) are movably corresponding to each other; The rotary cutting cylinder (21) is provided with a marking cavity (34), a sealing object (31) is stored in the marking cavity (34), the rotary cutting cylinder (21) is also provided with a third communication port (23), the third communication port (23) is movably corresponding to the first rotary cutting port (13), and the second rotary cutting port (22) and the third communication port (23) are selectively movably corresponding to the first rotary cutting port (13), and the mounting seat (12) is also provided with a switching component (4) for switching the first rotary cutting port (13) with the second rotary cutting port (22) and the third communication port (23).

2. A minimally invasive puncture biopsy and resection device for pulmonary nodules according to claim 1, characterized in that: The power member (14) comprises a rotating cylinder (141) connected to the rotary cutting cylinder (21); the mounting seat (12) is provided with a rotating power member (14) connected to the rotating cylinder (141); a wave-shaped clamping groove (142) is provided on the outer peripheral wall of the rotating cylinder (141); a limiting cylinder (143) is slidably arranged in the puncture needle (11); a clamping block (144) is provided on the inner peripheral wall of the limiting cylinder (143); and the clamping block (144) is slidably matched with the clamping groove (142).

3. A minimally invasive puncture biopsy and resection device for pulmonary nodules according to claim 2, characterized in that: The mounting seat (12) is connected to a first negative pressure tube (24) and a second positive pressure tube (25); a separation tube (28) is coaxially provided in the rotating cylinder (141); the separation tube (28) divides the rotating cylinder (141) into a first negative pressure cavity (26) and a second positive pressure cavity (27); the first negative pressure tube (24) is connected to the first negative pressure cavity (26); the second positive pressure tube (25) is connected to the second positive pressure cavity (27); the first negative pressure tube (24) is used to provide negative pressure in the first negative pressure cavity (26); the second positive pressure tube (25) is used to provide positive pressure toward the second positive pressure cavity (27); the second positive pressure cavity (27) ) is located in the separation cylinder (28), the first negative pressure cavity (26) is located between the separation cylinder (28) and the rotating cylinder (141), a plurality of groups of rotary cutters (211) are provided in the rotary cut cylinder (21), the rotary cutters (211) are arranged at intervals along the circumference direction of the rotary cut cylinder (21), the cavity enclosed between two adjacent groups of rotary cutters (211) is connected to the first negative pressure cavity (26), one end of the rotary cutter (211) away from the mounting seat (12) and the puncture needle (11) enclose a marking cavity (34), the blocking object (31) is located in the marking cavity (34), and the marking cavity (34) is connected to the second positive pressure cavity (27).

4. A minimally invasive puncture biopsy and resection device for lung nodules according to claim 3, characterized in that: The plugging object (31) is a high-polylactic acid ball. One end of the plugging object (31) is connected to a marking line (32). The marking line (32) is a polydioxanone absorbable line. A marker (33) is also arranged in the marking cavity (34). The marker (33) is a bag storing a fluorescent color developer. When the switching component (4) is switched to the third connecting hole (36) corresponding to the first rotary incision (13), the bag ruptures and the plugging object (31) enters the sampling and resection site through the first rotary incision (13).

5. A minimally invasive puncture biopsy and resection device for pulmonary nodules according to claim 4, characterized in that: The switching assembly (4) comprises a switching cylinder (41) slidably disposed in the puncture needle (11), one end of the switching cylinder (41) being connected to the rotating cylinder (141), and a shifting block (42) being provided on the switching cylinder (41), the shifting block (42) being arranged protruding from the mounting seat (12).

6. A minimally invasive puncture biopsy and resection device for lung nodules according to claim 5, characterized in that: The shift block (42) is rotatably connected to a limit rod (43), one end of the limit rod (43) is in contact with the shift block (42), the other end of the limit rod (43) is provided with a limit block (44), the switching cylinder (41) is provided with a limit groove (45), and the limit block (44) is movably engaged with the limit groove (45).

7. A minimally invasive puncture biopsy and resection device for lung nodules according to claim 6, characterized in that: A partition (35) is provided at one end of the rotary cutter (211) away from the mounting seat (12); the partition (35) and the end side of the sampling needle together form a marking cavity (34); the blocking object (31) is located on a side of the partition (35) away from the mounting seat (12); a connecting hole (36) connected to the second positive pressure cavity (27) is provided on the partition (35); the marking line (32) is arranged through the connecting hole (36); and when the third connecting port (23) and the first rotary cut port (13) are arranged opposite each other, a clamping and conveying member (37) for conveying the marking line (32) is further provided on the partition (35).

8. The minimally invasive puncture biopsy and resection device for lung nodules according to claim 7, characterized in that: The clamping and conveying member (37) comprises a clamping rod (371) rotatably arranged on the partition (35), the end side of the clamping rod (371) protruding from the outer peripheral wall of the partition (35), and a baffle (372) is provided on the inner peripheral wall of the sampling needle, the protruding end side of the clamping rod (371) is movably fitted with the baffle (372), an elastic return member (373) is provided at the rotating shaft of the clamping rod (371), and the clamping rod (371) is close to the axis of the partition (35) to adjust the opening size of the connecting hole (36).

9. The minimally invasive puncture biopsy and resection device for pulmonary nodules according to claim 8, characterized in that: An auxiliary plate (38) is provided on one side of the partition plate (35) close to the tip of the sampling needle, and the auxiliary plate (38) is arranged obliquely toward the first rotary cut (13).

10. The minimally invasive puncture biopsy and resection device for lung nodules according to claim 9, characterized in that: The auxiliary plate (38) is slidably and rotatably connected to the partition plate (35), the marker (33) is embedded in the inner wall of the sampling needle, and the end side of the auxiliary plate (38) close to the first rotary cut (13) is movably fitted with the marker (33).

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