An intelligent auxiliary device for nerve block anesthesia

Abstract

The present invention relates to the technical field of medical devices, and particularly relates to an intelligent auxiliary device for nerve block anesthesia, which includes a support base. A connecting rod is fixedly connected to the top of the support base, and a display screen is fixedly connected to the top end of the connecting rod. A first electric control robotic arm and a second electric control robotic arm are rotatably connected to one side of the support base. A connecting component is provided at one end of the first electric control robotic arm. A box body is provided at the end of the connecting component away from the first electric control robotic arm. A puncture needle is communicated with the end of the box body away from the first electric control robotic arm. A detection component for collecting puncture information is provided on the side of the second electric control robotic arm away from the support base. The connecting component includes an outer fixed sleeve, a main body, and an electric control deformation part. The present invention locks and unlocks the position of the puncture needle according to the state of the anesthesiologist holding the puncture needle, reduces the fatigue caused by the doctor's long-term stable holding of the puncture needle, and combines an electrically controllable deformation connecting piece to dynamically adjust the angle of the puncture needle to cope with the displacement of tissues during puncture or injection.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to an intelligent auxiliary device for nerve block anesthesia. Background Art

[0002] Nerve block anesthesia is an anesthetic method in which anesthetic drugs are injected around a nerve to block the conduction of nerve signals and achieve an anesthetic effect. During the process of puncture anesthesia, if the anesthetic drugs fail to be accurately injected near the target nerve, resulting in incomplete or failed anesthetic effect, the patient may feel pain or discomfort during the operation, affecting the progress of the operation. In addition, the puncture needle may accidentally enter a blood vessel, causing the drug to enter the blood vessel and lead to local anesthetic poisoning, triggering a systemic overdose reaction of anesthetic drugs, thus prolonging the anesthetic time. Therefore, the doctor may need to adjust the puncture position multiple times to find the accurate injection point, which prolongs the anesthetic time, and multiple puncture attempts will increase the pain and discomfort of the patient; for this reason, the accuracy of puncture is crucial for the anesthetic effect.

[0003] To solve the above problems, a patent with the Chinese patent publication number CN105105826B discloses an ultrasonic-guided puncture and nerve block auxiliary positioning device, including an adjustment mechanism and a positioning mechanism. The adjustment mechanism consists of a support bed board, a transverse chute, a transverse lead screw, a transverse slider, a transverse motor, a reset groove, a headrest, a support table top, a display screen and a computer mainframe. A transverse chute is dug on one side of the support bed board. A transverse lead screw is rotatably connected inside the transverse chute. A transverse slider is slidably connected inside the transverse chute. The transverse lead screw passes through the middle of the transverse slider, and the transverse lead screw is threadedly connected with the transverse slider. By setting an infrared acquisition auxiliary device and a positioning mechanism and integrating them with a computer, it makes the puncture needle and the scanning section easier to be in a plane, increasing the imaging effect. When it is necessary to puncture a certain position, input information in advance, and the computer can give a reminder at the position closest to the puncture, improving the puncture success rate, reducing complications and the dosage of anesthetic drugs.

[0004] However, during the actual puncture anesthesia process of the above device, it is necessary for an anesthesiologist to subjectively control the puncture needle according to ultrasonic imaging. As the puncture needle penetrates deeper, the patient's muscle group will move involuntarily, resulting in the displacement of nerve tissue or blood vessel tissue. For this reason, it is necessary to design an intelligent auxiliary device for nerve block anesthesia that can adjust in a timely manner according to the tissue displacement situation during the puncture process to improve the puncture accuracy, reduce doctor fatigue, and thus improve the surgical safety. Summary of the Invention

[0005] To solve the above problems, the present invention provides an intelligent auxiliary device for nerve block anesthesia, which locks and unlocks the position of the puncture needle according to the state of the anesthesiologist holding the puncture needle, reduces the fatigue caused by the doctor's long-term stable holding of the puncture needle, and combines a deformable connecting member that can be electrically controlled to dynamically adjust the angle of the puncture needle to cope with the displacement of tissues during puncture or injection.

[0006] To achieve the above object, the technical solution of the present invention is as follows: An intelligent auxiliary device for nerve block anesthesia includes a support base. A connecting rod is fixedly connected to the top of the support base, and a display screen is fixedly connected to the top end of the connecting rod. A first electric control robotic arm and a second electric control robotic arm are rotatably connected to one side of the support base. A connecting component is provided at one end of the first electric control robotic arm. A box body is provided at the end of the connecting component away from the first electric control robotic arm. A puncture needle is communicated with the end of the box body away from the first electric control robotic arm. The top end of the puncture needle is fixedly connected to the bottom wall of the box body. A detection component for collecting puncture information is provided on the side of the second electric control robotic arm away from the support base;

[0007] Pressure sensing components are provided on both sides of the box body. The first electric control robotic arm is electrically connected to a controller. The pressure sensing components sense whether the anesthesiologist is holding the box body by pressure. The controller controls the self-locking and limiting of the first electric control robotic arm according to the holding signal;

[0008] The connecting component includes an outer fixed sleeve, a main body and an electrically controlled deformable member. One end of the main body is fixedly connected to the first electric control robotic arm, and the other end of the main body is fixedly connected to the electrically controlled deformable member. The end of the electrically controlled deformable member away from the main body is detachably connected to the top end of the box body. The outer fixed sleeve wraps around the outside of the main body and the electrically controlled deformable member, and the outer fixed sleeve is electrically connected to the controller. The controller controls the stiffness of the outer fixed sleeve according to the depth and position information of the puncture needle to control the puncture depth and position. The electrically controlled deformable member is also electrically connected to the controller. During the puncture process, the controller controls the electrically controlled deformable member to deform and drive the puncture needle to bend to adjust the puncture angle;

[0009] A medicine delivery tube is provided inside the main body. The medicine delivery tube is used to deliver anesthetic liquid medicine. One end of the medicine delivery tube is communicated with the box body. During the injection of the anesthetic liquid medicine, the deformation of the electrically controlled deformable member squeezes the side wall of the medicine delivery tube to control the flow rate of the delivered liquid medicine.

[0010] The technical principle of the above solution is as follows: Specifically, the holding state of the anesthesiologist is monitored by a pressure sensor, and the controller controls the locking and unlocking of the electric control robotic arm according to the holding state; a three-dimensional puncture scene model is constructed through the design of the detection component to provide accurate puncture guidance for the anesthesiologist; combined with the image constructed by the detection, it is controlled to identify the puncture situation according to the image, and the shape memory alloy and magnetorheological fluid are controlled to control the angle and depth of the puncture needle to assist the anesthesiologist to perform safe and accurate puncture and dynamically respond to tissue displacement.

[0011] The above solution has the following beneficial effects:

[0012] 1. The combination of the first electro-controlled robotic arm and the pressure-sensing component enables anesthesiologists to use the power of the robotic arm to assist in fixing the puncture needle during the puncture operation. During this process, the pressure-sensing component can provide real-time feedback on the pressure changes during the puncture to ensure precise control of the puncture force. As a result, anesthesiologists do not need to maintain a highly tense state for a long time and do not have to rely too much on hand strength, thus greatly reducing the physical burden.

[0013] 2. Through the signal transmission between the controller and the detection component, the designed intelligent control algorithm can analyze and adjust the angle and depth of the puncture needle in real time. This automatic adjustment mechanism effectively avoids puncture errors caused by the hand fatigue or tremor of anesthesiologists and improves the accuracy and stability of the puncture. In addition, the electro-controlled deformable part can adjust its shape and hardness in real time according to the instructions of the intelligent control algorithm to meet the puncture requirements of different parts. This dynamic adjustment ability makes the puncture process more flexible and controllable, further reducing the occurrence of errors.

[0014] 3. This solution can monitor the biomechanical properties and vascular network around the puncture needle in real time, enabling anesthesiologists to detect and avoid potential puncture risks in a timely manner, such as accidentally injuring nerves or blood vessels. Precise puncture control reduces the number of repeated punctures, thereby reducing the pain and discomfort of patients, which is of great significance for improving the surgical experience and postoperative recovery of patients. In addition, by providing real-time monitoring data and precise puncture control, this solution enhances anesthesiologists' confidence and control over the surgical process, contributing to improving the overall safety and success rate of the surgery.

[0015] Furthermore, the pressure-sensing component includes hand-held grooves opened on both sides of the box body. Anti-slip layers are fixedly connected in the hand-held grooves, and pressure sensors signal-connected to the controller are inlaid on the side walls of the hand-held grooves. The pressure sensors are located at the junction of the anti-slip layer and the side walls of the hand-held grooves.

[0016] Beneficial effects: The pressure sensors detect the pressure signals of anesthesiologists holding the box body. The controller determines whether anesthesiologists are holding the box body based on this signal, thereby controlling the locking and unlocking states of the first electro-controlled robotic arm to ensure that the puncture needle can remain stable when anesthesiologists release their hold, effectively reducing puncture errors caused by hand fatigue or tremor of doctors.

[0017] Furthermore, the main body includes several bone joints, and the bone joints are all in the shape of snake bones, and adjacent bone joints are hinged to each other.

[0018] Beneficial effects: The design of the bone joints improves the freedom of movement of the puncture needle, enabling the device to assist anesthesiologists in performing more flexible and precise puncture operations, reducing the operation error rate of anesthesiologists' punctures and the risk of injury.

[0019] Furthermore, the electrically controlled deformation component includes a number of shape memory alloy wires. After the shape memory alloy wires are all electrified, the bending angle is controllable, and the bending angle range is -20° to 20°.

[0020] Beneficial effects: By controlling the bending angle of the shape memory alloy wires through the controller, the puncture angle of the puncture needle can be accurately controlled, assisting the anesthesiologist to adjust the direction of the puncture needle, and effectively reducing the peripheral nerve damage caused by inaccurate judgment of the anesthesiologist.

[0021] Furthermore, the outer layer of the fixed sleeve is plastic and filled with magnetorheological fluid. An exciting coil is sleeved outside the outer layer of the fixed sleeve, and the exciting coil is electrically connected to the controller.

[0022] Beneficial effects: By controlling the current of the exciting coil through the controller, the phase state of the magnetorheological fluid can be changed, thereby adjusting the stiffness of the outer layer of the fixed sleeve, enabling accurate positioning of the robotic arm in complex puncture operations while retaining the intuitive control of traditional hand-held operations, and being able to accurately control the depth and position of the puncture needle.

[0023] Furthermore, a number of protrusions are provided at the tip of the puncture needle. The protrusions are all sleeved outside the tip of the needle, and the protrusions are all conical ring structures.

[0024] Beneficial effects: This design enhances the intensity and directivity of ultrasonic signals, enabling the ultrasonic imaging system to capture clearer images of the puncture needle and the surrounding tissues. At the same time, when the nerve tissue is displaced, the protrusion structure can play a buffering role, reducing direct damage to the nerve tissue.

[0025] Furthermore, the detection component includes a detection probe with a circular ring structure. The detection probe is electrically connected to the controller. The detection probe includes an ultrasonic emission layer, an infrared optical fiber layer, and a piezoelectric sensing layer from the inside to the outside in sequence. The ultrasonic emission layer includes a number of ultrasonic transducers arranged in a uniform circumferential array, and the infrared optical fiber layer is an embedded near-infrared optical fiber network.

[0026] Beneficial effects: A two-dimensional cross-sectional image of the puncture path is constructed through the ultrasonic transducers, and the blood vessel network in the puncture area is identified by the infrared optical fiber network. These information jointly construct a three-dimensional puncture scene model, significantly improving the accuracy and safety of puncture.

[0027] Furthermore, the piezoelectric sensing layer includes a number of symmetrically arranged piezoelectric thin film sensors.

[0028] Beneficial effects: The piezoelectric thin film sensors sense the difference in tissue elastic modulus to generate a biomechanical topology map.

[0029] Furthermore, the controller is built-in with a control system. The control system includes a holding assistance unit, an imaging assistance unit, and a feedback assistance unit;

[0030] The holding assistance unit includes a holding state monitoring module and a fixing drive module;

[0031] The holding state monitoring module is used to collect and detect the pressure signal of the anesthesiologist holding the box body through a pressure sensor, and analyze and judge the holding state of the box body by monitoring the pressure signal;

[0032] The fixing drive module is used to send a drive signal to adjust the locking and unlocking of the first electro-mechanical arm according to the holding state of the box body. When the holding state monitoring module determines that the anesthesiologist is holding the box body, it transmits the drive signal to the first electro-mechanical arm to keep it unlocked. When the anesthesiologist releases the hand holding the box body, it transmits the drive signal to the first electro-mechanical arm to lock the first electro-mechanical arm;

[0033] The imaging assistance unit includes an ultrasonic cross-sectional imaging module, an infrared blood vessel imaging module, an image synthesis module, and a prediction module;

[0034] The ultrasonic cross-sectional imaging module is used to emit ultrasonic waves according to a plurality of ultrasonic transducers, generate and construct a two-dimensional cross-sectional image of the area to be punctured, and the two-dimensional cross-sectional image can display the images of nerve tissues and the puncture needle;

[0035] The infrared blood vessel imaging module is used to identify the blood vessel network in the puncture area according to the near-infrared optical fiber network, and collect and generate a blood vessel image through infrared imaging technology;

[0036] The image synthesis module is used to synthesize the ultrasonic cross-sectional image and the infrared blood vessel image to generate a preliminary three-dimensional puncture model image. During the synthesis process, the relative positional relationship between the anatomical structure and the blood vessel network is analyzed;

[0037] The prediction module is used to partition the area to be punctured according to the synthesized three-dimensional puncture image, including a red blood vessel area, a yellow nerve area, and a green safety area, and generate an obstacle avoidance path based on the green safety area;

[0038] The display module is used to transmit the three-dimensional puncture image after prediction processing, and the display shows the three-dimensional puncture image with the obstacle avoidance path;

[0039] The feedback assistance unit is used to collect and generate a biomechanical topology map through a piezoelectric film sensor, and provide real-time feedback during the puncture process according to the map to adjust the puncture depth and angle.

[0040] Beneficial effects: The two-dimensional cross-sectional image can clearly display the positions of nerve tissues and the puncture needle, providing intuitive visual guidance for anesthesiologists. The blood vessel image generated by the infrared imaging technology makes the blood vessel structure clearly visible, helping to avoid damaging blood vessels during the puncture process. The ultrasonic cross-sectional image and the infrared blood vessel image are efficiently synthesized to generate a preliminary three-dimensional puncture model image, and the relative positional relationship between the anatomical structure and the blood vessel network is analyzed, providing a reliable basis for puncture path planning. Region division is performed based on the three-dimensional puncture image, and an obstacle avoidance path is generated, enabling anesthesiologists to easily identify the safe puncture area, significantly reducing the puncture error and potential risks. Finally, the three-dimensional puncture image with the obstacle avoidance path is displayed on the monitor in real time, providing intuitive and comprehensive navigation information for anesthesiologists and improving the accuracy and safety of the surgery.

[0041] Furthermore, the feedback assistance unit includes a biomechanics acquisition module and a risk warning and adjustment module;

[0042] The biomechanics acquisition module is used to sense and acquire the difference in elastic modulus of the tissue around the puncture needle through a piezoelectric film sensor, and generate a biomechanics topology map based on this difference;

[0043] The risk warning and adjustment module is used to combine the biomechanics topology map and the three-dimensional puncture image, energize and drive the excitation coil and the shape memory alloy. When the puncture needle reaches the target anesthetic nerve, current is transmitted to the excitation coil to control the fixed puncture depth. When a pressure change caused by the displacement of the nerve tissue or blood vessel tissue around the puncture needle is identified through the biomechanics topology map, current is transmitted to several shape memory alloys to control the deformation of the shape memory alloy to drive the puncture needle to bend.

[0044] Beneficial effects: The generation of the biomechanics topology map monitors the changes in tissues during the puncture process in real time, providing real-time feedback on the puncture depth and angle for anesthesiologists. The design of the feedback mechanism enables anesthesiologists to adjust the puncture strategy in a timely manner to adapt to different tissue characteristics, further improving the accuracy and safety of the puncture, helping to reduce tissue damage caused by over-puncturing or under-puncturing, reducing the pain and discomfort of patients, and enhancing the overall effect of the surgery.

[0045] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0046] Figure 1 It is an isometric schematic diagram of the overall structure of the device according to an embodiment of the intelligent auxiliary device for nerve block anesthesia of the present invention;

[0047] Figure 2Isometric schematic diagram of the hand-held groove on the box body in the embodiment of the intelligent auxiliary device for nerve block anesthesia of the present invention;

[0048] Figure 3 Isometric sectional view of the connection component in the embodiment of the intelligent auxiliary device for nerve block anesthesia of the present invention;

[0049] Figure 4 Isometric schematic diagram of the detection probe in the embodiment of the intelligent auxiliary device for nerve block anesthesia of the present invention;

[0050] Figure 5 Isometric schematic diagram of the arrangement of the excitation coils in the embodiment of the intelligent auxiliary device for nerve block anesthesia of the present invention;

[0051] Figure 6 Isometric schematic diagram of the protrusion in the embodiment of the intelligent auxiliary device for nerve block anesthesia of the present invention;

[0052] Figure 7 Operating schematic diagram of the control system in the embodiment of the intelligent auxiliary device for nerve block anesthesia of the present invention.

[0053] Reference numerals in the accompanying drawings of the specification include: 1, support base; 2, connecting rod; 3, display screen; 4, first electric control robotic arm; 5, second electric control robotic arm; 6, box body; 7, puncture needle; 8, outer layer of the fixing sleeve; 9, main body; 901, joint; 10, electric control deformation member; 11, medicine delivery tube; 12, hand-held groove; 13, anti-slip layer; 14, pressure sensor; 15, excitation coil; 16, protrusion; 17, detection probe; 1701, ultrasonic emission layer; 1702, infrared optical fiber layer; 1703, piezoelectric sensing layer. Detailed implementation manners

[0054] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0055] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0056] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0057] The following is a further detailed description through specific embodiments:

[0058] Embodiment 1:

[0059] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 : A smart auxiliary device for nerve block anesthesia includes a support base 1. The support base 1 serves as the foundation of the entire device and provides support force for each component. On one side of the support base 1, a first electric control robotic arm 4 and a second electric control robotic arm 5 are rotatably connected through bearings. Both the first electric control robotic arm 4 and the second electric control robotic arm 5 are preferably six-axis free robotic arms. The first electric control robotic arm 4 is electrically connected to a controller, and the controller can transmit signals to the first electric control robotic arm 4 to control the degrees of freedom of the first electric control robotic arm 4. The first electric control robotic arm 4 has a free movement state and a self-locking state. In the free movement state, it can move in multiple directions, while in the self-locking state, the first electric control robotic arm 4 remains stationary. One end of the first electric control robotic arm 4 is provided with a connection component, and the end of the connection component away from the first electric control robotic arm 4 is detachably connected to a box body 6 through a snap structure. On both sides of the box body 6, there are hand-held slots 12, and the hand-held slots 12 are used to increase the friction between the hand of the anesthesiologist and the box body 6, improving the stability of the anesthesiologist holding the box body 6. One end of the box body 6 away from the first electric control robotic arm 4 is communicated with a puncture needle 7, and the top end of the puncture needle 7 is welded to the bottom wall of the box body 6. Since nerve block anesthesia requires the anesthesiologist to complete the process of puncturing and inserting the needle, the puncture needle 7 capable of injecting anesthetic liquid is inserted and advanced to the target depth, so that the liquid can act around the target anesthetic nerve. During the puncture process, the anesthesiologist clamps the box body 6 through the hand-held slots 12 and applies pressure to control the displacement of the puncture needle 7. During this process, the first electric control robotic arm 4 is controlled by the signal of the controller to assist the anesthesiologist's pushing action. In addition, when the puncture needle 7 reaches the target nerve area, the anesthesiologist releases the held box body 6. At this time, the first electric control robotic arm 4 keeps the puncture needle 7 fixed. In this state, the anesthesiologist can only operate the injection mechanism communicated with the box body 6 to complete the aspiration operation before injecting the anesthetic liquid.

[0060] In addition, specifically as shown in Figure 2As shown, anti-slip layers 13 are adhesively fixed inside the hand-held grooves 12, and pressure sensors 14 signal-connected to the controller are inlaid on the side walls of the hand-held grooves 12. The pressure sensors 14 are located at the junction of the anti-slip layer 13 and the side walls of the hand-held grooves 12. The design of the pressure sensors 14 detects the pressure signal of the anesthesiologist holding the box body 6, and the controller monitors this pressure signal to judge the state of the anesthesiologist holding the box body 6 (holding the box body 6 / releasing the box body 6); by using the judgment of the state of the holding box body 6, the signal controls the swinging freedom of the first electric control robotic arm 4, that is, the locking state of the first electric control robotic arm 4, so that the first electric control robotic arm 4 can keep the position of the puncture needle 7 and stabilize the puncture needle 7 when the anesthesiologist releases the hand holding the box body 6, which can reduce the puncture error caused by the doctor's hand fatigue or tremor and improve the overall stability during the operation of anesthesia.

[0061] To achieve reasonable puncture assistance and still have the anesthesiologist lead the entire anesthesia process, the designed connection component includes an outer fixing sleeve 8, a main body 9, and an electric deformation part 10. One end of the main body 9 is fixedly connected to the first electric control robotic arm 4 by screws, the other end of the main body 9 is welded to the electric deformation part 10, and the end of the electric deformation part 10 away from the main body 9 is detachably connected to the top of the box body 6 through a buckle structure. The outer fixing sleeve 8 wraps around the outside of the main body 9 and the electric deformation part 10. Specifically, as Figure 3 shown, the main body 9 includes a number of bone joints 901, and the bone joints 901 are all in the shape of snake bones. The adjacent bone joints 901 are hinged to each other; the main body 9 is used as a connecting part between the first electric control robotic arm 4 and the box body 6. When the anesthesiologist holds the box body 6 for puncture, the design of a number of snake bone-shaped bone joints 901 can improve the freedom of movement of the puncture needle 7. Compared with a pure mechanical puncture device, this mechanism only assists the anesthesiologist's puncture instead of completely leading the puncture process, reducing the operation error rate of the anesthesiologist's puncture and the risk of injury, shortening the average operation time and improving the surgical efficiency in complex puncture scenarios (such as paravertebral nerve block of the cervical vertebra).

[0062] The intelligent puncture process is reflected in that a detection component is provided at one end of the second electric control robotic arm 5 away from the support base 1. Specifically, as Figure 4As shown in the figure, the detection component includes a detection probe 17 with an annular structure. The detection probe 17 is electrically connected to the controller. The detection probe 17 includes an ultrasonic emission layer 1701, an infrared optical fiber layer 1702, and a piezoelectric sensing layer 1703 from the inside to the outside. The ultrasonic emission layer 1701 includes a number of ultrasonic transducers evenly arranged in a circumferential array. The infrared optical fiber layer 1702 is an embedded near-infrared optical fiber network. The piezoelectric sensing layer 1703 includes a number of symmetrically arranged piezoelectric thin film sensors. Among them, during ultrasonic detection of the needle tip trajectory and surrounding tissue deformation during puncture, a two-dimensional cross-sectional image of the puncture path is constructed by the ultrasonic transducers emitting high-frequency sound waves. Infrared detection is used to focus on the identification of the blood vessel network in the puncture area. Finally, the piezoelectric thin film sensors generate a biomechanical topology map by sensing the difference in tissue elastic modulus. The ultrasonic emission layer 1701 provides anatomical structure information, the infrared optical fiber layer 1702 supplements blood vessel network data, and the piezoelectric sensing layer 1703 contributes mechanical property parameters to jointly construct a three-dimensional puncture scene model, enabling this auxiliary device to have the ability of multi-physical field perception. It can not only predict puncture risks and preset puncture paths, but also optimize puncture strategies through biomechanical feedback to form a "detection - prediction - adjustment" closed-loop control mechanism. A connecting rod 2 is welded to the top of the support base 1. The top of the connecting rod 2 is fixedly connected to a display screen 3 through a bolt structure. The display screen 3 is signal-connected to the controller. The controller transmits the three-dimensional puncture scene image to the display screen 3 in real time. The display screen 3 displays the optimal route from the puncture point to the target anesthetic nerve, and during the puncture process, the image of the puncture needle 7 and the position information of the surrounding tissues are displayed to assist the anesthesiologist in inserting the puncture needle 7. Compared with the traditional puncture process that only relies on the subjective judgment of the anesthesiologist, this design can improve the puncture success rate, reduce the number of repeated punctures, shorten the average puncture time, and reduce the probability of vascular injury.

[0063] Specifically, the outer layer 8 of the fixing sleeve is plastic and filled with magnetorheological fluid. An excitation coil 15 is sleeved outside the outer layer 8 of the fixing sleeve. The excitation coil 15 is electrically connected to the controller. The controller can control the transmission of current according to the electrical signal. When current passes through the excitation coil 15, the magnetorheological fluid completes the phase change from liquid to semi-solid, and the shear yield stress increases, which is equivalent to an increase in the hardness of the outer layer 8 of the fixing sleeve, that is, the displacement freedom of several bone joints 901 is reduced. The application of this system enables the anesthesiologist to obtain the precise positioning of the robotic arm and retain the intuitive control of traditional hand-held operations during complex puncture operations, shortening the operation time and improving the efficiency of anesthetic puncture in operations that require multiple adjustments of the needle tip position.

[0064] Secondly, the electrically controlled deformable element 10 is electrically connected to the controller. The electrically controlled deformable element 10 includes a plurality of shape memory alloy wires. The bending angles of the shape memory alloy wires are controllable after being energized, and the bending angle range is -20°~20°. Since the shape memory alloy wires have unique properties: after being energized, they can bend in a controllable manner according to the size and direction of the current. The controller can achieve different bending angles by transmitting currents of different sizes and directions to the shape memory alloy wires, thereby achieving control of the puncture angle of the puncture needle 7, assisting the anesthesiologist in controlling the puncture needle 7, and reducing damage to peripheral nerves caused by inaccurate judgments of the anesthesiologist.

[0065] As the puncture needle 7 goes deeper during the puncture process, the anesthetized patient may become nervous or have muscle pain reactions, which may cause the puncture path preset before the puncture to fail. For this reason, the fixing mechanism of the outer layer 8 of the solid sheath and the mechanism of the electrically controlled deformation are combined with the feedback mechanism of biomechanics. When the pressure change caused by the displacement of the nerve tissue or vascular tissue around the puncture needle 7 is identified, the controller controls the current to be delivered to the excitation coil 15 to increase the rigidity of the outer layer 8 of the solid sheath, thereby locking the current depth of the puncture needle 7 and avoiding the situation that the nerves around the puncture needle 7 are damaged due to the negligence of the anesthesiologist. At the same time, according to the puncture image and the pressure change, when the controller identifies the pressure change caused by the displacement of the nerve tissue or vascular tissue around the puncture needle 7, the controller immediately controls the excitation coil 15 to be energized, increases the rigidity of the outer layer 8 of the solid sheath, locks the current depth of the puncture needle 7, and avoids causing damage to the patient. At the same time, when the controller identifies that the puncture needle 7 deviates slightly from the target nerve, the controller will deliver a small positive current to the shape memory alloy wire to make the alloy wire slightly bend, thereby guiding the puncture needle 7 back to the correct path. On the contrary, if the puncture needle 7 is too close to a sensitive tissue, the controller will deliver a negative current to make the alloy wire bend in the opposite direction to avoid potential risks.

[0066] Since the displacement of nerve tissue or vascular tissue may occur after reaching the target nerve area, the change of shape memory alloy wire is combined with the rigidity change of solid sleeve outer layer 8, and the joints 901 are designed to have a catheter port in the middle, and a catheter hole is opened on the top wall of the box body 6. The solid sleeve outer layer 8 is also provided with a drug delivery tube 11, which penetrates the solid sleeve outer layer 8 and extends into the box body 6 through a number of catheter ports. When the puncture needle 7 gradually approaches the target nerve and starts to inject the drug solution, if the nerve tissue is displaced, the controller will send a signal to control the shape memory alloy wire to bend so that the puncture needle 7 is away from the nerve tissue, thereby reducing the direct contact damage of the puncture needle 7 to the nerve tissue. At this time, the angle of bending of a number of shape memory alloy wires is combined with the rigidity enhancement of the solid sleeve outer layer 8. While the puncture angle of the puncture needle 7 is offset, the side wall of the drug delivery tube 11 is squeezed to slow down the delivery flow rate of the drug solution, and the normal drug injection is restored after the abnormal displacement of the nerve tissue is restored.

[0067] Example 2:

[0068] As shown in the attached Figure 6 figure, the difference from Example 1 is that several protrusions 16 are provided at the tip of the puncture needle 7. The protrusions 16 are all sleeved outside the tip of the needle. The protrusions 16 are all in the structure of a conical ring. The design of the protrusions 16, on the one hand, is designed to be conical to more effectively reflect ultrasonic signals. When ultrasonic waves encounter the protrusions 16, reflection and scattering will occur, thereby enhancing the intensity and directivity of the ultrasonic signals, enabling the ultrasonic imaging system to more clearly capture the image of the puncture needle 7 and the surrounding tissues. On the other hand, it can also play a buffering role when the nerve tissue undergoes displacement. When the puncture needle 7 encounters the moving nerve tissue, the protrusions 16 can first come into contact with the nerve tissue and absorb part of the impact force through their inclined outer walls, thereby reducing the direct damage to the nerve tissue.

[0069] Example 3:

[0070] As shown in the attached Figure 7 figure, the difference from Example 2 is that the controller is built-in with a control system, and the control system includes a holding assistance unit, an imaging assistance unit, and a feedback assistance unit.

[0071] The holding assistance unit includes a holding state monitoring module and a fixing drive module.

[0072] The holding state monitoring module collects and detects the pressure signal of the anesthesiologist holding the box body 6 through the pressure sensor 14. When the anesthesiologist holds the box body 6, the pressure sensor 14 will sense the pressure signal and transmit it to the holding state monitoring module; the holding state monitoring module analyzes and judges the holding state of the box body 6 according to the received pressure signal, that is, whether the anesthesiologist is holding the box body 6.

[0073] The fixing drive module sends a drive signal to adjust the locking and unlocking of the first electro-mechanical arm 4 according to the holding state of the box body 6. When the holding state monitoring module judges that the anesthesiologist is holding the box body 6, the fixing drive module will transmit a drive signal to the first electro-mechanical arm 4 to keep it in an unlocked state so that the anesthesiologist can freely move the puncture needle 7; when the anesthesiologist releases the hand holding the box body 6, the fixing drive module will transmit a drive signal to the first electro-mechanical arm 4 to lock it to keep the position of the puncture needle 7 stable.

[0074] The imaging assistance unit is mainly responsible for constructing a three-dimensional puncture model image of the area to be punctured to provide accurate puncture guidance for the anesthesiologist. It includes an ultrasonic cross-sectional imaging module, an infrared blood vessel imaging module, an image synthesis module, and a prediction module.

[0075] The ultrasonic cross-sectional imaging module emits ultrasonic waves according to a plurality of ultrasonic transducers, generates and constructs a two-dimensional cross-sectional image of the area to be punctured. The ultrasonic transducers emit ultrasonic waves and receive the reflected signals, and generate a two-dimensional cross-sectional image through signal processing. This image can display the images of nerve tissues and the puncture needle 7.

[0076] The infrared blood vessel imaging module identifies the blood vessel network in the puncture area according to the near-infrared optical fiber network, and collects and generates a blood vessel image through infrared imaging technology.

[0077] The image synthesis module registers and fuses the ultrasonic cross-sectional image and the infrared blood vessel image to generate a three-dimensional puncture model image. During the synthesis process, the relative positional relationship between the anatomical structure and the blood vessel network will also be analyzed to provide data support for the subsequent prediction module.

[0078] The prediction module divides the area to be punctured into a red blood vessel area, a yellow nerve area, and a green safe area, and generates an obstacle avoidance path according to the green safe area to help the anesthesiologist avoid blood vessels and nerve tissues during the puncture process, improving the accuracy and safety of the puncture.

[0079] The display module transmits the three-dimensional puncture image after prediction processing, and the display shows the three-dimensional puncture image with the obstacle avoidance path.

[0080] The feedback assistance unit includes a biomechanics acquisition module and a risk warning and adjustment module.

[0081] The biomechanics acquisition module senses and acquires the difference in elastic modulus of the tissues around the puncture needle 7 through a piezoelectric thin film sensor, and generates a biomechanics topology map according to this difference.

[0082] The risk warning and adjustment module combines the biomechanics topology map and the three-dimensional puncture image, and energizes and drives the excitation coil 15 and the shape memory alloy. When the puncture needle 7 reaches the target anesthetic nerve, current is transmitted to the excitation coil 15 to control the fixed puncture depth. When a pressure change caused by the displacement of nerve tissues or blood vessel tissues around the puncture needle 7 is identified through the biomechanics topology map, current is transmitted to a plurality of shape memory alloys to control the deformation of the shape memory alloy to drive the puncture needle 7 to bend.

[0083] Obviously, the above embodiments are only examples given for clear illustration, and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present invention.

Claims

1. A nerve block anesthesia intelligent auxiliary device, comprising a support base (1), a connecting rod (2) fixedly connected to the top of the support base (1), a display screen (3) fixedly connected to the top of the connecting rod (2), characterized in that: A first electrically controlled mechanical arm (4) and a second electrically controlled mechanical arm (5) are rotatably connected to one side of the support seat (1); a connecting component is provided at one end of the first electrically controlled mechanical arm (4); a box body (6) is provided at one end of the connecting component away from the first electrically controlled mechanical arm (4); a puncture needle (7) is connected to one end of the box body (6) away from the first electrically controlled mechanical arm (4); a top end of the puncture needle (7) is fixedly connected to a bottom wall of the box body (6); and a detection component for collecting puncture information is provided at one side of the second electrically controlled mechanical arm (5) away from the support seat (1); Pressure sensing components are provided on both sides of the box body (6); the first electrically controlled mechanical arm (4) is electrically connected to a controller; the pressure sensing components pressure-sensitively sense whether the anesthesiologist is holding the box body (6); and the controller controls the first electrically controlled mechanical arm (4) to self-lock and limit according to a holding signal indicating whether the anesthesiologist is holding the box body (6); The connection assembly comprises a solid outer layer (8), a trunk (9) and an electrically controlled deformable member (10); the solid outer layer (8) is plastic and filled with a magnetorheological fluid; an excitation coil (15) is sleeved on the outer side of the solid outer layer (8); the excitation coil (15) is electrically connected to a controller; one end of the trunk (9) is fixedly connected to a first electrically controlled mechanical arm (4); the other end of the trunk (9) is fixedly connected to the electrically controlled deformable member (10); and the end of the electrically controlled deformable member (10) away from the trunk (9) is detachably connected to the top end of the box body (6) The outer layer of the solid sleeve (8) is wrapped around the trunk (9) and the outer side of the electrically controlled deformable member (10), and the outer layer of the solid sleeve (8) is electrically connected to the controller. The controller controls the stiffness of the outer layer of the solid sleeve (8) according to the depth and position information of the puncture needle (7) to control the puncture depth and position. The electrically controlled deformable member (10) is electrically connected to the controller, and the electrically controlled deformable member (10) includes a plurality of shape memory alloy wires. During the puncture process, the controller controls the electrically controlled deformable member (10) to deform to drive the puncture needle (7) to bend to adjust the puncture angle. A drug delivery tube (11) is arranged inside the trunk (9) and is used for delivering anesthetic liquid. One end of the drug delivery tube (11) is connected to the box body (6). During the process of injecting the anesthetic liquid, the deformation of the electrically controlled deformable member (10) is combined with the squeezing of the side wall of the drug delivery tube (11) by the outer layer of the fixed sleeve (8) to control the flow rate of the delivered drug liquid.

2. The intelligent auxiliary device for nerve block anesthesia according to claim 1, characterized in that: The pressure sensing component comprises a hand-held slot (12) provided on both sides of the box body (6), an anti-slip layer (13) being fixedly connected inside the hand-held slot (12), and a pressure sensor (14) connected to a controller signal being inlaid on the side walls of the hand-held slot (12), the pressure sensor (14) being located at the junction of the anti-slip layer (13) and the side wall of the hand-held slot (12).

3. The intelligent auxiliary device for nerve block anesthesia according to claim 2, characterized in that: The trunk (9) comprises a plurality of joints (901), each of which is a snake-bone-shaped structure, and adjacent joints (901) are hingedly connected to each other.

4. The intelligent auxiliary device for nerve block anesthesia according to claim 3, characterized in that: The bending angle of the shape memory alloy wires can be controlled after being energized, and the bending angle range is -20°~20°.

5. The intelligent auxiliary device for nerve block anesthesia according to claim 4, characterized in that: A plurality of protrusions (16) are provided at the needle tip of the puncture needle (7), and the protrusions (16) are all sleeved on the outside of the needle tip. The protrusions (16) are all conical ring structures.

6. The intelligent auxiliary device for nerve block anesthesia according to claim 5, characterized in that: The detection component comprises a detection probe (17) of a circular ring structure, the detection probe (17) being electrically connected to a controller, the detection probe (17) comprising, from the inside to the outside, an ultrasonic emission layer (1701), an infrared optical fiber layer (1702) and a piezoelectric sensing layer (1703), the ultrasonic emission layer (1701) comprising a plurality of uniform circumferential array ultrasonic transducers, and the infrared optical fiber layer (1702) being an embedded near-infrared optical fiber network.

7. The intelligent auxiliary device for nerve block anesthesia according to claim 6, characterized in that: The piezoelectric sensing layer (1703) includes a plurality of symmetrically arranged piezoelectric film sensors.

8. The intelligent auxiliary device for nerve block anesthesia according to claim 7, characterized in that: The controller has a built-in control system, which includes a holding auxiliary unit, an imaging auxiliary unit and a feedback auxiliary unit; The holding auxiliary unit includes a holding state monitoring module and a fixed driving module; A holding state monitoring module, used to collect and detect a pressure signal of the anesthesiologist holding the box body (6) through a pressure sensor (14), and to analyze and determine the holding state of the box body (6) by monitoring the pressure signal; A fixed driving module is used to send a driving signal according to the holding state of the box body (6) to adjust the locking and unlocking of the first electrically controlled mechanical arm (4); when the holding state monitoring module determines that the anesthesiologist is holding the box body (6), the driving signal is transmitted to the first electrically controlled mechanical arm (4) to maintain the unlocked state; when the anesthesiologist releases the hand holding the box body (6), the driving signal is transmitted to the first electrically controlled mechanical arm (4) to lock the first electrically controlled mechanical arm (4); The imaging auxiliary unit includes an ultrasonic cross-sectional imaging module, an infrared vascular imaging module, an image synthesis module and a prediction module; An ultrasonic cross-sectional imaging module, used to generate and construct a two-dimensional cross-sectional image of the area to be punctured based on the emission of ultrasonic waves by a plurality of ultrasonic transducers, wherein the two-dimensional cross-sectional image can display images of nerve tissue and the puncture needle (7); Infrared vascular imaging module, used to identify the vascular network in the puncture area based on the near-infrared optical fiber network, and collect and generate vascular images through infrared imaging technology; An image synthesis module is used to synthesize the ultrasonic cross-sectional image and the infrared vascular image to generate a preliminary three-dimensional puncture model image. During the synthesis process, the relative position relationship between the anatomical structure and the vascular network is analyzed; A prediction module is used to partition the area to be punctured according to the synthesized three-dimensional puncture image, including a red blood vessel area, a yellow nerve area and a green safety area, and generate an obstacle avoidance path based on the green safety area; A display module, used for transmitting the predicted three-dimensional puncture image, and displaying the three-dimensional puncture image with the obstacle avoidance path on the display; The feedback auxiliary unit is used to collect and generate a biomechanical topological map through a piezoelectric film sensor, and provide real-time feedback during the puncture process according to the biomechanical topological map to adjust the puncture depth and angle.

9. The intelligent auxiliary device for nerve block anesthesia according to claim 8, characterized in that: The feedback auxiliary unit includes a biomechanical acquisition module and a risk warning and adjustment module; A biomechanical acquisition module, used to sense and acquire the difference in elastic modulus of the tissue surrounding the puncture needle (7) through a piezoelectric film sensor, and generate a biomechanical topological map based on the difference; The risk warning and adjustment module is used to combine the biomechanical topology map and the three-dimensional puncture image to energize the excitation coil (15) and the shape memory alloy. When the puncture needle (7) reaches the target anesthetized nerve, the current is transmitted to the excitation coil (15) to control the fixed puncture depth. When the biomechanical topology map identifies the pressure change caused by the displacement of the nerve tissue or blood vessel tissue around the puncture needle (7), the current is transmitted to the plurality of shape memory alloys to control the deformation of the shape memory alloys to drive the puncture needle (7) to bend.

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