Multi-angle puncture guider for pulmonary nodule positioning

Abstract

The invention belongs to the technical field of puncture guiders, and particularly relates to a multi-angle puncture guider for pulmonary nodule localization, which comprises a medical bed, a first threaded rod is movably mounted on the left side of the medical bed, the front end and the rear end of the first threaded rod are rotatably connected with the medical bed, and a first movable frame is movably mounted on the first threaded rod; the movable rod is movably installed at the [-shaped opening of the first movable frame, the left end of the movable rod is fixedly connected with a first worm gear, the left outer side wall of the first movable frame is rotationally connected with a first worm, and the first worm is in meshed connection with the first worm gear; a first threaded rod rotates to drive a first movable frame to horizontally move front and back, a first worm rotates to drive a first worm gear and a movable rod to rotate so as to drive a pushing structure to rotate, a second movable frame horizontally moves left and right on the movable rod to drive the pushing structure to horizontally move left and right, and a second worm gear rotates to drive the pushing structure to rotate. And through a positioner at the bottom of the pushing structure, the pulmonary nodules are automatically and quickly positioned, and the puncture angle is adjusted.

Description

Technical Field

[0001] The invention belongs to the technical field of puncture guides, in particular to a multi-angle puncture guide for locating lung nodules. Background Art

[0002] Pulmonary nodules refer to nodular or spherical granulations observed in the patient's lungs using synchronous CT imaging technology. Before treating them nowadays, it is generally necessary to use a corresponding puncture needle to perform a biopsy to determine the pathological state of the pulmonary nodules before proceeding with the next step of treatment.

[0003] In the prior art, announcement number CN119235425A provides a lung nodule puncture and ablation positioning device, including a symmetrically arranged mounting plate, each of which is provided with a vertical rod, one end of the vertical rod is fixed to the mounting plate, and the other end of the vertical rod is provided with a cross rod, the two ends of the cross rod are respectively fixed to the other ends of the two vertical plates, a sliding sleeve is sleeved on the cross rod, the outer surface of the cross rod is provided with a plurality of ridges along the length direction, and the inner side surface of the sliding sleeve is provided with a plurality of grooves matching the ridges, the grooves are slidably connected to the ridges, and the sliding sleeve is symmetrically provided with a first sliding rod, the first sliding rod is arranged parallel to the mounting plate, one end of the first sliding rod is fixed to the sliding sleeve, and a slip ring is provided on each of the two first sliding rods, and the slip ring is sleeved on the first sliding rod; this technical solution is used to provide positioning and puncture path guidance for the puncture operation, thereby improving the puncture effect.

[0004] In the above patent, a first sliding rod is symmetrically arranged on the sliding sleeve, the first sliding rod is arranged parallel to the mounting plate, one end of the first sliding rod is fixed to the sliding sleeve, and a slip ring is arranged on each of the two first sliding rods, and the slip ring is sleeved on the first sliding rod to provide positioning and puncture path guidance for the puncture operation, thereby improving the puncture effect. However, there are still some problems with the multi-angle puncture guide for pulmonary nodule positioning;

[0005] The puncture guide needs to be adjusted manually, which makes it impossible to quickly and accurately locate the lung nodules, and some structures cannot be fixed, which may cause positional deviation during puncture.

[0006] Therefore, in order to solve the above problems, a multi-angle puncture guide for locating lung nodules is proposed. Summary of the invention

[0007] 1. Technical issues to be resolved

[0008] In view of the deficiencies of the prior art, the present invention provides a multi-angle puncture guide for locating lung nodules, which is used to solve the problems raised in the background technology.

[0009] (II) Technical solution

[0010] To achieve the above object, the present invention provides the following technical solution: A multi-angle puncture guide for lung nodule positioning includes:

[0011] A medical bed, on the left side of which a first threaded rod is movably installed, and the front and rear ends of the first threaded rod are rotatably connected to the medical bed. A first movable frame is movably installed on the first threaded rod. The first movable frame has a U-shaped structure with an upward opening, and the medical bed passes horizontally through the first movable frame;

[0012] A movable rod, which has a round rod structure and is horizontally arranged. The movable rod is movably installed at the U-shaped opening of the first movable frame, and the left end of the movable rod is fixedly connected to a first worm gear. The left outer side wall of the first movable frame is rotatably connected to a first worm, and the first worm is meshed with the first worm gear. A second motor is fixedly installed on the left side of the first movable frame, and the output end of the second motor is fixedly connected to the front end of the first worm;

[0013] A second movable frame, which is slidably installed on the movable rod. A second worm gear is movably installed below the front side of the second movable frame, and the front end of the second worm gear is fixedly connected to a pushing structure. A fifth motor is fixedly installed on the right side wall of the second movable frame, and a clamping structure is movably installed in front of the pushing structure.

[0014] Preferably, a limiting rod is fixedly installed on the right side of the medical bed, and the front and rear ends of the limiting rod are fixedly connected to the medical bed. The limiting rod is slidably connected to the lower right corner of the first movable frame, and the lower left corner of the first movable frame is threadedly connected to the first threaded rod. A first motor is fixedly connected to the left side of the front side wall of the medical bed, and the output end of the first motor is fixedly connected to the front end of the first threaded rod.

[0015] Preferably, the movable rod includes a rotating rod and a rack;

[0016] The rotating rod, the side surface of which is fixedly connected to the rack, and the left and right ends of the rotating rod are respectively rotatably connected to the upper left end and the upper right end of the first movable frame.

[0017] Preferably, two first limiting grooves are symmetrically opened on the side wall of the rotating rod at positions错开 from the rack;

[0018] The second movable frame includes a first movable block, two first limiting blocks and a gear;

[0019] The first movable block, at the lower part of the rear side of which a hole groove is opened and is slidably connected to the outside of the rotating rod. Two first limiting blocks are symmetrically fixedly connected to the inner groove wall of the hole groove on the first movable block, and the two first limiting blocks are respectively slidably connected to the two first limiting grooves;

[0020] A gear is movably installed inside the rear side of the first movable block, and the front and rear ends of the gear are rotatably connected to the first movable block, the lower side of the gear is meshed with the rack, the back side of the first movable block is fixedly connected to a third motor, and the output end of the third motor is fixedly connected to the rear end of the gear.

[0021] Preferably, a second worm is movably installed inside the front side of the first movable block, and the left and right ends of the second worm are rotatably connected to the first movable block, the right end of the second worm is fixedly connected to the output end of the fifth motor, and the lower side of the second worm is meshingly connected to the second worm wheel.

[0022] Preferably, the pushing structure includes a track frame;

[0023] A track frame, which is a rectangular frame structure, and the back side of the track frame is fixedly connected to the front end of the second worm gear;

[0024] A second threaded rod is movably arranged in the track frame, and the upper and lower ends of the second threaded rod are rotatably connected to the track frame, the upper end of the track frame is fixedly connected to a fourth motor, and the output end of the fourth motor is fixedly connected to the upper end of the second threaded rod;

[0025] The movable plate has a Z-shaped structure and is slidably connected to the track frame. The upper end of the movable plate is threadedly connected to the second threaded rod. A groove is provided at the bottom of the movable plate, and a positioner and a contact sensor are provided on the bottom surface of the movable plate.

[0026] Preferably, the clamping structure comprises a second movable block;

[0027] The second movable block is an L-shaped structure, the back of the second movable block is fixedly connected with a second limit block, the lower side of the movable plate is provided with a second limit groove, and the second limit groove is slidably connected with the second limit block, the upper end width of the second limit groove is greater than the lower end width, and the upper end size of the second limit groove is slightly larger than the second limit block;

[0028] The front of the movable plate is fixedly connected with a cylinder, and the lower end of the cylinder is rotatably connected with a threaded connector, and the threaded connector is threadedly connected to the top surface of the second movable block.

[0029] Preferably, a slide groove is provided on the second movable block, a bidirectional threaded rod is movably arranged in the slide groove, and the left and right ends of the bidirectional threaded rod are rotatably connected to the groove wall of the slide groove;

[0030] Two clamping blocks are symmetrically arranged in front of the second movable block, and the rear sides of the two clamping blocks are slidably connected to the sliding groove, and the two clamping blocks are threadedly connected to the bidirectional threaded rod.

[0031] Beneficial Effects

[0032] Compared with the prior art, the present invention provides a multi-angle puncture guide for locating lung nodules, which has the following beneficial effects:

[0033] 1. This invention drives the first movable frame to move horizontally forward and backward by rotating the first threaded rod, and the first worm drives the first worm wheel and the movable rod to rotate, thereby driving the pushing structure to rotate. The second movable frame moves horizontally left and right on the movable rod to drive the pushing structure to move horizontally left and right, and the second worm wheel drives the pushing structure to rotate. Then, the locator at the bottom of the pushing structure is used to automatically and quickly locate the lung nodules and adjust the puncture angle.

[0034] 2. This invention uses the fourth motor to drive the second threaded rod to rotate, thereby driving the movable plate to move downward. When the contact sensor at the bottom of the movable plate contacts the patient's skin, the fourth motor automatically stops running and further calibrates the puncture point, thereby performing fine-tuning to make the puncture more accurate.

[0035] 3. In this invention, the connection between the second movable block and the cylinder can be released by rotating the threaded connector, and the cylinder can be adjusted to above the second limiting groove. Then, the clamping structure can be pushed as a whole to move to the upper end of the second limiting groove, so that the clamping structure can be removed or embedded, which is convenient for replacement and disinfection of the clamping structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0037] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0038] Figure 2 It is a schematic diagram of the three-dimensional structure of the first movable frame of the present invention;

[0039] Figure 3 It is a schematic diagram of the three-dimensional structure of the movable rod of the present invention;

[0040] Figure 4 is a schematic cross-sectional view of the three-dimensional structure of the second movable frame of the present invention;

[0041] Figure 5 It is a schematic cross-sectional view of the three-dimensional structure of the track frame of the present invention;

[0042] Figure 6 It is a schematic diagram of the three-dimensional structure of the movable plate of the present invention;

[0043] Figure 7 It is a schematic cross-sectional view of the three-dimensional structure of the clamping structure of the present invention.

[0044] Legend:

[0045] 1. Medical bed; 2. First threaded rod; 3. Limit rod; 4. First motor; 5. First movable frame; 6. Movable rod; 601. Rotating rod; 602. First limit groove; 603. Rack; 7. First worm gear; 8. First worm; 9. Second motor; 10. Second movable frame; 1001. First movable block; 1002. First limit block; 1003. Second worm; 1004. Gear; 11. Third motor; 12. Second worm gear; 13. Pushing structure; 1301. Track frame; 1302. Second threaded rod; 1303. Movable plate; 1304. Second limit groove; 1305. Groove; 14. Fourth motor; 15. Cylinder; 16. Clamping structure; 1601. Second movable block; 1602. Second limit block; 1603. Chute; 1604. Bi-directional threaded rod; 1605. Clamping block; 17. Fifth motor. Detailed implementation manners

[0046] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0047] The following gives specific embodiments.

[0048] Please refer to Figure 1-Figure 7 , the present invention provides a multi-angle puncture guide for lung nodule localization, including:

[0049] A medical bed 1, on the left side of which a first threaded rod 2 is movably installed, and the front and rear ends of the first threaded rod 2 are rotatably connected to the medical bed 1. A first movable frame 5 is movably installed on the first threaded rod 2. The first movable frame 5 has a U-shaped structure with an upward opening, and the medical bed 1 horizontally passes through the first movable frame 5;

[0050] A movable rod 6, which has a round rod structure and is horizontally arranged. The movable rod 6 is movably installed at the U-shaped opening of the first movable frame 5, and the left end of the movable rod 6 is fixedly connected to a first worm gear 7. The left outer wall of the first movable frame 5 is rotatably connected to a first worm 8, and the first worm 8 is meshed with the first worm gear 7. A second motor 9 is fixedly installed on the left side of the first movable frame 5, and the output end of the second motor 9 is fixedly connected to the front end of the first worm 8;

[0051] A second movable frame 10, which is slidably installed on the movable rod 6. A second worm gear 12 is movably installed below the front side of the second movable frame 10, and the front end of the second worm gear 12 is fixedly connected to a pushing structure 13. A fifth motor 17 is fixedly installed on the right side wall of the second movable frame 10, and a clamping structure 16 is movably installed in front of the pushing structure 13;

[0052] Specifically, the first motor 4 drives the first threaded rod 2 to rotate, thereby driving the first movable frame 5 to move horizontally forward and backward, the second motor 9 drives the first worm 8 to rotate, thereby driving the first worm wheel 7 and the movable rod 6 to rotate, thereby driving the pushing structure 13 to rotate, the second movable frame 10 moves horizontally left and right on the movable rod 6 to drive the pushing structure 13 to move horizontally left and right, the second worm wheel 12 rotates to drive the pushing structure 13 to rotate, and then the locator at the bottom of the pushing structure 13 is used to automatically and quickly locate the lung nodules and adjust the puncture angle.

[0053] like Figure 1 and Figure 2 As shown, a limit rod 3 is fixedly installed on the right side of the medical bed 1, and the front and rear ends of the limit rod 3 are fixedly connected to the medical bed 1, the limit rod 3 is slidably connected to the lower right corner of the first movable frame 5, and the lower left corner of the first movable frame 5 is threadedly connected to the first threaded rod 2, and the left side of the front side wall of the medical bed 1 is fixedly connected to the first motor 4, and the output end of the first motor 4 is fixedly connected to the front end of the first threaded rod 2;

[0054] Specifically, the limiting rod 3 limits and fixes the first movable frame 5 to prevent the first movable frame 5 from deflecting, and the first motor 4 drives the first threaded rod 2 to rotate, thereby driving the first movable frame 5 to move forward and backward.

[0055] like Figure 1 , Figure 2 and Figure 3 As shown, the movable rod 6 includes a rotating rod 601 and a rack 603;

[0056] The rotating rod 601 has a side surface fixedly connected to the rack 603, and the left and right ends of the rotating rod 601 are rotatably connected to the left upper end and the right upper end of the first movable frame 5 respectively;

[0057] Specifically, the first movable frame 5 limits and fixes the rotating rod 601 .

[0058] like Figure 1 , Figure 3 and Figure 4 As shown, two first limiting grooves 602 are symmetrically formed on the side wall of the rotating rod 601 at positions offset from the rack 603;

[0059] The second movable frame 10 includes a first movable block 1001, two first limit blocks 1002 and a gear 1004;

[0060] The first movable block 1001 has a hole groove at its rear lower part, and is slidably connected to the outside of the rotating rod 601. The inner groove wall of the hole groove on the first movable block 1001 is symmetrically fixedly connected to two first limiting blocks 1002, and the two first limiting blocks 1002 are slidably connected to the two first limiting grooves 602 respectively;

[0061] The gear 1004 is movably mounted inside the rear side of the first movable block 1001, and the front and rear ends of the gear 1004 are rotatably connected to the first movable block 1001, the lower side of the gear 1004 is meshed and connected to the rack 603, the back side of the first movable block 1001 is fixedly connected to the third motor 11, and the output end of the third motor 11 is fixedly connected to the rear end of the gear 1004;

[0062] Specifically, the two first limiting blocks 1002 are slidably connected to the two first limiting grooves 602 respectively, so as to limit and fix the first movable block 1001 to prevent the first movable block 1001 from deflecting when it moves left and right on the rotating rod 601 .

[0063] like Figure 1 and Figure 4 As shown, a second worm 1003 is movably installed inside the front side of the first movable block 1001, and the left and right ends of the second worm 1003 are rotatably connected to the first movable block 1001, the right end of the second worm 1003 is fixedly connected to the output end of the fifth motor 17, and the lower side of the second worm 1003 is meshedly connected to the second worm wheel 12;

[0064] Specifically, the fifth motor 17 drives the second worm 1003 to rotate, and then drives the second worm wheel 12 to rotate on the first movable block 1001 .

[0065] like Figure 1 , Figure 5 and Figure 6 As shown, the pushing structure 13 includes a track frame 1301;

[0066] The track frame 1301 is a rectangular frame structure, and the back side of the track frame 1301 is fixedly connected to the front end of the second worm gear 12;

[0067] The second threaded rod 1302 is movably arranged in the track frame 1301, and the upper and lower ends of the second threaded rod 1302 are rotatably connected to the track frame 1301, the upper end of the track frame 1301 is fixedly connected to the fourth motor 14, and the output end of the fourth motor 14 is fixedly connected to the upper end of the second threaded rod 1302;

[0068] The movable plate 1303 has a Z-shaped structure, and the movable plate 1303 is slidably connected to the track frame 1301, the upper end of the movable plate 1303 is threadedly connected to the second threaded rod 1302, a groove 1305 is provided at the bottom of the movable plate 1303, and a positioner and a contact sensor are provided on the bottom surface of the movable plate 1303;

[0069] Specifically, the fourth motor 14 drives the second threaded rod 1302 to rotate, thereby driving the movable plate 1303 to move on the track frame 1301 , and the track frame 1301 limits the moving direction and moving range of the movable plate 1303 .

[0070] like Figure 1 , Figure 6 and Figure 7 As shown, the clamping structure 16 includes a second movable block 1601;

[0071] The second movable block 1601 is an L-shaped structure. The back of the second movable block 1601 is fixedly connected with the second limiting block 1602. The lower side of the movable plate 1303 is provided with a second limiting groove 1304, and the second limiting groove 1304 is slidably connected with the second limiting block 1602. The width of the upper end of the second limiting groove 1304 is greater than the width of the lower end, and the size of the upper end of the second limiting groove 1304 is slightly greater than the second limiting block 1602.

[0072] The front of the movable plate 1303 is fixedly connected with a cylinder 15, and the lower end of the cylinder 15 is rotatably connected with a threaded connector, and the threaded connector is threadedly connected to the top surface of the second movable block 1601;

[0073] Specifically, the second limiting groove 1304 is slidably connected to the second limiting block 1602 , so as to limit and fix the second movable block 1601 on the movable plate 1303 , and at the same time limit the movable range of the second movable block 1601 .

[0074] like Figure 1 and Figure 7 As shown, a slide groove 1603 is provided on the second movable block 1601, a bidirectional threaded rod 1604 is movably provided in the slide groove 1603, and the left and right ends of the bidirectional threaded rod 1604 are rotatably connected to the groove wall of the slide groove 1603;

[0075] Two clamping blocks 1605 are symmetrically arranged in front of the second movable block 1601, and the rear sides of the two clamping blocks 1605 are slidably connected to the slide groove 1603, and the two clamping blocks 1605 are threadedly connected to the bidirectional threaded rod 1604;

[0076] Specifically, the bidirectional threaded rod 1604 is rotated to drive the two clamping blocks 1605 to move toward or away from each other, thereby clamping and fixing the puncture needle.

[0077] Working principle: When using the puncture guide, first place the puncture needle between the two clamping blocks 1605, rotate the bidirectional threaded rod 1604 to drive the two clamping blocks 1605 to move toward each other to clamp and fix the puncture needle, then the first motor 4 drives the first threaded rod 2 to rotate, and then drives the movable plate 1303 to move horizontally forward and backward, the second motor 9 drives the first worm 8 to rotate, the first worm 8 rotates to drive the first worm wheel 7 and the rotating rod 601 to rotate, and then drives the movable plate 1303 to rotate in the front and rear directions, the third motor 11 drives the gear 1004 to rotate on the rack 603, so that the first movable block 1001 moves left and right on the rotating rod 601, and then drives the movable plate 1303 to move horizontally left and right, and the fifth motor 17 drives the second worm 1 003 rotates, thereby driving the second worm gear 12 to rotate, and the second worm gear 12 drives the track frame 1301 to rotate left and right, thereby driving the movable plate 1303 to rotate left and right, and automatically and quickly locates the lung nodule and adjusts the puncture angle through the positioner at the bottom of the pushing structure 13, and then the fourth motor 14 drives the second threaded rod 1302 to rotate, thereby driving the movable plate 1303 to move downward, when the contact sensor at the bottom of the movable plate 1303 contacts the patient's skin, the fourth motor 14 automatically stops running, and the puncture point is further calibrated for fine-tuning, and the cylinder 15 pushes the second movable block 1601 to move downward, thereby driving the puncture needle clamped and fixed by the two clamping blocks 1605 to move downward for puncture.

[0078] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A multi-angle puncture guide for locating lung nodules, characterized in that: Including: A medical bed (1) with a first threaded rod (2) movably installed on its left side, and the front and rear ends of the first threaded rod (2) are rotatably connected to the medical bed (1). A first movable frame (5) is movably installed on the first threaded rod (2). The first movable frame (5) has a U-shaped structure with an upward opening, and the medical bed (1) passes horizontally through the first movable frame (5). A movable rod (6) which has a round rod structure and is horizontally arranged. The movable rod (6) is movably installed at the U-shaped opening of the first movable frame (5), and a first worm gear (7) is fixedly connected to the left end of the movable rod (6). A first worm (8) is rotatably connected to the left outer side wall of the first movable frame (5), and the first worm (8) is meshed with the first worm gear (7). A second motor (9) is fixedly installed on the left side of the first movable frame (5), and the output end of the second motor (9) is fixedly connected to the front end of the first worm (8). A second movable frame (10) which is slidably installed on the movable rod (6). A second worm gear (12) is movably installed below the front side of the second movable frame (10), and a pushing structure (13) is fixedly connected to the front end of the second worm gear (12). A fifth motor (17) is fixedly installed on the right side wall of the second movable frame (10), and a clamping structure (16) is movably installed in front of the pushing structure (13).

2. A multi-angle puncture guide for locating a lung nodule according to claim 1, characterized in that: A limiting rod (3) is fixedly installed on the right side of the medical bed (1), and the front and rear ends of the limiting rod (3) are fixedly connected to the medical bed (1). The limiting rod (3) is slidably connected to the lower right corner of the first movable frame (5), and the lower left corner of the first movable frame (5) is threadedly connected to the first threaded rod (2). A first motor (4) is fixedly connected to the left side of the front side wall of the medical bed (1), and the output end of the first motor (4) is fixedly connected to the front end of the first threaded rod (2).

3. A multi-angle puncture guide for locating a lung nodule according to claim 1, characterized in that: The movable rod (6) includes a rotating rod (601) and a rack (603). The rotating rod (601) has its side fixedly connected to the rack (603), and the left and right ends of the rotating rod (601) are respectively rotatably connected to the upper left and upper right sides of the first movable frame (5).

4. A multi-angle puncture guide for locating a lung nodule according to claim 3, characterized in that: Two first limiting grooves (602) are symmetrically formed on the side wall of the rotating rod (601) at a position错开 from the rack (603). The second movable frame (10) includes a first movable block (1001), two first limiting blocks (1002) and a gear (1004). The first movable block (1001) has a hole groove formed in the lower part of its rear side and is slidably connected to the outside of the rotating rod (601). Two first limiting blocks (1002) are symmetrically fixedly connected to the inner wall of the hole groove of the first movable block (1001), and the two first limiting blocks (1002) are respectively slidably connected to the two first limiting grooves (602). A gear (1004) is movably mounted inside the rear side of the first movable block (1001), and the front and rear ends of the gear (1004) are rotatably connected to the first movable block (1001), the lower side of the gear (1004) is meshedly connected to the rack (603), the back side of the first movable block (1001) is fixedly connected to a third motor (11), and the output end of the third motor (11) is fixedly connected to the rear end of the gear (1004).

5. A multi-angle puncture guide for locating a lung nodule according to claim 4, characterized in that: A second worm gear (1003) is movably installed inside the front side of the first movable block (1001), and the left and right ends of the second worm gear (1003) are rotationally connected to the first movable block (1001), the right end of the second worm gear (1003) is fixedly connected to the output end of the fifth motor (17), and the lower side of the second worm gear (1003) is meshingly connected to the second worm wheel (12).

6. A multi-angle puncture guide for locating a lung nodule according to claim 1, characterized in that: The pushing structure (13) includes a track frame (1301); A track frame (1301) having a rectangular frame structure, and the back side of the track frame (1301) is fixedly connected to the front end of the second worm gear (12); A second threaded rod (1302) is movably arranged in the track frame (1301), and the upper and lower ends of the second threaded rod (1302) are rotatably connected to the track frame (1301), the upper end of the track frame (1301) is fixedly connected to a fourth motor (14), and the output end of the fourth motor (14) is fixedly connected to the upper end of the second threaded rod (1302); The movable plate (1303) has a Z-shaped structure and is slidably connected to the track frame (1301). The upper end of the movable plate (1303) is threadedly connected to the second threaded rod (1302). A groove (1305) is provided at the bottom of the movable plate (1303), and a positioner and a contact sensor are provided on the bottom surface of the movable plate (1303).

7. A multi-angle puncture guide for locating a lung nodule according to claim 6, characterized in that: The clamping structure (16) comprises a second movable block (1601); The second movable block (1601) is an L-shaped structure, and the back of the second movable block (1601) is fixedly connected with a second limiting block (1602). A second limiting groove (1304) is provided on the lower side of the movable plate (1303), and the second limiting groove (1304) is slidably connected to the second limiting block (1602), the width of the upper end of the second limiting groove (1304) is greater than the width of the lower end, and the size of the upper end of the second limiting groove (1304) is slightly greater than that of the second limiting block (1602); The front of the movable plate (1303) is fixedly connected to a cylinder (15), and the lower end of the cylinder (15) is rotatably connected to a threaded connector, and the threaded connector is threadedly connected to the top surface of the second movable block (1601).

8. A multi-angle puncture guide for locating a lung nodule according to claim 7, characterized in that: The second movable block (1601) is provided with a slide groove (1603), a bidirectional threaded rod (1604) is movably arranged in the slide groove (1603), and the left and right ends of the bidirectional threaded rod (1604) are rotatably connected to the groove wall of the slide groove (1603); Two clamping blocks (1605) are symmetrically arranged in front of the second movable block (1601), and the rear sides of the two clamping blocks (1605) are slidably connected to the sliding groove (1603), and the two clamping blocks (1605) are threadedly connected to the bidirectional threaded rod (1604).

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