Biopsy needle and control method thereof

Abstract

The invention relates to a biopsy needle and a control method thereof. The biopsy needle comprises a main machine and a remote controller. The host comprises a wireless module receiving end, a microcontroller, a biopsy needle winding mechanism, a biopsy needle ejection mechanism and a biopsy needle triggering mechanism, the biopsy needle winding mechanism comprises a winding sliding block, and the biopsy needle ejection mechanism comprises a cutting needle seat and a compression spring. The host and the remote controller are in wireless transmission connection, so that the biopsy needle can be remotely controlled to be wound and excited, the state process of winding and excitation of the biopsy needle can be remotely controlled, the biopsy tissue obtaining operation can be remotely completed, a doctor does not need to manually complete excitation, the system is far away from the radiation environment, and the operation efficiency is improved. And the health of doctors is protected.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and particularly to a biopsy needle and a control method thereof. Background Art

[0002] For existing fully automatic and semi-automatic biopsy needles, doctors need to manually wind the wire and manually operate the firing button to activate the biopsy needle to obtain biopsy tissue. Currently, biopsy puncture robots have emerged, which use robotic arms in combination with technologies such as magnetic navigation or MR (Mixed Reality) to perform biopsy operations on patients under ultrasound or CT. This technology uses robotic arms to replace doctors' operations, with the advantages of accurate positioning and high puncture efficiency. At the same time, since the puncture actions are all completed by the robotic arm, it provides the possibility for remote surgery, which can keep doctors away from the radiation environment and protect the health of doctors. However, even with the biopsy puncture robot technology, for the robotic intelligent auxiliary puncture frame, the final action of firing the biopsy needle still needs to be manually completed by the doctor, resulting in the inability of the biopsy puncture robot technology to complete the operation independently. Summary of the Invention

[0003] Based on this, a biopsy needle and a control method thereof are provided to solve the technical problem that a biopsy puncture robot cannot wind the wire and fire the biopsy needle, and can control the biopsy needle to automatically wind the wire and automatically fire.

[0004] On the one hand, a biopsy needle is provided, including: a main body and a remote control;

[0005] The main body includes a wireless module receiver, a microcontroller, a biopsy needle wire winding mechanism, a biopsy needle ejection mechanism, and a biopsy needle trigger mechanism. The wireless module receiver is connected to the microcontroller; the remote control includes a wireless module transmitter. The wireless module transmitter is wirelessly connected to the wireless module receiver, and the wireless module transmitter is used to send a wire winding instruction or a firing instruction to the wireless module receiver; the biopsy needle wire winding mechanism includes a wire winding slider, and the biopsy needle ejection mechanism includes a cutting needle seat and a compression spring;

[0006] When the wireless module receiver receives a wire winding instruction, the microcontroller controls the wire winding slider to be engaged with the cutting needle seat, and the cutting needle seat compresses the compression spring; when the wireless module receiver receives a firing instruction, the microcontroller controls the biopsy needle trigger mechanism to separate the wire winding slider and the cutting needle seat so that the compression spring resets and ejects the cutting needle seat.

[0007] Furthermore, the biopsy needle winding mechanism includes a first limit switch, a second limit switch, a third limit switch, a motor and a screw rod, the microcontroller is connected to the motor, and the motor drives the screw rod to rotate forward or reversely to drive the winding slider to move along the screw rod;

[0008] When the wireless module receiving end receives a winding instruction, the microcontroller controls the motor to drive the screw rod to rotate and drive the winding slider to move forward first to engage with the cutting needle seat, and when the winding slider touches the first limit switch, it stops moving forward, and at the same time, the motor drives the screw rod to rotate and drive the winding slider to move backward, and when the second limit switch detects the winding slider, the motor is controlled to be turned off;

[0009] When the wireless module receiving end receives the excitation instruction, the microcontroller controls the motor to drive the screw to rotate and drive the winding slider to move from the second limit switch toward the third limit switch, and the cutting needle seat moves backward under the push of the winding slider until it contacts the biopsy needle trigger mechanism. The microcontroller controls the biopsy needle trigger mechanism to separate the winding slider and the cutting needle seat so that the compression spring resets and ejects the cutting needle seat and the outer needle seat, and controls the motor to turn off when the third limit switch detects that the winding slider touches.

[0010] Furthermore, the biopsy needle winding mechanism also includes a nut, a buffer spring and a nut limit frame, the nut limit frame is connected to the winding slider, a receiving groove is provided in the nut limit frame, the nut is threadedly connected to the screw rod, the nut is arranged in the receiving groove and the buffer spring is arranged between the nut and the inner wall of the receiving groove on the side facing the motor, the length of the receiving groove along the extension direction of the screw rod is greater than the thickness of the nut; a clamping groove is provided on the outer surface of the nut on the side facing the motor, the buffer spring is clamped in the clamping groove, and the outer surface of the nut abuts against the inner wall of the receiving groove.

[0011] Furthermore, the winding slider is provided with a guide clamping portion, and the cutting needle seat is provided with a clamping groove and a disengaging slope, the clamping groove is located on the side away from the third limit switch, and the disengaging slope is located on the side facing the third limit switch; the biopsy needle trigger mechanism is arranged corresponding to the disengaging slope; when the wireless module receiving end receives a winding instruction, the guide clamping portion is clamped with the clamping groove; when the wireless module receiving end receives an excitation instruction, the biopsy needle trigger mechanism abuts and slides against the disengaging slope of the cutting needle seat, so that the guide clamping portion of the winding slider is separated from the clamping groove of the cutting needle seat.

[0012] Further, the biopsy needle triggering mechanism includes a push rod. The motor and the lead screw are arranged in a straight line, and the push rod is arranged between the motor and the winding slider.

[0013] Further, the biopsy needle ejection mechanism further includes an inner needle seat and an outer needle seat. The compression spring is arranged between the inner needle seat and the outer needle seat. The cutting needle seat is connected to the outer needle seat, and a cutting tongue is arranged on one side of the cutting needle seat away from the inner needle seat.

[0014] Further, the main body further includes a battery, a power switch, a lighting lamp, and a status indicator light. The battery is connected to the microcontroller through the power switch, and the lighting lamp and the status indicator light are connected to the microcontroller.

[0015] Further, the remote controller further includes a controller, and the controller is provided with a winding key, a winding indicator light, a firing key, and a firing indicator light. The winding key is connected to the winding indicator light and the transmitting end of the wireless module. The firing key is connected to the firing indicator light and the transmitting end of the wireless module. When the winding key is pressed, the transmitting end of the wireless module sends a winding instruction to the receiving end of the wireless module, and the winding indicator light is lit. When the firing key is pressed, the transmitting end of the wireless module sends a firing instruction to the receiving end of the wireless module, and the firing indicator light is lit.

[0016] On the other hand, a control method for the biopsy needle described above is further provided, including:

[0017] In response to the power-on of the main body, control the biopsy needle to reset and initialize, and self-check to determine whether the biopsy needle has a fault;

[0018] In response to the biopsy needle having no fault, control the biopsy needle to be in a standby state, and determine whether the receiving end of the wireless module receives a winding instruction;

[0019] In response to the receiving end of the wireless module receiving a winding instruction, control the motor to drive the lead screw to rotate to drive the winding slider to move forward first so that it is engaged with the cutting needle seat. When the winding slider touches the first limit switch, the motor starts to reverse, control the winding slider to move backward to drive the cutting needle seat and the outer needle seat to compress the compression spring. When the second limit switch detects the winding slider, control the motor to turn off to complete the winding action;

[0020] Determine whether the winding is successful. If the winding is successful, control the biopsy needle to be in a waiting-for-firing state;

[0021] In response to the excitation instruction received by the receiving end of the wireless module, the microcontroller controls the motor to drive the lead screw to rotate, driving the stringing slider to continue moving backward. The biopsy needle triggering mechanism separates the stringing slider from the cutting needle seat, enabling the compression spring to reset and eject the cutting needle seat. When the third limit switch detects the stringing slider, the motor is controlled to turn off.

[0022] Further, the control method of the biopsy needle further includes:

[0023] In response to the initialization of the reset of the biopsy needle, control the lighting lamp to be always on;

[0024] In response to a fault in the biopsy needle, control the red light of the status indicator lamp to be always on;

[0025] In response to the receiving end of the wireless module not receiving the stringing instruction, control the biopsy needle to remain in the standby state;

[0026] In response to the biopsy needle being in the waiting-for-excitation state, control the green light of the status indicator lamp to be always on;

[0027] In response to the receiving end of the wireless module not receiving the excitation instruction, control the biopsy needle to remain in the waiting-for-excitation state.

[0028] The above-mentioned biopsy needle and its control method can realize remote control of the biopsy needle for stringing and excitation operations through the wireless transmission connection between the host and the remote controller. It can realize remote control of the state process of stringing and exciting the biopsy needle, and can remotely complete the operation of obtaining biopsy tissue without the doctor manually performing the excitation, staying away from the radiation environment and protecting the doctor's health. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0030] Figure 1 It is a structural block diagram of a biopsy needle in an embodiment of the present application;

[0031] Figure 2 It is a structural schematic diagram of a biopsy needle in an embodiment of the present application;

[0032] Figure 3 It is an internal structural schematic diagram of a biopsy needle in an embodiment of the present application;

[0033] Figure 4 It is a cross-sectional view of the biopsy needle in the stringing state in an embodiment of the present application;

[0034] Figure 5 This is a cross-sectional view of the biopsy needle in a completed excitation in an embodiment of the present application;

[0035] Figure 6 This is a partial structural schematic diagram of the biopsy needle in an embodiment of the present application;

[0036] Figure 7 This is a flowchart of a control method for a biopsy needle in an embodiment of the present application.

[0037] The identifications in the figure are as follows:

[0038] Biopsy needle winding mechanism 1, second limit switch 11, third limit switch 12, motor 13, lead screw 14, winding slider 15, guiding and clamping portion 151, nut 16, card slot 161, buffer spring 17, nut limit frame 18, first limit switch 19, biopsy needle ejection mechanism 2, cutting needle seat 21, clamping groove 211, hook release slope 212, compression spring 22, inner needle seat 23, outer needle seat 24, biopsy needle trigger mechanism 3, push rod 31, rear push button 32, side push button 33, biopsy needle 4, outer needle tube 41, sampling needle tube 42, inner needle rod 43, gear switch 5, circuit board 6, power switch 61, illuminating lamp 62, status indicator light 63, start button 64, protective sleeve 7, battery 8. Detailed implementation manners

[0039] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0040] As Figure 1 shown, this embodiment provides a biopsy needle, including: a main body and a remote controller.

[0041] As Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 shown, the main body includes a wireless module receiving end, a microcontroller, a biopsy needle winding mechanism 1, a biopsy needle ejection mechanism 2 and a biopsy needle trigger mechanism 3, and the wireless module receiving end is connected to the microcontroller; the remote controller includes a wireless module transmitting end, and the wireless module transmitting end is wirelessly connected to the wireless module receiving end through wireless transmission, and the wireless module transmitting end is used to send a winding instruction or an excitation instruction to the wireless module receiving end. Among them, a biopsy needle is arranged on the biopsy needle ejection mechanism 2 of the main body, the needle tip of the biopsy needle is the front end of the main body, and the handle end of the main body that is convenient for holding is the rear end.

[0042] AsFigure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 As shown in Figure 6 , the biopsy needle winding mechanism 1 includes a winding slider 15; the biopsy needle ejection mechanism 2 includes a cutting needle seat 21 and a compression spring 22; when the receiving end of the wireless module receives a winding instruction, the microcontroller controls the winding slider 15 to move forward first so that it engages with the cutting needle seat 21, and then the microcontroller controls the winding slider 15 to move backward to drive the cutting needle seat 21 and the outer needle seat 24 to compress the compression spring 22. When manually triggered, the biopsy needle trigger mechanism 3 is manually pushed, and the microcontroller controls the biopsy needle trigger mechanism 3 to separate the winding slider 15 and the cutting needle seat 21 so that the compression spring 22 resets to eject the cutting needle seat 21.

[0043] As Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 As shown in Figure 6 , the biopsy needle winding mechanism 1 further includes a first limit switch 19, a second limit switch 11, a third limit switch 12, a motor 13 and a lead screw 14. The microcontroller is connected to the motor 13, and the motor 13 drives the lead screw 14 to rotate forward or backward to drive the winding slider 15 to move along the lead screw 14.

[0044] When the receiving end of the wireless module receives a winding instruction, the microcontroller controls the motor 13 to drive the lead screw 14 to rotate to drive the winding slider 15 to move forward first so that it engages with the cutting needle seat 21. When the winding slider 15 touches the first limit switch 19, it stops moving forward. At the same time, the motor 13 drives the lead screw 14 to rotate to drive the winding slider 15 to move backward. At this time, the winding slider 15 synchronously drives the cutting needle seat 21 and the outer needle seat 24 to move backward, and the outer needle seat 24 compresses the compression spring 22 to store energy. When the second limit switch 11 detects that the winding slider 15 touches it, it controls the motor 13 to turn off.

[0045] When the receiving end of the wireless module receives a firing instruction, the microcontroller controls the motor 13 to drive the lead screw 14 to rotate to drive the winding slider 15 to move from the second limit switch 11 towards the third limit switch 12. The cutting needle seat 21 moves backward under the push of the winding slider 15 until it contacts the biopsy needle trigger mechanism 3. The biopsy needle trigger mechanism 3 separates the winding slider 15 and the cutting needle seat 21 so that the compression spring 22 resets to eject the cutting needle seat 21 and the outer needle seat 24. When the third limit switch 12 detects that the winding slider 15 touches it, it controls the motor 13 to turn off.

[0046] When in use, the biopsy needle 4 is placed on the side of the cutting needle seat 21 of the biopsy needle trigger mechanism 3 away from the compression spring 22. When the winding slider 15 and the cutting needle seat 21 are separated, the biopsy needle 4 can be ejected under the elastic force of the compression spring 22 to reset and eject the cutting needle seat 21, and the biopsy needle 4 is inserted into the organism to achieve living sampling.

[0047] Among them, a gear switch 5 is set on the side corresponding to the biopsy needle 4. The outer needle seat 24 is blocked by the gear switch 5 after being excited. Therefore, adjusting the position of the gear switch 5 can adjust the outer needle seat 24 and the excitation distance, thereby adjusting the length of the sampled tissue.

[0048] Preferably, Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, a protective cover 7 is disposed on the outer side of the biopsy needle 4, and the biopsy needle 4 is ejected along the extending direction of the protective cover 7 under the action of elastic force. Figure 2 As shown, the biopsy needle 4 includes an outer needle tube 41, a sampling needle tube 42 and an inner needle rod 43, and the inner needle rod 43 is a needle tip structure.

[0049] It is understandable that the wireless module receiving end and the microcontroller can be arranged on the circuit board 6 by arranging the circuit board 6 .

[0050] like Figure 3 , Figure 4 , Figure 5 , Figure 6 As shown, the biopsy needle winding mechanism 1 also includes a nut 16, a buffer spring 17 and a nut limiting frame 18, the nut limiting frame 18 is connected to the winding slider 15, a receiving groove is provided in the nut limiting frame 18, the nut 16 is threadedly connected to the screw rod 14, the nut 16 is arranged in the receiving groove and the buffer spring 17 is arranged between the nut 16 and the inner wall of the receiving groove on one side facing the motor 13, and the length of the receiving groove along the extension direction of the screw rod 14 is greater than the thickness of the nut 16.

[0051] like Figure 6 As shown, a slot 161 is provided on the outer surface of the nut 16 facing the motor 13 , and the buffer spring 17 is clamped in the slot 161 . The outer surface of the nut 16 abuts against the inner wall of the accommodating groove.

[0052] like Figure 4 , Figure 5As shown, the winding slider 15 is provided with a guide clamping portion 151, and the cutting needle seat 21 is provided with a clamping groove 211 and a disengaging inclined surface 212, wherein the clamping groove 211 is located on the side away from the third limit switch 12, and the disengaging inclined surface 212 is located on the side facing the third limit switch 12; the biopsy needle trigger mechanism 3 is arranged corresponding to the disengaging inclined surface 212; when the wireless module receiving end receives the winding instruction, the guide clamping portion 151 is clamped with the clamping groove 211; when the wireless module receiving end receives the excitation instruction, the winding slider 15 drives the cutting needle seat 21 to move backward, so that the disengaging inclined surface 212 of the cutting needle seat 21 abuts against the biopsy needle trigger mechanism 3, thereby separating the guide clamping portion 151 of the winding slider 15 from the clamping groove 211 of the cutting needle seat 21, and the cutting needle seat 21 and the outer needle seat 24 are excited forward under the elastic force of the compression spring 22. At the same time of excitation, since the winding slider 15 is decoupled from the cutting needle seat 21, the nut limit frame 18 is pushed to the right under the action of the buffer spring 17 and contacts the third limit switch 12. When the third limit switch 12 is contacted, it can be determined that the biopsy needle has been completely excited.

[0053] like Figure 3 , Figure 4 , Figure 5 As shown, the biopsy needle trigger mechanism 3 includes a push rod 31 , the motor 13 and the lead screw 14 are arranged on a straight line, and the push rod 31 is arranged between the motor 13 and the winding slider 15 .

[0054] Preferably, the biopsy needle trigger mechanism 3 further comprises a rear push button 32 and a side push button 33 connected to the push rod 31, wherein the rear push button 32 is located at the end of the push rod 31 away from the unhooking inclined surface 212, and the side push button 33 is connected to one side of the push rod 31. When in the winding state, the push rod 31 can be manually pressed to slide against the unhooking inclined surface 212 of the cutting needle seat 21, so that the guide clamping portion 151 of the winding slider 15 is separated from the clamping groove 211 of the cutting needle seat 21, so as to trigger the biopsy needle 4 to pop out. Alternatively, when in the winding state, the push rod 31 can be manually pushed to slide against the unhooking inclined surface 212 of the cutting needle seat 21, so that the guide clamping portion 151 of the winding slider 15 is separated from the clamping groove 211 of the cutting needle seat 21, so as to trigger the biopsy needle 4 to pop out.

[0055] like Figure 4 , Figure 5As shown, the biopsy needle triggering mechanism 3 further includes an inner needle seat 23 and an outer needle seat 24. The compression spring 22 is disposed between the inner needle seat 23 and the outer needle seat 24. The cutting needle seat 21 is connected to the outer needle seat 24, and a cutting tongue is provided on a side of the cutting needle seat 21 facing away from the inner needle seat 23.

[0056] As Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 As shown, the main body further includes a battery 8, a power switch 61, a lighting lamp 62, and a status indicator lamp 63. The battery 8 is connected to the microcontroller through the power switch 61, and the lighting lamp 62 and the status indicator lamp 63 are connected to the microcontroller. Preferably, the lighting lamp 62 is an LED lamp and is always on when the main body is powered on and started. The status indicator lamp 63 is two-color and has a red lamp and a green lamp.

[0057] As Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 As shown, the second limit switch 11, the third limit switch 12, the first limit switch 19, the power switch 61, the lighting lamp 62, and the status indicator lamp 63 are fixed on the circuit board 6. A start button 64 may also be provided on the circuit board 6. The start button 64 has the functions of manually controlling the winding and firing of the biopsy needle at the same time.

[0058] Further, the remote controller further includes a controller. The controller is provided with a winding button, a winding indicator lamp, a firing button, and a firing indicator lamp. The winding button is connected to the winding indicator lamp and the transmitting end of the wireless module. The firing button is connected to the firing indicator lamp and the transmitting end of the wireless module. When the winding button is pressed, the transmitting end of the wireless module sends a winding instruction to the receiving end of the wireless module, and the winding indicator lamp lights up. When the firing button is pressed, the transmitting end of the wireless module sends a firing instruction to the receiving end of the wireless module, and the firing indicator lamp lights up.

[0059] Among them, the remote controller may be a device such as a mobile phone or a computer, and can control the firing and winding of the biopsy needle in a Bluetooth connection manner through an APP. The controller is a display interface in the remote controller, and the winding button and the firing button can be touched and pressed through the controller to send a winding instruction and a firing instruction to the biopsy needle.

[0060] As Figure 7 As shown, an embodiment of the present application further provides a control method for the biopsy needle described above, including:

[0061] When the host is powered on, control the biopsy needle to reset and initialize, and perform a self-check to determine whether there is a fault in the biopsy needle;

[0062] If the biopsy needle has no fault, control the biopsy needle to be in a standby state, and determine whether the receiving end of the wireless module receives a winding instruction;

[0063] If the receiving end of the wireless module receives a winding instruction, control the motor 13 through the microcontroller to drive the lead screw 14 to rotate, driving the winding slider 15 to move forward first so that it is clamped with the cutting needle seat 21. When the winding slider 15 touches the first limit switch 19, the motor starts to reverse, control the winding slider 15 to move backward to drive the cutting needle seat 21 and the outer needle seat 24 to compress the compression spring 22. When the second limit switch 11 detects the winding slider 15, control the motor 13 to turn off to complete the winding action;

[0064] Determine whether the winding is successful. If the winding is successful, control the biopsy needle to be in a waiting-for-firing state;

[0065] When the receiving end of the wireless module receives a firing instruction, control the motor 13 through the microcontroller to drive the lead screw 14 to rotate, driving the winding slider 15 to continue moving backward. The biopsy needle trigger mechanism 3 separates the winding slider 15 and the cutting needle seat 21 to reset the compression spring 22 and eject the cutting needle seat 21. When the third limit switch 12 detects the winding slider 15, control the motor 13 to turn off.

[0066] Furthermore, the control method of the biopsy needle further includes:

[0067] When the biopsy needle is reset and initialized, control the lighting lamp 62 to be always on;

[0068] When the biopsy needle has a fault, control the red light of the status indicator lamp 63 to be always on;

[0069] When the receiving end of the wireless module does not receive a winding instruction, control the biopsy needle to remain in the standby state;

[0070] When the biopsy needle is in the waiting-for-firing state, control the green light of the status indicator lamp 63 to be always on;

[0071] When the receiving end of the wireless module does not receive a firing instruction, control the biopsy needle to remain in the waiting-for-firing state.

[0072] As Figure 7 shown, when using the biopsy needle, the usage steps are as follows:

[0073] Step 1, power on the machine;

[0074] Step 2: The illumination indicator light is always on.

[0075] Step 3: The system starts self-checking. The self-checking content includes: a) Self-check the forward and backward movement of the motor 13; b) Determine the position by the limit switch; c) During the movement, the CPU detects the current of the motor 13 to identify whether there is a stall and whether the limit switch is detected; d) The status indicator light 63 goes out during the self-checking process.

[0076] Step 4: After the self-checking is completed, the system is in the standby state, and the status indicator light 63 is always on in yellow.

[0077] Step 5: Wait to receive the winding signal.

[0078] Step 6: When the winding signal is received, the microprocessor drives the motor 13 to start winding. If the winding is successful, the status indicator light 63 is always on in green and waits for firing. If the winding fails, the status indicator light 63 is always on in red.

[0079] Step 7: Wait for the firing signal.

[0080] Step 8: When the firing signal is received, the microprocessor drives the motor 13 to retreat and fires the biopsy needle 4. If the firing fails, the status indicator light 63 is always on in red. If the firing is successful, it returns to the standby state.

[0081] Step 9: If there is no fault, repeat steps 4 - 8.

[0082] For the above biopsy needle and its control method, by setting up a wireless transmission connection between the main unit and the remote controller, remote control can be realized for the winding and firing operations of the biopsy needle 4. Moreover, the biopsy needle winding mechanism 1 of the main unit is provided with a first limit switch 19, a second limit switch 11, and a third limit switch 12, which can accurately judge whether the winding and firing operations are completed, can realize remote control of the state process of winding and firing the biopsy needle 4, can remotely complete the operation of obtaining biopsy tissue, and there is no need for the doctor to manually complete the firing, staying away from the radiation environment and protecting the doctor's health.

[0083] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0084] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation to the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A biopsy needle, characterized in that: Including: host and remote control; The host comprises a wireless module receiving end, a microcontroller, a biopsy needle winding mechanism, a biopsy needle ejection mechanism and a biopsy needle triggering mechanism, and the wireless module receiving end is connected to the microcontroller; The remote control includes a wireless module transmitter, which is connected to the wireless module receiver via wireless transmission, and is used to send a winding instruction or an excitation instruction to the wireless module receiver; the biopsy needle winding mechanism includes a winding slider, and the biopsy needle ejection mechanism includes a cutting needle seat and a compression spring.

2. The biopsy needle according to claim 1, characterized in that: The biopsy needle winding mechanism further includes a first limit switch, a second limit switch, a third limit switch, a motor and a lead screw, wherein the microcontroller is connected to the motor, and the motor drives the lead screw to rotate forward or reversely to drive the winding slider to move along the lead screw; When the wireless module receiving end receives a winding instruction, the microcontroller controls the motor to drive the screw rod to rotate and drive the winding slider to move forward first to engage with the cutting needle seat, and when the winding slider touches the first limit switch, it stops moving forward, and at the same time, the motor drives the screw rod to rotate and drive the winding slider to move backward, and when the second limit switch detects the winding slider, the motor is controlled to be turned off; When the wireless module receiving end receives the excitation instruction, the microcontroller controls the motor to drive the screw to rotate and drive the winding slider to move from the second limit switch toward the third limit switch, and the cutting needle seat moves backward under the push of the winding slider until it contacts the biopsy needle trigger mechanism. The microcontroller controls the biopsy needle trigger mechanism to separate the winding slider and the cutting needle seat so that the compression spring resets and ejects the cutting needle seat and the outer needle seat, and controls the motor to turn off when the third limit switch detects that the winding slider touches.

3. The biopsy needle according to claim 2, characterized in that: The biopsy needle winding mechanism also includes a nut, a buffer spring and a nut limiting frame, the nut limiting frame is connected to the winding slider, a receiving groove is provided in the nut limiting frame, the nut is threadedly connected to the screw rod, the nut is arranged in the receiving groove and the buffer spring is arranged between the nut and the inner wall of the receiving groove on the side facing the motor, the length of the receiving groove along the extension direction of the screw rod is greater than the thickness of the nut; a clamping groove is provided on the outer surface of the nut on the side facing the motor, the buffer spring is clamped in the clamping groove, and the outer surface of the nut abuts against the inner wall of the receiving groove.

4. The biopsy needle according to claim 2, characterized in that: The winding slider is provided with a guide clamping portion, and the cutting needle seat is provided with a clamping groove and a disengaging slope, the clamping groove is located on the side away from the third limit switch, and the disengaging slope is located on the side facing the third limit switch; the biopsy needle trigger mechanism is arranged corresponding to the disengaging slope; when the wireless module receiving end receives a winding instruction, the guide clamping portion is clamped with the clamping groove; when the wireless module receiving end receives an excitation instruction, the biopsy needle trigger mechanism abuts and slides with the disengaging slope of the cutting needle seat, so that the guide clamping portion of the winding slider is separated from the clamping groove of the cutting needle seat.

5. The biopsy needle according to claim 4, characterized in that: The biopsy needle trigger mechanism comprises a push rod, the motor and the lead screw are arranged on a straight line, and the push rod is arranged between the motor and the winding slider.

6. The biopsy needle according to claim 1, characterized in that: The biopsy needle ejection mechanism also includes an inner needle seat and an outer needle seat, the compression spring is arranged between the inner needle seat and the outer needle seat, the cutting needle seat is connected to the outer needle seat, and a cutting tongue is provided on the side of the cutting needle seat away from the inner needle seat.

7. The biopsy needle according to claim 1, characterized in that: The host also includes a battery, a power switch, an illuminating light and a status indicator light. The battery is connected to the microcontroller through the power switch, and the illuminating light and the status indicator light are connected to the microcontroller.

8. The biopsy needle according to claim 1, characterized in that: The remote control also includes a controller, which is provided with a winding button, a winding indicator light, an excitation button and an excitation indicator light, the winding button is connected to the winding indicator light and the wireless module transmitter, and the excitation button is connected to the excitation indicator light and the wireless module transmitter; when the winding button is pressed, the wireless module transmitter sends a winding instruction to the wireless module receiver, and the winding indicator light is lit; when the excitation button is pressed, the wireless module transmitter sends an excitation instruction to the wireless module receiver, and the excitation indicator light is lit.

9. A method for controlling a biopsy needle according to any one of claims 1 to 8, characterized in that: include: In response to the host being powered on, the biopsy needle is controlled to reset and initialize, and a self-check is performed to determine whether the biopsy needle has a fault; In response to the biopsy needle not being faulty, the biopsy needle is controlled to be in a standby state, and it is determined whether the wireless module receiving terminal receives a winding instruction; In response to the wireless module receiving end receiving the winding instruction, the microcontroller controls the motor to drive the screw rod to rotate and drive the winding slider to move forward first so that it is engaged with the cutting needle seat. When the winding slider contacts the first limit switch, the motor starts to reverse, controls the winding slider to move backward, drives the cutting needle seat and the outer needle seat to press the compression spring, and controls the motor to turn off when the second limit switch detects the winding slider, completing the winding action. Determine whether winding is successful, and if winding is successful, control the biopsy needle to be in a waiting state; In response to the wireless module receiving end receiving the excitation instruction, the microcontroller controls the motor to drive the screw rod to rotate and drive the winding slider to continue to move backward, and the biopsy needle trigger mechanism separates the winding slider and the cutting needle seat to allow the compression spring to reset and eject the cutting needle seat, and the motor is controlled to be turned off when the third limit switch detects the winding slider.

10. The biopsy needle control method according to claim 9, characterized in that: Also includes: In response to the biopsy needle being reset and initialized, controlling the illumination light to be always on; In response to the biopsy needle being faulty, the red light of the control status indicator light is always on; In response to the wireless module receiving end not receiving the winding instruction, controlling the biopsy needle to maintain a standby state; In response to the biopsy needle being in a waiting state, the green light of the control status indicator light is always on; In response to the wireless module receiving end not receiving the excitation instruction, the biopsy needle is controlled to maintain a waiting state for excitation.

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