Precise directional navigation laparoscope ultrasonic puncture system and method

Abstract

The invention provides a precise directional navigation laparoscope ultrasonic puncture system and method, and relates to the technical field of puncture device.The precise directional navigation laparoscope ultrasonic puncture system comprises a shell and a puncture needle tube sheath, an adjusting shaft is rotationally arranged at one end of the interior of the shell, the two sides of the adjusting shaft penetrate out of the shell, the two sides of the adjusting shaft are connected with connecting rods, and the connecting rods are connected with the shell; a direction adjuster is arranged at one end of the connecting rod, and the puncture needle tube sheath is used for being installed on the direction adjuster; a puncture needle is inserted into the puncture needle tube sheath, the driving shaft rotates to cooperate with the linkage assembly to drive the adjusting shaft to rotate to change the angles of the direction adjuster and the puncture needle tube sheath, the photoelectric assembly and the magnetic sensing assembly identify adjusted angle data, and the ultrasonic probe is matched for positioning, so that a pre-puncture path virtual line is simulated; the puncture target can be accurately punctured according to the virtual line of the pre-puncture path on the ultrasonic image, the influence of the abdominal wall on puncture and puncture errors are reduced to the maximum extent, and the success rate is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of puncture equipment, and in particular to a precise directional navigation laparoscopic ultrasonic puncture system and method. Background Art

[0002] The currently widely used method for puncturing the target points of abdominal organs under ultrasound guidance does not have a precise puncture device that integrates the puncture needle and ultrasound. Instead, while observing the ultrasound image, the puncture needle is used to puncture the abdominal wall from the side of the ultrasound probe by hand from outside the body and then the target points of the abdominal organs are punctured. Specifically, there are the following problems:

[0003] The effect of the fixation and restraint of the puncture needle passing through the abdominal wall on the puncture: The puncture needle is manually punctured through the abdominal wall at the side of the ultrasound probe before puncturing the abdominal organs. In this method, the puncture needle is fixed and restrained by the abdominal wall after passing through the abdominal wall. It is difficult to adjust the puncture angle after entering the abdominal cavity. At the same time, this method has a long puncture path, a large puncture error, and a very low puncture success rate.

[0004] The influence of the puncture path on the puncture cannot be observed in real time through the ultrasound image when the puncture needle is inserted at the side of the ultrasound probe: the puncture needle is inserted at the side of the ultrasound probe by hand, because the puncture needle and the image displayed by the ultrasound probe cannot remain in the same plane throughout the process, so the puncture needle insertion path cannot be seen on the image on the ultrasound host screen throughout the process, the puncture failure rate is very high, and it is difficult to perform accurate puncture operations;

[0005] Abdominal organs are blocked by surrounding tissues and organs, resulting in puncture injuries and the inability to perform puncture operations due to the lack of puncture paths. For example, the liver and pancreas are blocked by the surrounding ribs, chest cavity, lung lobes, and intestinal tract. Punctures through the abdominal wall can easily pierce the chest cavity, lung lobes, and intestinal tract during the puncture process, causing iatrogenic secondary injuries. At the same time, current puncture instruments cannot perform puncture operations on high-position puncture targets of the liver because there is no puncture path at all due to the inability to avoid chest cavity and lung lobe obstructions. Therefore, the present invention proposes a precise directional navigation laparoscopic ultrasonic puncture system and method to solve the problems existing in the prior art. Summary of the invention

[0006] In response to the above problems, the present invention proposes a precise directional navigation laparoscopic ultrasonic puncture system and method, which simulates a virtual line of the pre-puncture path and can accurately puncture the puncture target according to the virtual line of the pre-puncture path on the ultrasound image, thereby minimizing the influence of the abdominal wall on the puncture and the puncture error, and improving the puncture success rate.

[0007] To achieve the purpose of the present invention, the present invention is implemented through the following technical solutions: a precise directional navigation laparoscopic ultrasonic puncture system, comprising a shell and a puncture needle sheath, one end of the shell is rotatably provided with an adjustment shaft, and both sides of the adjustment shaft penetrate the shell, both sides of the adjustment shaft are connected with connecting rods, and one end of the connecting rod is provided with a direction regulator, the puncture needle sheath is used to be installed on the direction regulator, and the puncture needle sheath is used to insert the puncture needle, and another channel inside the puncture needle sheath is used to insert the ultrasonic probe;

[0008] A driving shaft is rotatably arranged at one end of the shell away from the adjusting shaft, and a linkage component is connected between the driving shaft and the adjusting shaft. A photoelectric component and a magnetic sensor component for identifying the rotation angle of the driving shaft are arranged at one end of the shell.

[0009] A further improvement is that the linkage assembly includes a driving wheel and a driven wheel, the driving wheel is arranged at a middle position on the driving shaft, the driven wheel is arranged at a middle position on the adjusting shaft, and a belt is connected between the driving wheel and the driven wheel.

[0010] A further improvement is that a driver is provided at one end of one side of the shell, and the output end of the driver is connected to the driving shaft.

[0011] A further improvement is that the photoelectric component includes a photoelectric code disk, a light-emitting device and a photosensitive device, the photoelectric code disk is arranged on one side of the drive shaft, the light-emitting device is arranged on one side of the shell body close to one end of the photoelectric code disk, and the photosensitive device is arranged on the other side of the shell body close to one end of the photoelectric code disk, and the photoelectric code disk, light-emitting device and photosensitive device are adapted to each other.

[0012] A further improvement is that the magnetic sensing assembly includes a permanent magnet and a magnetic sensor, the permanent magnet is arranged at the edge of one side of the photoelectric encoder, the magnetic sensor is arranged at one end of the inner side of the shell close to the photoelectric encoder, and the magnetic sensor is adapted to the permanent magnet.

[0013] A further improvement is that a handle is provided above the puncture needle, and an electronic signal socket is provided above one side of the handle, a data transmitter is provided above the inside of the handle, the output end of the ultrasonic probe is electrically connected to the data transmitter through a wire, and the output end of the data transmitter is electrically connected to the electronic signal socket through a wire.

[0014] A further improvement is that an insert is provided at the middle position of one end of the direction regulator, and the puncture needle sheath is adapted to the insert.

[0015] A further improvement is that a handle is provided at one end of the top of the shell away from the direction adjuster, and the handle is integrally formed with the shell.

[0016] A precise directional navigation laparoscopic ultrasonic puncture method comprises the following steps:

[0017] Pass the puncture needle through the puncture needle sheath, and install the puncture needle sheath on the direction regulator;

[0018] The driving shaft rotates and cooperates with the linkage assembly to drive the adjusting shaft to rotate, thereby changing the angle of the direction regulator and the puncture needle sheath;

[0019] The photoelectric components and magnetic sensor components are used to identify the adjusted angle data, and the ultrasonic probe is used to locate the puncture target;

[0020] According to the angle and ultrasound positioning data, a virtual line of the pre-puncture path is simulated and displayed on the ultrasound image in real time;

[0021] Subsequently, according to the adjustment of the angle, the direction of the virtual line of the pre-puncture path is adjusted in real time. Based on this, the puncture needle is manually advanced to accurately puncture the puncture target according to the virtual line of the pre-puncture path on the ultrasound image.

[0022] The beneficial effects of the present invention are:

[0023] 1. The present invention inserts a puncture needle through a puncture needle sheath, rotates a driving shaft, cooperates with a linkage component to drive an adjustment shaft to rotate and change the angle of a direction regulator and the puncture needle sheath, identifies the adjusted angle data through a photoelectric component and a magnetic sensor component, and cooperates with an ultrasonic probe for positioning, thereby simulating a virtual line of a pre-puncture path, and accurately puncturing the puncture target according to the virtual line of the pre-puncture path on the ultrasonic image, thereby minimizing the influence of the abdominal wall on the puncture and the puncture error, and improving the puncture success rate.

[0024] 2. The present invention can make the puncture needle close to the surface of the target organ through precise directional navigation, avoiding the possibility of the puncture path being blocked by other tissues and organs. All puncture target points that can be detected under ultrasound images can be accurately punctured under ultrasound positioning and precise directional navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a front view of the present invention;

[0026] Figure 2 It is a schematic diagram of the puncture needle of the present invention;

[0027] Figure 3 It is a top view of the internal structure of the shell of the present invention.

[0028] Among them: 1. Shell; 2. Adjustment shaft; 3. Connecting rod; 4. Direction regulator; 5. Puncture needle sheath; 6. Puncture needle; 7. Ultrasonic probe; 8. Drive shaft; 9. Active wheel; 10. Driven wheel; 11. Belt; 12. Driver; 13. Photoelectric encoder; 14. Light-emitting device; 15. Photosensitive device; 16. Permanent magnet; 17. Magnetic sensor; 18. Handle; 19. Data transmitter; 20. Electronic signal socket; 21. Embossed; 22. Handle. DETAILED DESCRIPTION

[0029] In order to deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with examples. The examples are only used to explain the present invention and do not constitute a limitation on the protection scope of the present invention.

[0030] Embodiment 1

[0031] according to Figure 1 , 2 As shown in Figure 3, this embodiment proposes a precise directional navigation laparoscopic ultrasonic puncture system, including a shell 1 and a puncture needle sheath 5, one end of the shell 1 is rotatably provided with an adjustment shaft 2, and both sides of the adjustment shaft 2 pass through the shell 1, both sides of the adjustment shaft 2 are connected with connecting rods 3, and one end of the connecting rod 3 is provided with a direction regulator 4, the puncture needle sheath 5 is used to be installed on the direction regulator 4, and the puncture needle sheath 5 is used to insert a puncture needle 6, and another channel inside the puncture needle sheath 5 is used to insert an ultrasonic probe 7;

[0032] A driving shaft 8 is rotatably arranged at one end of the housing 1 away from the adjusting shaft 2, and a linkage assembly is connected between the driving shaft 8 and the adjusting shaft 2. A photoelectric assembly and a magnetic sensor assembly are arranged at one end of the housing 1 to identify the rotation angle of the driving shaft 8. When in use, the puncture needle 6 is inserted through the puncture needle sheath 5, and the driving shaft 8 rotates, and the linkage assembly drives the adjusting shaft 2 to rotate to change the angle of the direction regulator 4 and the puncture needle sheath 5. The photoelectric assembly and the magnetic sensor assembly identify the angle data of the adjustment, and the ultrasonic probe 7 is used for positioning, thereby simulating the virtual line of the pre-puncture path, and the puncture target can be accurately punctured according to the virtual line of the pre-puncture path on the ultrasonic image.

[0033] The linkage assembly includes a driving wheel 9 and a driven wheel 10, wherein the driving wheel 9 is arranged at the middle position on the driving shaft 8, and the driven wheel 10 is arranged at the middle position on the adjusting shaft 2, and a belt 11 is connected between the driving wheel 9 and the driven wheel 10. When in use, the driving shaft 8 rotates to drive the driving wheel 9 to rotate, and the driving wheel 9 cooperates with the belt 11 to drive the driven wheel 10 and the adjusting shaft 2 to rotate, thereby changing the angle of the direction regulator 4 and the puncture needle sheath 5, and the angle data adjusted is recognized by the photoelectric component and the magnetic sensor component, and the ultrasonic probe 7 is cooperated for positioning, thereby simulating the virtual line of the pre-puncture path, and the puncture target can be accurately punctured according to the virtual line of the pre-puncture path on the ultrasonic image.

[0034] A driver 12 is disposed at one end of one side of the housing 1, and an output end of the driver 12 is connected to the drive shaft 8. The driver 12 may be a motor to electrically drive the drive shaft 8 to rotate, or may be a knob to manually drive the drive shaft 8 to rotate.

[0035] The photoelectric assembly includes a photoelectric code disk 13, a light emitting device 14 and a photosensitive device 15. The photoelectric code disk 13 is arranged on one side of the drive shaft 8, the light emitting device 14 is arranged on one end of the housing 1 near the photoelectric code disk 13, and the photosensitive device 15 is arranged on the other end of the housing 1 near the photoelectric code disk 13. The photoelectric code disk 13, the light emitting device 14 and the photosensitive device 15 are adapted to each other. The photoelectric code disk 13, the light emitting device 14 and the photosensitive device 15 are adapted to each other, identify the angular displacement (angle) and convert it into an electrical signal. The principle is: the light emitter 14 (such as a light emitting diode LED) emits a stable light beam to illuminate the photoelectric code disk 13. When the code disk rotates with the drive shaft 8, the light-transmitting and light-impermeable areas on it will alternately pass through the light beam path. The photosensitive device 15 (based on the photoelectric effect) is responsible for detecting the changes in these light quantities, converting the light signal into a current signal, and then into a voltage signal. After amplification, shaping and encoding by the signal processing circuit, it is finally output as a digital signal recognizable by the control system, thereby realizing the conversion of angular displacement into an electrical signal.

[0036] The magnetic sensor assembly includes a permanent magnet 16 and a magnetic sensor 17. The permanent magnet 16 is arranged at the edge of one side of the photoelectric code disk 13. The magnetic sensor 17 is arranged at one end of the inner side of the housing 1 close to the photoelectric code disk 13. The magnetic sensor 17 is adapted to the permanent magnet 16. The magnetic sensor 17 is adapted to the permanent magnet 16 to identify the angular displacement (angle) and position. The principle is that the permanent magnet 16 changes its magnetic field direction or intensity as the photoelectric code disk 13 rotates; the magnetic sensor 17 senses the change in the magnetic field of the permanent magnet 16 and converts this change into a corresponding electrical signal (such as voltage or current). After processing, the electrical signal can accurately reflect the angular displacement and position information of the photoelectric code disk 13.

[0037] A handle 18 is provided above the puncture needle 6, and an electronic signal socket 20 is provided above one side of the handle 18. A data transmitter 19 is provided above the inside of the handle 18. The output end of the ultrasonic probe 7 is electrically connected to the data transmitter 19 through a wire, and the output end of the data transmitter 19 is electrically connected to the electronic signal socket 20 through a wire. When in use, the electronic signal socket 20 is connected to the ultrasonic image display, and the puncture target is located by the ultrasonic probe 7 and transmitted to the data transmitter 19, to the electronic signal socket 20, and the virtual line of the pre-puncture path is simulated according to the angle and the ultrasonic positioning data, and the virtual line is displayed on the ultrasonic image in real time.

[0038] An inlay 21 is provided at the middle position of one end of the direction regulator 4, and the puncture needle sheath 5 is adapted to the inlay 21. When in use, the puncture needle sheath 5 is installed on the inlay 21 and connected to the direction regulator 4.

[0039] A handle 22 is provided at one end of the top of the housing 1 away from the direction adjuster 4, and the handle 22 is integrally formed with the housing 1. When in use, the housing 1 is fixed on a stable device base, or the handle 22 is held to fix its position.

[0040] Embodiment 2

[0041] according to Figure 1 , 2 As shown in , 3, this embodiment proposes a precise directional navigation laparoscopic ultrasonic puncture method, including the following steps:

[0042] Pass the puncture needle 6 through the puncture needle sheath 5, and install the puncture needle sheath 5 on the direction regulator 4;

[0043] The driving shaft 8 rotates, and the linkage assembly drives the adjusting shaft 2 to rotate, thereby changing the angle of the direction regulator 4 and the puncture needle sheath 5;

[0044] The photoelectric component and the magnetic sensor component identify the adjusted angle data, and the ultrasonic probe 7 locates the puncture target;

[0045] According to the angle and ultrasound positioning data, a virtual line of the pre-puncture path is simulated and displayed on the ultrasound image in real time;

[0046] Subsequently, according to the adjustment of the angle, the virtual line of the pre-puncture path is adjusted in real time. Based on this, the puncture needle 6 is manually advanced to accurately puncture the puncture target according to the virtual line of the pre-puncture path on the ultrasound image.

[0047] The influence of the fixation and constraint of the puncture needle by the abdominal wall after the puncture needle passes through the abdominal wall is avoided: the puncture needle of the precise directional navigation laparoscopic ultrasound puncture system passes through the laparoscopic ultrasound rod-shaped body, closely adheres to the surface of the abdominal organ, and directly punctures the target inside the organ without passing through the abdominal wall and the abdominal cavity. The puncture path is short, which minimizes the influence of the abdominal wall on the puncture and the puncture error.

[0048] This avoids the impact of the puncture needle entering the side of the ultrasound probe and not being able to observe the puncture path in real time through the ultrasound image: the puncture needle of the precise directional navigation laparoscopic ultrasound puncture system is located in the midline of the laparoscopic ultrasound probe plane, and the insertion and exit paths of the puncture needle are displayed in real time on the ultrasound image throughout the entire process, greatly reducing the difficulty of targeted puncture under ultrasound guidance, and the puncture success rate can reach 100%.

[0049] Avoids the impact of abdominal organs being blocked by surrounding tissues and organs, which may cause secondary damage during puncture, or the inability to perform puncture due to the lack of a puncture path: Currently, abdominal organ puncture causes secondary damage or the inability to perform puncture due to the lack of a puncture path is because the target organ or target position is blocked by other surrounding organs such as the ribs, chest cavity, lung lobes, and intestinal tract, and the puncture needle cannot or is difficult to avoid the obstruction from outside the body to perform puncture. The puncture needle of the precise directional navigation laparoscopic ultrasound puncture system is close to the surface of the target organ, avoiding the possibility of the puncture path being blocked by other tissues and organs. All puncture target points that can be detected under ultrasound images can be accurately punctured under ultrasound positioning and precise directional navigation.

[0050] The present invention inserts the puncture needle 6 through the puncture needle sheath 5, rotates the drive shaft 8, cooperates with the linkage component to drive the adjustment shaft 2 to rotate and change the angle of the direction regulator 4 and the puncture needle sheath 5, and recognizes the adjusted angle data through the photoelectric component and the magnetic sensor component, and cooperates with the ultrasonic probe 7 for positioning, thereby simulating the virtual line of the pre-puncture path, and the puncture target can be accurately punctured according to the virtual line of the pre-puncture path on the ultrasonic image, which minimizes the influence of the abdominal wall on the puncture and the puncture error, and improves the puncture success rate. At the same time, through precise directional navigation, the puncture needle 6 can be made close to the surface of the target organ, avoiding the possibility of the puncture path being blocked by other tissues and organs. All puncture target points that can be detected under the ultrasonic image can be accurately punctured under ultrasonic positioning and precise directional navigation.

[0051] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. 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, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A precise directional navigation laparoscopic ultrasonic puncture system, comprising a housing (1) and a puncture needle sheath (5), characterized in that: An adjusting shaft (2) is rotatably provided at one end of the housing (1), and both sides of the adjusting shaft (2) penetrate the housing (1), both sides of the adjusting shaft (2) are connected to connecting rods (3), and one end of the connecting rod (3) is provided with a direction adjuster (4), the puncture needle sheath (5) is used to be installed on the direction adjuster (4), and the puncture needle sheath (5) is used to insert the puncture needle (6), and another channel inside the puncture needle sheath (5) is used to insert the ultrasound probe (7); A drive shaft (8) is rotatably provided at one end of the housing (1) away from the adjustment shaft (2), and a linkage component is connected between the drive shaft (8) and the adjustment shaft (2). A photoelectric component and a magnetic sensor component for identifying the rotation angle of the drive shaft (8) are provided at one end of the housing (1).

2. The precise directional navigation laparoscopic ultrasonic puncture system according to claim 1, characterized in that: The linkage assembly comprises a driving wheel (9) and a driven wheel (10), wherein the driving wheel (9) is arranged at a middle position on the driving shaft (8), and the driven wheel (10) is arranged at a middle position on the adjusting shaft (2), and a belt (11) is connected between the driving wheel (9) and the driven wheel (10).

3. The precise directional navigation laparoscopic ultrasonic puncture system according to claim 1, characterized in that: A driver (12) is provided at one end of one side of the housing (1), and an output end of the driver (12) is connected to the drive shaft (8).

4. The precise directional navigation laparoscopic ultrasonic puncture system according to claim 1, characterized in that: The photoelectric component comprises a photoelectric code disk (13), a light emitting device (14) and a photosensitive device (15); the photoelectric code disk (13) is arranged on one side of the driving shaft (8); the light emitting device (14) is arranged on one end of the housing (1) near the photoelectric code disk (13); the photosensitive device (15) is arranged on the other end of the housing (1) near the photoelectric code disk (13); and the photoelectric code disk (13), the light emitting device (14) and the photosensitive device (15) are adapted to each other.

5. The precise directional navigation laparoscopic ultrasonic puncture system according to claim 4, characterized in that: The magnetic sensing assembly comprises a permanent magnet (16) and a magnetic sensor (17), wherein the permanent magnet (16) is arranged at the edge of one side of the photoelectric code disk (13), and the magnetic sensor (17) is arranged at one end of the inner side of the housing (1) close to the photoelectric code disk (13), and the magnetic sensor (17) is adapted to the permanent magnet (16).

6. The precise directional navigation laparoscopic ultrasonic puncture system according to claim 1, characterized in that: A handle (18) is provided above the puncture needle (6), and an electronic signal socket (20) is provided above one side of the handle (18). A data transmitter (19) is provided above the interior of the handle (18). The output end of the ultrasonic probe (7) is electrically connected to the data transmitter (19) via a wire, and the output end of the data transmitter (19) is electrically connected to the electronic signal socket (20) via a wire.

7. The precise directional navigation laparoscopic ultrasonic puncture system according to claim 1, characterized in that: An insert (21) is provided at the middle position of one end of the direction regulator (4), and the puncture needle sheath (5) is adapted to the insert (21).

8. The precise directional navigation laparoscopic ultrasonic puncture system according to claim 1, characterized in that: A handle (22) is provided at one end of the top of the shell (1) away from the direction adjuster (4), and the handle (22) is integrally formed with the shell (1).

9. A precise directional navigation laparoscopic ultrasonic puncture method, using a precise directional navigation laparoscopic ultrasonic puncture system as described in any one of claims 1 to 8, characterized in that: The following steps are involved: Passing the puncture needle (6) through the puncture needle sheath (5), and installing the puncture needle sheath (5) on the direction regulator (4); The driving shaft (8) rotates, and the linkage assembly drives the adjusting shaft (2) to rotate, thereby changing the angles of the direction regulator (4) and the puncture needle sheath (5); The photoelectric component and the magnetic sensor component identify the adjusted angle data, and the ultrasonic probe (7) locates the puncture target; According to the angle and ultrasound positioning data, a virtual line of the pre-puncture path is simulated and displayed on the ultrasound image in real time; Subsequently, according to the adjustment of the angle, the virtual line of the pre-puncture path is adjusted in real time. Based on this, the puncture needle (6) is manually advanced to accurately puncture the puncture target according to the virtual line of the pre-puncture path on the ultrasound image.

Images