Auxiliary renal puncture device for nephrology department

Abstract

The invention relates to the field of medical instruments, in particular to an auxiliary renal puncture device for the nephrology department, which comprises a base, a rack is arranged on the base, an ultrasonic scanning arm is arranged on the rack, and an ultrasonic probe is arranged on the ultrasonic scanning arm; a puncture arm is arranged on the rack, and a puncture needle fixing clamp is arranged on the puncture arm; a controller is arranged on the rack and used for controlling the ultrasonic scanning arm to scan the waist and back of the patient; the controller is used for acquiring a scanned first imaging picture; the controller identifies the kidney and selects a puncture point; the controller continues to control the ultrasonic scanning arm to scan, a scanned second imaging picture is obtained, visual three-dimensional reconstruction is conducted on the kidney based on the first imaging picture and the second imaging picture, and space coordinate mapping is generated; and the controller is used for calculating the puncture depth of the puncture needle through space coordinate mapping based on the puncture needle image appearing in the second imaging picture. By means of the technical scheme, the positions of the puncture needle and the ultrasonic probe can be determined in the kidney puncture process.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a nephrology-assisted renal puncture device. Background Art

[0002] Renal puncture is the process of obtaining kidney tissue samples through percutaneous puncture technology combined with imaging guidance. Its development has undergone technological innovations from surgical sampling to percutaneous puncture, and from blind puncture to imaging positioning. It aims to clarify the type and degree of kidney disease through pathological examination, and provide key basis for clinical diagnosis, treatment and prognosis assessment.

[0003] During ultrasound-guided renal puncture, the patient typically lies prone or lateral to the chest. The doctor first uses the ultrasound probe to locate the target area of ​​the kidney, avoiding major blood vessels and the collecting system. The doctor then marks the puncture point and administers local anesthesia. Subsequently, under real-time ultrasound dynamic monitoring, the doctor uses an automated biopsy gun or puncture needle to rapidly penetrate the kidney through the skin, obtaining a renal tissue specimen approximately 1-2 cm long. After the puncture, pressure is applied to stop bleeding and the patient is kept under observation. The specimen is then sent for pathological analysis to determine the type of renal lesion.

[0004] Prior art, for example, patent publication number CN118948398A discloses a renal puncture positioning device that secures an ultrasound probe and puncture needle to a probe holder and slide, preventing the probe and needle from shaking during the puncture process and potentially injuring the patient's kidneys. Patent publication number CN109589145A discloses an intelligent renal puncture control system that uses a computer to receive ultrasound images and analyze them to determine the puncture point and distance. Patent publication number CN112386313A discloses a percutaneous renal biopsy positioning aid that utilizes a portable ultrasound probe to minimize operator exposure and accurately place the puncture needle into the designated area.

[0005] However, during renal puncture, due to the size of both the puncture needle and the ultrasound probe, the actual ultrasound probe detection point and the puncture needle's puncture point are different. Therefore, during subsequent punctures, the ultrasound probe's detection reference system changes, making it difficult for the ultrasound image to accurately reflect the puncture process. Therefore, in addition to locating the puncture point, it is also necessary to locate the ultrasound probe's detection point to obtain better observation results and reduce interference between the puncture needle and the ultrasound probe. During ultrasound imaging, coupling fluid is often used with ultrasound probes. While biologically safe in most cases, its physical properties can easily cause the puncture needle to slip and affect the healing process after the puncture. Summary of the Invention

[0006] In order to solve the above problems, the present invention provides a nephrology-assisted renal puncture device for assisting in determining the positions of a puncture needle and an ultrasonic probe during renal puncture.

[0007] In order to achieve the above-mentioned object, the technical solution of the present invention is as follows: a nephrology-assisted renal puncture device, comprising a base, a frame provided on the base, an ultrasonic scanning arm provided on the frame, an ultrasonic probe of a medical ultrasonic instrument detachably connected to the ultrasonic scanning arm;

[0008] The frame is provided with a puncture arm, and the puncture arm is provided with a puncture needle fixing clamp, and the puncture needle fixing clamp is used to clamp the puncture needle;

[0009] A controller is fixedly connected to the frame and is connected to the medical ultrasound instrument signal. The controller is used to control the ultrasound scanning arm to scan the patient's waist and back; the controller is used to obtain a first imaging image scanned by the ultrasound probe; the controller is used to identify the kidney in the first imaging image based on image recognition and select a puncture point; the controller is used to control the puncture arm to align the puncture needle with the puncture point;

[0010] After selecting the puncture point, the controller continues to control the ultrasound scanning arm to scan the patient's waist and back, and obtains a second imaging image scanned by the ultrasound probe. Based on the first imaging image and the second imaging image, a visual three-dimensional reconstruction of the kidney is performed to generate a spatial coordinate mapping relative to the first imaging image and the second imaging image.

[0011] The controller is used to control the puncture arm to puncture the puncture needle into the puncture point. The controller is used to calculate the puncture depth of the puncture needle through spatial coordinate mapping based on the puncture needle image appearing in the second imaging picture after the puncture needle punctures the puncture point.

[0012] The above scheme has the following beneficial effects:

[0013] 1. In this solution, an ultrasound scanning arm and puncture arm are used to hold the ultrasound probe and puncture needle. This not only eliminates the need for additional manpower to assist the physician with ultrasound imaging, but also alleviates the problem of hand-held tremors. The ultrasound scanning arm simulates the ultrasound examination process, moving along the patient's lower back to obtain ultrasound images of the patient's kidneys, allowing the user to obtain subcutaneous kidney conditions. The puncture point is selected based on the patient's renal condition.

[0014] 2. In this approach, after the puncture point is selected using ultrasound, the ultrasound scanning arm will continue to perform ultrasound imaging of the remaining area. This aims to select an optimal ultrasound probe position that allows for excellent observation of the puncture process, i.e., a second image can be acquired at that location. Visual 3D reconstruction is then used to generate a spatial coordinate mapping from the first and second images. Conventional visual 3D reconstruction requires higher-resolution images as a basis for reconstruction, allowing for more detailed matching. While ultrasound images are not of high quality, the kidney has a fixed shape and simple structure, with few detailed features, and thus can still achieve a good matching effect based on ultrasound images.

[0015] 3. In this solution, after generating the spatial coordinate mapping, even if the second imaging image obtained by the ultrasound probe has a different reference frame from the puncture point of the puncture needle, it can be reversed through the spatial coordinate mapping to obtain better depth feedback and assist the physician in determining the arrival position of the puncture tip.

[0016] Furthermore, the visual three-dimensional reconstruction is multi-eye visual reconstruction; after the controller selects the puncture point, it controls the ultrasound scanning arm to scan the patient's waist and back and records the imaging generated as the position of the ultrasound probe changes as a reference imaging picture. The multi-eye visual reconstruction is performed based on the first imaging picture, the second imaging picture and the reference imaging picture.

[0017] Beneficial Effects: The first and second images can only be reconstructed using binocular vision, resulting in low reconstruction accuracy. Since the ultrasonic scanning arm generates images from multiple perspectives during scanning, these images can be recorded as reference images and reconstructed using multi-view vision for better reconstruction results.

[0018] Furthermore, the controller is used to preset the shape parameters of the ultrasonic scanning arm, puncture arm, puncture needle and ultrasonic probe. The controller is used to obtain the rotation angle of each joint axis of the ultrasonic scanning arm and puncture arm, and to determine whether interference occurs in the movement process of the ultrasonic probe and puncture needle by introducing the rotation angle and shape parameters based on the DH algorithm.

[0019] Beneficial effects: In addition to observing the effects, it is also necessary to determine whether the ultrasound probe interferes with the motion of the puncture needle. Since the ultrasound probe and puncture needle are driven by the ultrasound scanning arm and puncture arm, respectively, by reading the rotation angles of the joint axes of the ultrasound scanning arm and puncture arm and calculating the end position using the DH algorithm, it is possible to deduce whether the motion of the ultrasound probe and puncture needle interferes.

[0020] Furthermore, the controller is further configured to determine whether the image is clear based on the continuity of grayscale gradient change curves in the first imaging picture, the second imaging picture, and the reference imaging picture.

[0021] Beneficial Effects: Image clarity affects the accuracy of subsequent puncture point determination, reconstruction, and mapping calculations, so an algorithm for determining image clarity is necessary. Because the edges of patterns in a blurred image are fuzzy, meaning the grayscale gradient is gentle, this characteristic can be used to determine image clarity.

[0022] Furthermore, the second imaging picture satisfies the requirement that there is no interference between the acquisition position of the ultrasound probe and the movement process of the puncture needle and the imaging image is clear.

[0023] Beneficial effect: The acquisition point of the second imaging image is the detection point of the ultrasound probe during the puncture process. It must not interfere with the movement of the puncture needle and the imaging must be clear, so as to provide a better puncture assistance effect.

[0024] Furthermore, a coupling liquid storage box is fixedly connected to the ultrasonic scanning arm, and a coupling liquid spray head is fixedly connected to the ultrasonic scanning arm.

[0025] Beneficial effects: If air is left between the ultrasound probe and the skin during ultrasound testing, it will significantly affect the ultrasound results. Coupling fluid can solve this problem. The coupling fluid serves as a contact bridge between the ultrasound probe and the skin to obtain better ultrasound images, which is beneficial for subsequent analysis.

[0026] Furthermore, the puncture arm is connected to the puncture needle fixing clamp through a first telescopic member, a second telescopic member is fixedly connected to the puncture arm, and a wiping head is provided at one end of the second telescopic member away from the puncture arm.

[0027] Beneficial Effects: While coupling fluid can enhance ultrasound quality, it can also affect the puncture and post-puncture recovery process. The first telescopic component controls the extension and retraction of the puncture needle retaining clamp. The second telescopic component controls the extension and retraction of the wiper head. Before puncture, the second telescopic component pushes out the wiper head to clean the coupling fluid around the puncture site, minimizing its effects.

[0028] Furthermore, the wiping head is rotatably connected to the second telescopic member, and one end of the second telescopic member away from the puncture arm is fixedly connected to a driving member for driving the wiping head to rotate.

[0029] Beneficial effect: The driving member can drive the wiping head to rotate to improve the wiping effect.

[0030] Furthermore, one end of the wiping head is fixedly connected to a pressing block.

[0031] Beneficial effect: In addition to wiping, the driving part can flip the wiping head upside down, so that the pressing block serves as the output of the second telescopic part. The pressing block can be pushed out after the puncture is completed to perform compression to stop bleeding.

[0032] Furthermore, an electrically controlled universal joint is provided on the frame, to which a light source is fixedly connected. The light source is used to mark the puncture point on the patient's waist and back through a light beam.

[0033] Beneficial effects: The electronically controlled universal joint can adjust the output direction of the light source so that the light source is aimed at the puncture point on the patient's waist and back for illumination, and can mark the location of the puncture point for the user to view and verify.

[0034] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is an axonometric diagram of an embodiment of the nephrology-assisted renal puncture device of the present invention;

[0036] Figure 2 A side view schematic diagram of an embodiment of a nephrology-assisted renal puncture device of the present invention;

[0037] Figure 3 This is a schematic diagram of an ultrasonic scanning arm of an embodiment of a nephrology-assisted renal puncture device of the present invention;

[0038] Figure 4 This is a schematic diagram of a puncture arm of an embodiment of a nephrology-assisted renal puncture device according to the present invention;

[0039] Figure 5 This is a system logic diagram of an embodiment of the nephrology-assisted renal puncture device of the present invention;

[0040] Figure 6 Schematic diagram of signal connections of an embodiment of the nephrology-assisted renal puncture device of the present invention.

[0041] The figure marks in the drawings of the specification include: 1. base; 2. frame; 3. ultrasonic scanning arm; 4. ultrasonic probe; 5. puncture arm; 6. puncture needle fixing clamp; 7. coupling liquid storage box; 8. coupling liquid injection head; 9. first telescopic member; 10. second telescopic member; 11. wiping head; 12. driving member; 13. pressing block; 14. electronically controlled universal joint; 15. light source; 16. display; 17. medical ultrasonic instrument. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the present invention, the technical solution of the present invention will be further described in detail below in conjunction with the embodiments of the present invention and the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0043] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the embodiments.

[0044] Example 1: As shown in the attached Figure 1-Figure 5 As shown: A nephrology-assisted renal puncture device includes a base 1, a frame 2 is bolted to the base 1, an ultrasonic scanning arm 3 is installed on the frame 2, and an ultrasonic probe 4 of a medical ultrasonic instrument 17 is detachably connected to the ultrasonic scanning arm 3. The medical ultrasonic instrument 17 can be a B-ultrasound instrument.

[0045] The frame 2 is provided with a puncture arm 5, and a puncture needle fixing clamp 6 is provided on the puncture arm 5 for holding the puncture needle. The ultrasonic scanning arm 3 and the puncture arm 5 are both mechanical arms, which can be 3-6 axis medical mechanical arms.

[0046] A controller is bolted to the frame 2, and the controller is connected to the medical ultrasound instrument 17 by signal. The controller is used to obtain the ultrasound image collected by the medical ultrasound instrument 17, and the controller is used to control the ultrasound scanning arm 3 to scan the patient's waist and back; the controller is used to obtain the first imaging picture scanned by the ultrasound probe 4; the controller is used to identify the kidney in the first imaging picture and select the puncture point based on image recognition; the controller is used to control the puncture arm 5 to aim the puncture needle at the puncture point.

[0047] After selecting the puncture point, the controller continues to control the ultrasonic scanning arm 3 to scan the patient's waist and back, and continuously obtains ultrasonic images during the scanning, and records the images obtained in the process as reference imaging pictures.

[0048] The controller is used to preset the shape parameters of the ultrasonic scanning arm 3, puncture arm 5, puncture needle and ultrasonic probe 4. The controller is used to obtain the rotation angle of each joint axis of the ultrasonic scanning arm 3 and puncture arm 5, and to determine whether interference occurs in the movement process of the ultrasonic probe 4 and the puncture needle based on the rotation angle and shape parameters brought in by the DH algorithm.

[0049] The controller is further configured to determine whether the image is clear based on the continuity of the grayscale gradient change curves in the first imaging picture, the second imaging picture, and the reference imaging picture.

[0050] When the number of reference imaging pictures recorded by the controller reaches the preset value, and the position of the ultrasound probe 4 moves to a position where there is no interference between the acquisition position of the ultrasound probe 4 and the movement of the puncture needle, and the image is clear, this position is selected as the detection position of the ultrasound probe 4 during the puncture process, and the image generated at this position is the second imaging picture.

[0051] A second imaging picture of the ultrasound probe 4 is obtained, and a multi-view three-dimensional reconstruction of the kidney is performed based on the first imaging picture, the second imaging picture and the reference imaging picture to generate a spatial coordinate mapping relative to the first imaging picture and the second imaging picture.

[0052] A second imaging picture of the ultrasound probe 4 is obtained, and a multi-view three-dimensional reconstruction of the kidney is performed based on the first imaging picture, the second imaging picture and the reference imaging picture to generate a spatial coordinate mapping relative to the first imaging picture and the second imaging picture.

[0053] The controller is used to control the puncture arm 5 to puncture the puncture needle into the puncture point. The controller is used to calculate the puncture depth of the puncture needle through spatial coordinate mapping based on the puncture needle image appearing in the second imaging picture after the puncture needle punctures the puncture point.

[0054] The controller signal is connected to a display 16, which is used to display the ultrasonic imaging collected by the medical ultrasonic instrument 17, as well as the ultrasonic imaging with the puncture point as a reference after multi-view three-dimensional reconstruction through spatial coordinate mapping calculation.

[0055] During use, the ultrasound scanner arm 3 and puncture arm 5 are used to hold the ultrasound probe 4 and puncture needle. This not only solves the problem of the physician needing additional manpower to assist with ultrasound imaging, but also, because the robotic arm is more stable, it can alleviate the problem of hand-held tremors. The ultrasound scanner arm 3 simulates the ultrasound examination process, moving along the patient's waist and back to obtain ultrasound images of the patient's kidneys, allowing the user to obtain the condition of the patient's subcutaneous kidneys. Once the kidneys are located, the puncture point can be selected and designed according to actual needs. For example, when performing a puncture biopsy, a clear lesion site is selected as the puncture point.

[0056] After the puncture point is selected using ultrasound, the ultrasonic scanning arm 3 will still perform ultrasonic imaging on the remaining area. The purpose is to select a good position for the ultrasonic probe 4, which can have excellent observation capabilities during the puncture process. Since the ultrasonic probe 4 and the puncture needle are driven by the ultrasonic scanning arm 3 and the puncture arm 5 respectively, the end position is calculated using the DH algorithm by reading the rotation angle of each joint axis of the ultrasonic scanning arm 3 and the puncture arm 5, thereby deducing whether the movement process of the ultrasonic probe 4 and the puncture needle interferes. The DH algorithm (Denavit-Hartenberg parameter method) is a core method used in robot kinematics to describe serial link structures. It establishes a transformation relationship between adjacent joint coordinate systems by defining a set of standardized parameters, thereby simplifying the modeling and analysis of robot kinematics. Using the DH transformation matrix, the coordinate points of each joint are calculated step by step to obtain the joint coordinate system, and the shape parameters are brought into the joint coordinate system to solve whether the puncture needle and the ultrasonic probe 4 overlap and determine whether interference will occur.

[0057] Image clarity affects the accuracy of subsequent puncture point determination, reconstruction, and mapping calculations, so an algorithm for determining image clarity is also needed. Because the edges of patterns in a blurred image are fuzzy (i.e., the grayscale gradient is gentle), this feature can be used to determine image clarity.

[0058] Visual 3D reconstruction is used to generate a spatial coordinate mapping using the first, second, and reference images. Conventional visual 3D reconstruction requires higher-resolution images as a basis for reconstruction to provide more detail for pairing. While ultrasound images are not of high quality, the kidneys have a fixed shape and simple structure, with few detailed features, and thus can still achieve a good pairing effect.

[0059] After the spatial coordinate mapping is generated, even if the second imaging image obtained by the ultrasound probe 4 is different from the reference system of the puncture point of the puncture needle, it can be reversed through the spatial coordinate mapping to obtain better depth feedback, assisting the physician in judging the arrival position of the puncture end. At the same time, the position of the ultrasound probe 4 will not interfere with the puncture process of the puncture needle, so that the puncture can be completed smoothly.

[0060] Example 2:

[0061] The difference from the above embodiment is that a coupling liquid storage box 7 is fixed to the ultrasonic scanning arm 3 by screws, and a coupling liquid spray head 8 is fixed to the ultrasonic scanning arm 3 by screws.

[0062] The puncture arm 5 is connected to the puncture needle fixing clamp 6 via a first telescopic member 9. A second telescopic member 10 is bolted to the puncture arm 5. Both the first telescopic member 9 and the second telescopic member 10 are electric push cylinders. The end of the second telescopic member 10 away from the puncture arm 5 is rotatably connected to the wiping head 11. The end of the second telescopic member 10 away from the puncture arm 5 is bolted to a driving member 12 for driving the wiping head 11 to rotate. The driving member 12 is a motor.

[0063] During ultrasonic testing, if air is left between the ultrasonic probe 4 and the skin, it will significantly affect the ultrasonic results. The coupling fluid can solve this problem. The coupling fluid serves as a contact bridge between the ultrasonic probe 4 and the skin to obtain a better ultrasonic image, which is beneficial to subsequent analysis. Although the coupling fluid can improve the ultrasonic effect, it will also affect the puncture and the recovery process after the puncture. The first telescopic component can control the ejection and retraction of the puncture needle fixing clamp 6. The second telescopic part 10 can control the ejection and retraction of the wipe head 11. Before the puncture needle punctures, the second telescopic part 10 is used to eject the wipe head 11 to clean the coupling fluid around the puncture point to reduce the impact of the coupling fluid.

[0064] The driving member 12 can drive the wiping head 11 to rotate continuously to improve the wiping effect.

[0065] Example 3:

[0066] The difference from the above embodiment is that a pressing block 13 is fixedly connected to one end of the wiping head 11 .

[0067] In addition to wiping, the drive member 12 can flip the wiping head 11 upside down, allowing the pressing block 13 to serve as the output of the second telescopic member 10. The pressing block 13 can be pushed out after puncture to apply pressure to stop bleeding. The wiping head 11 rotates back and forth within an angle of 0-60 degrees when wiping the coupling fluid. This rotation promotes wiping of the coupling fluid and prevents the pressing block 13 from contacting the coupling fluid.

[0068] Example 4:

[0069] The difference from the above embodiment is that an electric-controlled universal joint 14 is bolted to the frame 2 , and a light source 15 is bolted to the electric-controlled universal joint 14 . The light source 15 is used to mark the puncture point on the patient's waist and back with a light beam.

[0070] The electrically controlled universal joint 14 can adjust the output direction of the light source 15 so that the light source 15 is aimed at the puncture point on the patient's waist and back for illumination, and can mark the position of the puncture point for the user to view and verify.

[0071] The above specific embodiments are merely explanations of the present invention and are not limitations of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the embodiments as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A nephrology-assisted renal puncture device, characterized in that: The invention comprises a base (1), a frame (2) is provided on the base (1), an ultrasonic scanning arm (3) is provided on the frame (2), and an ultrasonic probe (4) of a medical ultrasonic instrument (17) is detachably connected to the ultrasonic scanning arm (3); The frame (2) is provided with a puncture arm (5), and the puncture arm (5) is provided with a puncture needle fixing clamp (6), and the puncture needle fixing clamp (6) is used to clamp the puncture needle; A controller is fixedly connected to the frame (2), and the controller is connected to a medical ultrasound instrument (17) by signal. The controller is used to control the ultrasound scanning arm (3) to scan the patient's waist and back; the controller is used to obtain a first imaging picture scanned by the ultrasound probe (4); the controller is used to identify the kidney in the first imaging picture and select a puncture point based on image recognition; and the controller is used to control the puncture arm (5) to align the puncture needle with the puncture point. After selecting the puncture point, the controller continues to control the ultrasonic scanning arm (3) to scan the patient's waist and back, and obtains a second imaging picture scanned by the ultrasonic probe (4), performs a visual three-dimensional reconstruction of the kidney based on the first imaging picture and the second imaging picture, and generates a spatial coordinate mapping relative to the first imaging picture and the second imaging picture; The controller is used to control the puncture arm (5) to puncture the puncture needle into the puncture point, and the controller is used to calculate the puncture depth of the puncture needle through spatial coordinate mapping based on the puncture needle image appearing in the second imaging picture after the puncture needle punctures the puncture point.

2. The nephrology-assisted renal puncture device according to claim 1, characterized in that: The visual three-dimensional reconstruction is a multi-view visual reconstruction; after the controller selects the puncture point, it controls the ultrasonic scanning arm (3) to scan the patient's waist and back, and records the imaging generated as the position of the ultrasonic probe (4) changes as a reference imaging picture. The multi-view visual reconstruction is performed based on the first imaging picture, the second imaging picture, and the reference imaging picture.

3. The nephrology-assisted renal puncture device according to claim 2, characterized in that: The controller is used to preset shape parameters of the ultrasonic scanning arm (3), the puncture arm (5), the puncture needle and the ultrasonic probe (4); the controller is used to obtain the rotation angle of each joint axis of the ultrasonic scanning arm (3) and the puncture arm (5); and based on the DH algorithm, the rotation angle and the shape parameters are introduced to determine whether interference occurs in the movement process of the ultrasonic probe (4) and the puncture needle.

4. The nephrology-assisted renal puncture device according to claim 3, characterized in that: The controller is further configured to determine whether the image is clear based on the continuity of the grayscale gradient change curves in the first imaging picture, the second imaging picture, and the reference imaging picture.

5. The nephrology-assisted renal puncture device according to claim 4, characterized in that: The second imaging picture satisfies the requirement that the acquisition position of the ultrasound probe (4) and the movement process of the puncture needle do not interfere with each other and the imaging image is clear.

6. The nephrology-assisted renal puncture device according to claim 5, characterized in that: A coupling liquid storage box (7) is fixedly connected to the ultrasonic scanning arm (3), and a coupling liquid spray head (8) is fixedly connected to the ultrasonic scanning arm (3).

7. The nephrology-assisted renal puncture device according to claim 6, characterized in that: The puncture arm (5) is connected to the puncture needle fixing clamp (6) through a first telescopic member (9), a second telescopic member (10) is fixedly connected to the puncture arm (5), and a wiping head (11) is provided at one end of the second telescopic member (10) away from the puncture arm (5).

8. The nephrology-assisted renal puncture device according to claim 7, characterized in that: The wiping head (11) is rotatably connected to the second telescopic member (10), and one end of the second telescopic member (10) away from the puncture arm (5) is fixedly connected to a driving member (12) for driving the wiping head (11) to rotate.

9. The nephrology-assisted renal puncture device according to claim 8, characterized in that: One end of the wiping head (11) is fixedly connected to a pressing block (13).

10. The nephrology-assisted renal puncture device according to claim 9, characterized in that: An electric-controlled universal joint (14) is provided on the frame (2), and a light source (15) is fixedly connected to the electric-controlled universal joint (14). The light source (15) is used to mark the puncture point on the patient's waist and back through a light beam.

Images