Puncture positioning device and puncture system

Abstract

This application discloses a puncture positioning device and puncture system, relating to the field of puncture medical devices, which can effectively improve the positioning accuracy of puncture needles. The device includes: a base frame, a telescopic member, and a puncture frame; the telescopic member is connected to the base frame and can extend and retract from the base frame along a first direction; the puncture frame is connected to the telescopic member, and the puncture frame is provided with a movable member, which can move along a second direction, and the movable member is provided with a puncture hole. This application is applicable to puncture surgery scenarios.

Description

Technical Field

[0001] This application relates to the field of puncture medical devices, specifically to a puncture positioning device and a puncture system. Background Technology

[0002] In prostate biopsy, the puncture template is placed close to the patient's perineum, and the puncture needle is inserted through the puncture holes on the template to guide the needle to the lesion for treatment. However, existing puncture templates often have puncture holes arranged in a matrix, such as a 16×16 matrix with a spacing of 5mm. In actual clinical use, the target point of the puncture needle may fall outside the blind area of ​​the matrix puncture holes. Summary of the Invention

[0003] In view of this, this application provides a puncture positioning device and puncture system, which can effectively improve the positioning accuracy of the puncture needle.

[0004] In a first aspect, embodiments of this application provide a puncture positioning device, comprising: a base frame; a telescopic member connected to the base frame, the telescopic member being able to extend and retract from the base frame along a first direction; and a puncture frame connected to the telescopic member, the puncture frame having a movable member, the movable member being able to move along a second direction, and the movable member having a puncture hole.

[0005] In one specific implementation, the telescopic member includes at least a first telescopic rod, the first telescopic rod having a first rack along the axial direction, the base frame having a first gear meshing with the first rack, the first telescopic rod being able to extend and retract from the base frame along the first direction; and / or the base frame having a first guide tube, the first telescopic rod of the telescopic member passing through the first guide tube, and the first telescopic rod being able to extend and retract from the first guide tube of the base frame along the first direction.

[0006] In one specific implementation, the puncture frame is further provided with a slide bar and a first rope; the movable member is inserted through the slide bar and can move along the slide bar, and the first end of the first rope is connected to the movable member; the puncture frame is further provided with a first limiting structure, and a first elastic member is provided between the first limiting structure and the movable member.

[0007] In one specific implementation, the puncture frame is further provided with a stop structure, and the moving member can abut against the stop structure under the elastic action of the first elastic member.

[0008] In one specific implementation, the base frame is provided with a traction member, and the second end of the first rope is connected to the traction member.

[0009] In one specific implementation, the traction member includes a second rope and a winding reel; the winding reel is connected to the base frame, a first end of the second rope is connected to a second end of the first rope, and a second end of the second rope is connected to the winding reel.

[0010] In one specific implementation, the second end of the first rope is provided with a first adapter structure, and the first end of the second rope is provided with a second adapter structure, wherein the first adapter structure and the second adapter structure are detachably connected.

[0011] In one specific embodiment, the telescopic member includes a second telescopic rod having an axially extending inner cavity, the second telescopic rod being able to extend and retract from the base frame along the first direction, and the second rope at least partially passing through the inner cavity of the second telescopic rod; and / or the base frame includes a second guide tube, the second telescopic rod of the telescopic member passing through the second guide tube, and the second telescopic rod being able to extend and retract from the second guide tube of the base frame along the first direction.

[0012] In one specific implementation, the second adapter structure passes through the inner cavity of the second telescopic rod, the inner cavity of the second telescopic rod is provided with a second limiting structure, and a second elastic element is provided between the second adapter structure and the second limiting structure.

[0013] In one specific implementation, the puncture frame is provided with a first guide wheel, through which the first rope passes; and / or the base frame is provided with a second guide wheel, through which the second rope passes.

[0014] In one specific implementation, the base frame includes an upper frame and a lower frame; a first guide tube of the base frame is connected to the upper frame and the lower frame respectively; and a second guide tube of the base frame is connected to the upper frame and the lower frame respectively.

[0015] In one specific implementation, the puncture frame is further provided with a clamping structure, and the telescopic member is provided with a snap-fit ​​structure, which can snap-fit ​​with the clamping structure.

[0016] In one specific implementation, the base frame is provided with a first motor that is throttle-connected to the telescopic member for driving the telescopic member to extend and retract from the base frame along the first direction; and / or the base frame is provided with a second motor that is throttle-connected to the moving member for driving the moving member to move along the second direction.

[0017] In one specific implementation, the puncture frame is provided with a first contact end, the telescopic member extends and retracts to a first preset position, and the first contact end contacts the base frame; and / or the puncture frame is provided with a second contact end, the movable member moves to a second preset position, and the movable member contacts the second contact end; and / or the puncture frame is provided with a third contact end, the telescopic member is provided with a wiring terminal that can contact the third contact end, and the wiring terminal is connected to a first motor and / or a second motor.

[0018] Secondly, embodiments of this application also provide a puncture system, comprising: an ultrasound device, the ultrasound device including a probe moving module, a positioning device moving module, a probe rotating module, and an ultrasound probe; the probe rotating module is connected to the probe moving module, and the probe moving module enables the probe rotating module to move along a preset direction; the ultrasound probe is connected to the probe rotating module, and the probe rotating module enables the ultrasound probe to rotate; and a puncture positioning device, the puncture positioning device being connected to the positioning device moving module of the ultrasound device, and the positioning device moving module enabling the puncture positioning device to move along a third direction; wherein, the puncture positioning device is any of the puncture positioning devices described in the embodiments of this application.

[0019] The puncture positioning device and puncture system provided in the embodiments of this application include: a base frame, a telescopic member, and a puncture frame; the telescopic member is connected to the base frame and can extend and retract from the base frame along a first direction; the puncture frame is connected to the telescopic member, and the puncture frame is provided with a movable member that can move along a second direction, and the movable member is provided with a puncture hole. This device allows the movable member to move to a target position along the first and second directions, and then the puncture hole on the movable member can be used to guide the puncture needle, thereby improving the positioning accuracy of the puncture needle. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram showing the matrix arrangement of the puncture holes in the puncture template of the current puncture system;

[0022] Figure 2 A schematic diagram of a puncture positioning device assembled in a puncture system and in an extended state, according to an embodiment of this application;

[0023] Figure 3A schematic diagram of a puncture positioning device assembled in a puncture system and in a retracted state, according to an embodiment of this application;

[0024] Figure 4 This is a schematic diagram of the extended state of a puncture positioning device provided in an embodiment of this application;

[0025] Figure 5 This is a schematic diagram of the retracted state of a puncture positioning device provided in an embodiment of this application;

[0026] Figure 6 A three-dimensional schematic diagram of a puncture positioning device provided in an embodiment of this application;

[0027] Figure 7 This is an exploded view of a puncture positioning device provided in an embodiment of this application;

[0028] Figure 8 This is a cross-sectional view of a puncture positioning device in its extended state, as provided in an embodiment of this application.

[0029] Figure 9 This is a cross-sectional view of a puncture positioning device in its retracted state, provided in an embodiment of this application.

[0030] Figure 10 This is a schematic diagram of a detachable puncture frame for a puncture positioning device provided in an embodiment of this application;

[0031] Figure 11 This is a schematic diagram of a puncture positioning device assembled in a puncture system and a detachable puncture frame, provided in an embodiment of this application.

[0032] Figure 12 This is a schematic diagram of a puncture system provided in an embodiment of this application.

[0033] Explanation of key figure labels:

[0034] 1000-Piercing system; 1001-Piercing template; 100-Piercing positioning device; 10-Base frame; 11-First guide cylinder; 12-Second guide cylinder; 121-Pin shaft; 13-First gear; 141-Second rope; 142-Winding wheel; 143-Second adapter structure; 15-Second guide wheel; 16-Upper frame; 161-Ball screw; 17-Lower frame; 171-Locking bolt; 181-First motor; 182-Second motor; 191-First cover; 192-Second cover; 193-Drive control module; 20-Telescopic component; 21-First telescopic rod; 211-First rack; 22-Second telescopic rod; 221-Second limiting structure; 222-Second elastic component; 23-Snap-fit ​​structure; 24-Terminal; 25-Cable ; 30-Puncture frame; 31-Moving component; 310-Puncture hole; 32-Sliding rod; 33-First rope; 341-First limiting structure; 342-First elastic component; 343-Stop structure; 350-First connecting structure; 36-First guide wheel; 37-Clamping structure; 381-First contact end; 382-Second contact end; 383-Third contact end; 200-Ultrasonic device; 201-Probe moving module; 2011-Support base; 2012-Screw; 2013-Slider; 2014-Lead screw motor; 202-Positioning device moving module; 2021-Cylinder; 2022-Rod; 203-Probe rotation module; 2031-Rotating bracket; 2032-Rotating tray; 2033-Gear set; 2034-Rotating motor. Detailed Implementation

[0035] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0036] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0037] like Figure 1 As shown, since the puncture holes of the current puncture template 1001 are often arranged in a matrix, such as a 16×16 matrix with a spacing of 5mm, the target point of the puncture needle may fall in the blind area outside the matrix puncture holes during prostate puncture surgery. To solve the above problem, firstly, such as Figure 2 , Figure 3 As shown, an embodiment of this application provides a puncture positioning device 100, which may include: a base frame 10, a telescopic member 20, and a puncture frame 30.

[0038] The base frame 10 can be used to support the telescopic component 20 and the puncture frame 30. The base frame 10 can be configured into a suitable shape according to the actual situation. For example, the base frame 10 can be a plate structure, a frame structure, etc., and the probe end of the ultrasound probe can be extended from one side of the base frame 10 to detect the lesion site of the patient.

[0039] like Figure 4 , Figure 5 As shown, the telescopic member 20 is connected to the base frame 10, and the telescopic member 20 can extend and retract from the base frame 10 along a first direction. The telescopic member 20 can drive the piercing frame 30 connected to the telescopic member 20 to change position along the first direction, such as the vertical direction. There are various structures for the telescopic member 20 to extend and retract from the base frame 10 along the first direction. For example, the telescopic member 20 and the base frame 10 can be driven by a screw drive, gear drive, belt drive, linear motor drive, etc., to achieve linear movement of the telescopic member 20 relative to the base frame 10, so that the telescopic member 20 can extend and retract from the base frame 10 along the first direction.

[0040] The puncture frame 30 is connected to the telescopic member 20. The puncture frame 30 is provided with a movable member 31, which can move along a second direction, and the movable member 31 is provided with a puncture hole 310. Figure 4 , Figure 5 , Figure 6 As shown, the puncture frame 30 is connected to the telescopic member 20, allowing it to move along the first direction with the telescopic member 20. The puncture frame 30 is equipped with a movable member 31, which can move along a second direction, such as a horizontal or left-right direction. This allows the position of the movable member 31 to be changed along both the first and second directions, enabling it to move to a target position. The puncture hole 310 on the movable member 31 can be aligned with the puncture site, providing precise guidance and positioning for the puncture needle.

[0041] There are various ways for the moving part 31 to move along the second direction. For example, it can also be driven by a lead screw, gear, belt, linear motor, or manual sliding to achieve linear motion of the moving part 31. The moving part 31 can have one or more puncture holes 310, such as two or more. The diameters of the multiple puncture holes 310 can be the same or different.

[0042] The puncture positioning device 100 provided in the embodiments of this application includes: a base frame 10, a telescopic member 20, and a puncture frame 30; the telescopic member 20 is connected to the base frame 10 and can extend and retract from the base frame 10 along a first direction; the puncture frame 30 is connected to the telescopic member 20, and the puncture frame 30 is provided with a movable member 31, which can move along a second direction, and the movable member 31 is provided with a puncture hole 310. This device allows the movable member 31 to move along the first and second directions to a target position, and then the puncture hole 310 on the movable member 31 can be used to guide the puncture needle, thereby improving the positioning accuracy of the puncture needle.

[0043] Optionally, in one embodiment of this application, the telescopic member 20 includes at least a first telescopic rod 21, the first telescopic rod 21 is provided with a first rack 211 along the axial direction, the base frame 10 is provided with a first gear 13 that meshes with the first rack 211, the first telescopic rod 21 can extend and retract from the base frame 10 along a first direction; and / or the base frame 10 is provided with a first guide tube 11, the first telescopic rod 21 of the telescopic member 20 passes through the first guide tube 11, and the first telescopic rod 21 can extend and retract from the first guide tube 11 of the base frame 10 along the first direction.

[0044] like Figure 7 , Figure 8 , Figure 9 As shown, the first telescopic rod 21 of the telescopic member 20 is provided with a first rack 211 along the axial direction. The first rack 211 can be integrally formed with the first telescopic rod 21, for example, by opening multiple meshing teeth along the axial direction on the outer wall of the first telescopic rod 21 to form the first rack 211. The first rack 211 can also be a split structure, for example, by connecting the first rack 211 along the axial direction on the outer wall of the first telescopic rod 21. The base frame 10 is provided with a first gear 13 that meshes with the first rack 211. The first gear 13 can be provided on the upper part of the base frame 10 and covered and protected by a first cover 191. Rotating the first gear 13 can drive the first rack 211 to move linearly, that is, drive the first telescopic rod 21 to extend and retract from the base frame 10 along a first direction.

[0045] The first gear 13 can be connected to a rotating handle so that the first gear 13 can be rotated manually using the rotating handle; the first gear 13 can also be connected to a first motor 181 so that the first motor 181 drives the first gear 13 to rotate, thereby driving the first rack 211 and the first telescopic rod 21 to move in the first direction.

[0046] In this embodiment, the base frame 10 is further provided with a first guide cylinder 11 adapted to the first telescopic rod 21. The first telescopic rod 21 of the telescopic member 20 passes through the first guide cylinder 11 to extend and retract from the first guide cylinder 11 of the base frame 10 along a first direction. This provides better protection for the first telescopic rod 21 and improves the working reliability of the telescopic member 20 during the telescopic process. An opening may be provided on the cylinder wall of the first guide cylinder 11, which communicates with the inner cavity of the first guide cylinder 11. In this way, the first gear 13 can extend into the opening and mesh with the first rack 211 on the first telescopic rod 21 for transmission.

[0047] A first direction scale may be provided on the first telescopic rod 21 along the axial direction to provide a reference for the displacement of the first telescopic rod 21 along the first direction. There may be one first telescopic rod 21, which can be used to realize the extension and retraction of the telescopic member 20 from the base frame 10 along the first direction; in some embodiments, there may also be multiple first telescopic rods 21, such as two or more, which can be used to drive the telescopic member 20 to extend and retract from the base frame 10 along the first direction simultaneously; or, the telescopic member 20 may include a first telescopic rod 21 and an auxiliary telescopic rod, which may not be equipped with a first rack 211 for transmission, but only for auxiliary support.

[0048] Optionally, in one embodiment of this application, the puncture frame 30 is further provided with a slide bar 32 and a first rope 33; the movable member 31 is inserted through the slide bar 32 and can move along the slide bar 32, and the first end of the first rope 33 is connected to the movable member 31; the puncture frame 30 is further provided with a first limiting structure 341, and a first elastic member 342 is provided between the first limiting structure 341 and the movable member 31.

[0049] The first end of the first rope 33 is connected to the moving member 31, so that the moving member 31 can move along the second direction by pulling the first rope 33, for example, by pulling the second end of the first rope 33. There are various ways to pull the second end of the first rope 33, such as manual pulling or using a pulling member set on the piercing frame 30 or the base frame 10 to pull the first rope 33. The pulling member can be a winding wheel 142, a linear motor, a lead screw mechanism, etc., so that the moving member 31 can slide along the slide bar 32 along the second direction by pulling the second end of the first rope 33.

[0050] A first elastic element 342 is provided between the first limiting structure 341 of the puncture frame 30 and the moving member 31. The first elastic element 342 can generate an elastic force on the moving member 31. Thus, when the second end of the first rope 33 is pulled to move the moving member 31 from the starting position to the predetermined position, by releasing the first rope 33, the moving member 31 can return from the predetermined position to the starting position under the action of the elastic force of the first elastic element 342.

[0051] The first elastic element 342 can be a cylindrical spring. The first elastic element 342 is located between the first limiting structure 341 and the moving member 31, such that one end of the first elastic element 342 can abut against or be connected to the first limiting structure 341, and the other end of the first elastic element 342 can abut against or be connected to the moving member 31. The first elastic element 342 can apply an elastic force to the moving member 31 in a compressed state, for example... Figure 8 , Figure 9 As shown, the two ends of the first elastic element 342 abut against the first limiting structure 341 and the moving element 31, respectively. When the second end of the first rope 33 is pulled to make the moving element 31 slide, the first elastic element 342 is compressed. When the second end of the first rope 33 is released, the first elastic element 342 in the compressed state applies an elastic force to the moving element 31 to make the moving element 31 return to the starting position. The first elastic element 342 can also apply an elastic force to the moving element 31 in a stretched state. For example, when the two ends of the first elastic element 342 are connected to the first limiting structure 341 and the moving element 31, respectively, the first elastic element 342 is stretched when the second end of the first rope 33 is pulled to make the moving element 31 slide. When the second end of the first rope 33 is released, the first elastic element 342 in the stretched state applies an elastic force to the moving element 31 to make the moving element 31 return to the starting position.

[0052] The first elastic element 342 can be one or more, such as two or more, to provide sufficient elastic force to the moving element 31; the slide bar 32 of the puncture frame 30 can be one or more, such as two or more, to make the sliding of the moving element 31 more stable and precise.

[0053] The first limiting structure 341 can be adapted to the shape and structure of the puncture frame 30. For example, the first limiting structure 341 can be a plate-like structure or a protruding structure provided on the puncture frame 30 to limit the first elastic member 342, so that the first elastic member 342 can abut against or be connected to the first limiting structure 341.

[0054] In this embodiment, as Figure 8 , Figure 9As shown, the puncture frame 30 may include a housing, with a slide bar 32, a first limiting structure 341, and a first elastic element 342 located inside the housing. A movable element 31 is partially located inside the housing, and its puncture hole 310 is located outside the housing. The first limiting structure 341 is a plate-like structure disposed at one end of the slide bar 32. The slide bar 32 includes a first slide bar and a second slide bar arranged in parallel. A first elastic element 342 is passed through each of the first and second slide bars. The two ends of the first elastic element 342 passed through the first slide bar abut against the first limiting structure 341 and the movable element 31, respectively. The two ends of the first elastic element 342 passed through the second slide bar also abut against the first limiting structure 341 and the movable element 31, respectively. The first end of a first rope 33 is connected to the movable element 31. A portion of the first rope 33 is arranged along the sliding direction of the movable element 31, and the second end of the first rope 33 can extend out of the housing for traction or connection.

[0055] Optionally, in one embodiment of this application, the puncture frame 30 is further provided with a stop structure 343, and the moving member 31 can abut against the stop structure 343 under the elastic action of the first elastic member 342.

[0056] like Figure 8 , Figure 9 As shown, the movable member 31 can abut against the stop structure 343 under the elastic action of the first elastic member 342. The position where the movable member 31 abuts against the stop structure 343 can be taken as the initial position in the second direction. Based on the distance of the movable member 31 relative to the initial position in the second direction, the displacement of the movable member 31 along the second direction can be determined. A second-direction scale can be provided on the puncture frame 30 to provide a reference for the amount of displacement of the movable member 31 along the second direction. For example, when the movable member 31 is not pulled by the first rope 33, and the movable member 31 is abutted against the stop structure 343 by the elastic action of the first elastic member 342, that is, when the movable member 31 is in the initial position in the second direction, the corresponding mark on the scale pointed to by the indicator structure on the movable member 31 can be used as a zero-position mark. It is understood that the movable member 31 can be tightly pressed against the stop structure 343 under the elastic action of the first elastic member 342. The physical contact between the movable member 31 and the stop structure 343 can ensure that the movable member 31 can return to the initial position in the second direction, thereby providing an accurate reference for the displacement of the movable member 31.

[0057] Optionally, in one embodiment of this application, such as Figure 7 , Figure 8 , Figure 9 As shown, the base frame 10 is equipped with a traction member, and the second end of the first rope 33 is connected to the traction member.

[0058] In this embodiment, the puncture frame 30 can be used as a disposable component, meaning that the puncture frame 30 used in each treatment process is not reused. The traction member is set on the base frame 10, and the second end of the first rope 33 is connected to the traction member set on the base frame 10. Figure 10 , Figure 11 As shown, the traction member mounted on the base frame 10 is reusable. Each time the puncture frame 30 is replaced, the second end of the first rope 33 of the used puncture frame 30 can be separated from the traction member on the base frame 10 to remove the used puncture frame 30 from the base frame 10. Then, the second end of the first rope 33 of the unused puncture frame 30 can be connected to the traction member on the base frame 10 to install the unused puncture frame 30 onto the base frame 10. Compared to the method of mounting the traction member on the puncture frame 30, the solution of this embodiment is advantageous in reducing costs and improving the convenience of component installation. The traction member mounted on the base frame 10 can be of various types, such as a winding wheel 142, a linear motor, a lead screw mechanism, etc., so that the moving member 31 can slide along the slide bar 32 in the second direction by pulling the second end of the first rope 33.

[0059] Optionally, in one embodiment of this application, such as Figure 7 , Figure 8 , Figure 9 As shown, the traction component includes a second rope 141 and a winding wheel 142; the winding wheel 142 is connected to the base frame 10, the first end of the second rope 141 is connected to the second end of the first rope 33, and the second end of the second rope 141 is connected to the winding wheel 142.

[0060] In this embodiment, the first rope 33 is pulled by a winding wheel 142 and a second rope 141. During the process of rotating the winding wheel 142 to move the moving part 31 from the starting position to the predetermined position, the second rope 141 can be wound around the winding wheel 142. During the process of rotating the winding wheel 142 to return the moving part 31 from the predetermined position to the starting position, the winding wheel 142 can release the wound second rope 141.

[0061] The winding reel 142 can be installed at the lower part of the base frame 10 and protected by a second cover 192. The winding reel 142 can be manually rotated to pull or release the second rope 141 and the first rope 33. For example, the winding reel 142 can be equipped with a rotating handle, and by rotating the rotating handle of the winding reel 142, the second rope 141 and the first rope 33 can be pulled or released. The winding reel 142 can also be driven by a power source. For example, the winding reel 142 can be connected to a second motor 182, and the second motor 182 drives the winding reel 142 to rotate, thereby pulling or releasing the second rope 141 and the first rope 33.

[0062] The first end of the second rope 141 is connected to the second end of the first rope 33. This connection can be a direct connection, such as directly binding the first end of the second rope 141 to the second end of the first rope 33. This connection can also be an indirect connection, such as connecting the first rope 33 and the second rope 141 to one or more intermediate components, using the one or more intermediate components to realize the connection and transmission between the first rope 33 and the second rope 141.

[0063] Optionally, in one embodiment of this application, such as Figure 7 , Figure 8 , Figure 9 As shown, the second end of the first rope 33 is provided with a first adapter structure 350, and the first end of the second rope 141 is provided with a second adapter structure 143. The first adapter structure 350 and the second adapter structure 143 are detachably connected.

[0064] The first adapter structure 350 and the second adapter structure 143 facilitate the connection between the first rope 33 and the second rope 141. The first adapter structure 350 and the second adapter structure 143 can be configured as mating structures for easy fastening. For example, the first adapter structure 350 and the second adapter structure 143 can each be a columnar structure, each with a protrusion and a concave part. The protrusion of the first adapter structure 350 can extend into the concave part of the second adapter structure 143, and the protrusion of the second adapter structure 143 can extend into the concave part of the first adapter structure 350 for mutual fastening. The first adapter structure 350 can have an axial opening to facilitate the insertion and positioning of the second end of the first rope 33, and the second adapter structure 143 can also have an axial opening to facilitate the insertion and positioning of the first end of the second rope 141. That is, through the connection of the first adapter structure 350 and the second adapter structure 143, the connection and transmission of the first rope 33 and the second rope 141 are achieved.

[0065] Optionally, in one embodiment of this application, the telescopic member 20 includes a second telescopic rod 22, the second telescopic rod 22 having an axially extending inner cavity, the second telescopic rod 22 being able to extend and retract from the base frame 10 along a first direction, and a second rope 141 at least partially passing through the inner cavity of the second telescopic rod 22; and / or the base frame 10 includes a second guide tube 12, the second telescopic rod 22 of the telescopic member 20 passing through the second guide tube 12, and the second telescopic rod 22 being able to extend and retract from the second guide tube 12 of the base frame 10 along the first direction.

[0066] like Figure 7 , Figure 8 , Figure 9As shown, in this embodiment, the telescopic member 20 is also equipped with a second telescopic rod 22. The second telescopic rod 22, together with the first telescopic rod 21, forms the support structure of the telescopic member 20, making the telescopic member 20 more stable and reliable during its telescopic movement, and improving the support stability of the piercing frame 30 mounted on the telescopic member 20. The second telescopic rod 22 can be arranged parallel to the first telescopic rod 21. The first end of the second rope 141 is connected to the second end of the first rope 33, and can pass through the inner cavity of the second telescopic rod 22. The second end of the second rope 141 is connected to the winding reel 142. This not only improves the utilization rate of the structural space, but also allows the second telescopic rod 22 to protect the second rope 141, preventing interference or disturbance from other structures. A first direction scale can also be provided on the second telescopic rod 22 along the axial direction to provide a reference for the displacement of the second telescopic rod 22 along the first direction.

[0067] In addition, the base frame 10 is also provided with a second guide tube 12 adapted to the second telescopic rod 22. The second telescopic rod 22 of the telescopic member 20 passes through the second guide tube 12 so as to extend and retract from the second guide tube 12 of the base frame 10 along the first direction. This can provide better protection for the second telescopic rod 22 and improve the working reliability of the telescopic member 20 during the telescopic process.

[0068] Optionally, in one embodiment of this application, such as Figure 7 , Figure 8 , Figure 9 As shown, the second transition structure 143 passes through the inner cavity of the second telescopic rod 22, the inner cavity of the second telescopic rod 22 is provided with a second limiting structure 221, and a second elastic element 222 is provided between the second transition structure 143 and the second limiting structure 221.

[0069] The second elastic member 222, disposed between the second adapter structure 143 and the second limiting structure 221, can apply an elastic force to the second adapter structure 143, so that the second adapter structure 143 can be located at a preset position in the inner cavity of the second telescopic rod 22, such as one end of the inner cavity of the second telescopic rod 22, under the elastic force, so as to connect the second adapter structure 143 with the first adapter structure 350. Furthermore, the second transition structure 143 can abut against one end of the inner cavity of the second telescopic rod 22 under the elastic force of the second elastic member 222. For example, the second transition structure 143 can be a stepped shaft containing a limiting section and a connecting section. The outer diameter of the limiting section is larger than the outer diameter of the connecting section. Under the elastic force of the second elastic member 222, the limiting section of the second transition structure 143 can abut against the stop portion at one end of the inner cavity of the second telescopic rod 22. The connecting section of the second transition structure 143 can at least partially protrude from the inner cavity of the second telescopic rod 22. This facilitates the engagement and connection of the protrusion and concave body provided on the connecting section of the second transition structure 143 with the concave body and protrusion of the first transition structure 350, respectively. The first transition structure 350 can be a columnar structure. The outer diameter of the first transition structure 350 can be less than or equal to the outer diameter of the connecting section of the second transition structure 143.

[0070] When the second rope 141 is not being pulled by the winding wheel 142, the second elastic member 222, located between the second limiting structure 221 and the second connecting structure 143, can apply an elastic force to the second connecting structure 143, causing the second connecting structure 143 to abut against one end of the inner cavity of the second telescopic rod 22. During the process of moving the moving member 31 from the starting position to the predetermined position using the winding wheel 142, rotating the winding wheel 142 pulls the second rope 141. The second rope 141 can drive the second connecting structure 143 to move along the inner cavity of the second telescopic rod 22, further compressing the second elastic member 222 and engaging with the second connecting structure 222. The first transition structure 350 and the first rope 33 connected to structure 143 are pulled, enabling the moving member 31 to move from the starting position to the predetermined position along the second direction. During the process of using the winding wheel 142 to return the moving member 31 from the predetermined position to the starting position, the winding wheel 142 is rotated to release the second rope 141. Under the elastic action of the second elastic member 222, the second transition structure 143 and the connected first transition structure 350 return to one end of the inner cavity of the second telescopic rod 22. Under the elastic force of the first elastic member 342, the moving member 31 returns from the predetermined position to the starting position.

[0071] The second elastic element 222 can be a cylindrical spring; the second limiting structure 221 can be configured according to the structural adaptability of the second telescopic rod 22. For example, the inner cavity of the second telescopic rod 22 can be stepped, and a section of the stepped inner cavity with a preset inner diameter can form the second limiting structure 221; or, the second limiting structure 221 can also be a detachable columnar structure, which can be provided with external threads to be adapted to the internal threads provided in the inner cavity of the second telescopic rod 22. The second limiting structure 221 can be provided with a through hole, so that the first end of the second rope 141 is connected to the second adapter structure 143, and the second rope 141 can pass through the second elastic element 222 and the second limiting structure 221 in sequence in the inner cavity of the second telescopic rod 22, and then pass out from a preset position of the second telescopic rod 22, such as the side wall or the other end of the second telescopic rod 22. The second end of the second rope 141 can be connected to the winding wheel 142.

[0072] Optionally, in one embodiment of this application, such as Figure 7 , Figure 8 , Figure 9 As shown, the puncture frame 30 is provided with a first guide wheel 36, through which the first rope 33 passes; and / or the base frame 10 is provided with a second guide wheel 15, through which the second rope 141 passes.

[0073] In the transmission path where the moving part 31 is pulled by the second rope 141 and the first rope 33, it is often necessary to arrange the direction of the ropes to achieve the expected direction of traction. The arc-shaped structure formed by the piercing frame 30 can be used to change the direction of the first rope 33, or the arc-shaped structure formed by the base frame 10 can be used to change the direction of the second rope 141 and the direction of traction. However, this method will cause significant transmission resistance and wear to the first rope 33 and the second rope 141. In this embodiment, the piercing frame 30 is provided with a first guide wheel 36, through which the first rope 33 can change its direction of routing and traction; the base frame 10 is provided with a second guide wheel 15, through which the second rope 141 can change its direction of routing and traction. The first guide wheel 36 and the second guide wheel 15 not only change the direction of traction of the first rope 33 and the second rope 141, but also help reduce the transmission resistance and wear of the first rope 33 and the second rope 141.

[0074] The first guide wheel 36 may include one guide wheel or two or more guide wheels; the second guide wheel 15 may include one guide wheel or two or more guide wheels. For example, in this embodiment, the first guide wheel 36 includes three guide wheels, and the second guide wheel 15 includes one guide wheel; the first end of the first rope 33 is connected to the moving member 31 and extends along the moving direction of the moving member 31, and then passes through the three guide wheels of the first guide wheel 36 on the piercing frame 30 in sequence, and can extend along the telescopic direction of the telescopic member 20; the second end of the first rope 33 is connected to the first adapter structure 350, and the first adapter structure 350 is detachably connected to the second adapter structure 143; the first end of the second rope 141 is connected to the second adapter structure 143 and extends along the telescopic direction of the telescopic member 20, and then passes through the second guide wheel 15 on the base frame 10 and can change the direction of the wire, so that the second end of the second rope 141 is connected to the winding wheel 142 on the base frame 10 and the second rope 141 can be wound around the winding wheel 142; wherein, the second guide wheel 15 can be threaded through the pin 121 and rotatably connected to the second guide cylinder 12 of the base frame 10.

[0075] Optionally, in one embodiment of this application, such as Figure 7 , Figure 8 , Figure 9 As shown, the base frame 10 includes an upper frame 16 and a lower frame 17; the first guide tube 11 of the base frame 10 is connected to the upper frame 16 and the lower frame 17 respectively; the second guide tube 12 of the base frame 10 is connected to the upper frame 16 and the lower frame 17 respectively.

[0076] The base frame 10 includes an upper frame 16 and a lower frame 17. The upper frame 16 and the lower frame 17 are connected by a first guide tube 11 and a second guide tube 12. This helps to reduce the structural volume and weight of the base frame 10 and facilitates the base frame 10 to move along a third direction under the driving action.

[0077] The lower frame 17 of the base frame 10 can be a plate-like structure, and the upper frame 16 of the base frame 10 can be an arc-shaped or semi-circular structure. This facilitates the probe tip of the ultrasound probe to pass through from one side of the upper frame 16 along a direction parallel to the axis of the arc-shaped or semi-circular structure for detecting the lesion site of the patient. There are various ways to connect the first guide tube 11 and the second guide tube 12 to the upper frame 16 and the lower frame 17, such as bolt connection or interference fit connection. In this embodiment, the two ends of the first guide tube 11 can be respectively inserted into the upper frame 16 and the lower frame 17. The lower frame 17 is provided with a locking bolt 171 with a handle. By tightening the locking bolt 171, the end of the locking bolt 171 abuts against the outer wall of the first guide tube 11, thereby fixing the first guide tube 11 to the lower frame 17. By adjusting the locking bolt 171 with a handle, the insertion position of the first guide tube 11 on the base frame 10 can be flexibly adjusted according to the usage situation. In this way, the distance between the upper frame 16 connected to the first guide tube 11, the telescopic member 20, and the piercing frame 30 and the lower frame 17 is also adjusted.

[0078] A set screw, such as a ball screw 161, can be installed on the upper frame 16. The ball screw 161 has external threads for threaded connection with the upper frame 16. The inner cavity of the ball screw 161 is provided with an adjustable compression spring to elastically abut against a ball located at one end of the inner cavity of the ball screw 161, allowing the ball to protrude from one end of the inner cavity of the ball screw 161. The outer wall of the first telescopic rod 21 can be provided with a groove along the telescopic direction. One end of the ball screw 161 can pass through the side wall of the first guide cylinder 11. The ball at one end of the inner cavity of the ball screw 161 can elastically abut against the groove on the outer wall of the first telescopic rod 21 inside the first guide cylinder 11. In this way, the ball screw 161 not only fixes the first guide cylinder 11 to the upper frame 16, but also constrains and limits the first telescopic rod 21, adjusting the form and positional fit error between the first telescopic rod 21, the first guide cylinder 11, and the first gear 13, so that the first telescopic rod 21 can extend and retract smoothly within the first guide cylinder 11, avoiding jamming, rotation, or shaking of the first telescopic rod 21. The connection method between the second guide cylinder 12 and the upper frame 16 and the lower frame 17 can be the same as or similar to the connection method between the first guide cylinder 11 and the upper frame 16 and the lower frame 17.

[0079] Optionally, in one embodiment of this application, such as Figure 7 As shown, the puncture frame 30 is also provided with a clamp structure 37, and the telescopic member 20 is provided with a snap-fit ​​structure 23, which can snap-fit ​​with the clamp structure 37.

[0080] The clamping structure 37 of the puncture frame 30 can be an arc-shaped structure, such as an Ω-shaped structure. The snap-fit ​​structure 23 of the telescopic member 20 can be adapted to the shape of the clamping structure 37. For example, the snap-fit ​​structure 23 is an annular groove formed on the outer wall of the end of the telescopic member 20. This annular groove can snap into the Ω-shaped structure. This method facilitates connection and disassembly, improving ease of use. There can be one or more clamping structures 37 on the puncture frame 30, and there can also be one or more snap-fit ​​structures 23 on the telescopic member 20. For example, in this embodiment, clamping structures 37 are respectively provided at the bottom of both ends of the puncture frame 30, and snap-fit ​​structures 23 are respectively provided at one end of the first telescopic rod 21 and one end of the second telescopic rod 22 of the telescopic member 20, thereby firmly connecting the puncture frame 30 and the telescopic member 20 in a way that facilitates installation and disassembly.

[0081] Optionally, in one embodiment of this application, such as Figure 7 , Figure 8 , Figure 9 As shown, the base frame 10 is provided with a first motor 181 that is driven to extend and retract from the base frame 10 along a first direction; and / or the base frame 10 is provided with a second motor 182 that is driven to move the moving member 31 along a second direction.

[0082] The first motor 181 mounted on the base frame 10 can achieve precise automated drive of the telescopic component 20, avoiding the tediousness and adjustment errors of manual drive. The first motor 181 can be connected to the telescopic component 20 for transmission. For example, the motor shaft of the first motor 181 can be directly connected to the first gear 13 mounted on the base frame 10, or connected to the first gear 13 through a reduction mechanism. The first gear 13 meshes with the first rack 211 connected to the telescopic component 20. The first motor 181 can be equipped with an encoder. In this way, by precisely controlling the rotation of the first motor 181, under the transmission action of the first gear 13, the first rack 211, etc., the telescopic component 20 can drive the piercing frame 30 mounted on the telescopic component 20 to extend or retract precisely by a certain amount in the first direction.

[0083] The second motor 182 is connected to the moving part 31 via a transmission. For example, the motor shaft of the second motor 182 can be directly connected to the winding wheel 142 mounted on the base frame 10, or connected to the winding wheel 142 via a reduction mechanism. The winding wheel 142 and the moving part 31 are connected via a rope transmission. The second motor 182 can also be equipped with an encoder, so that the rotation amount of the second motor 182 can be precisely controlled, allowing the moving part 31 on the piercing frame 30 to move a precise displacement along the first direction. By precisely controlling the rotation amount of the first motor 181 and the second motor 182, the moving part 31 can be moved to the target position in both the first and second directions.

[0084] like Figure 8 , Figure 9 As shown, in this embodiment, when the first motor 181 drives the first telescopic rod 21 of the telescopic member 20 to retract into the base frame 10, the second motor 182 can synchronously drive the winding wheel 142 to rotate to wind and retract the rope. When the first motor 181 drives the first telescopic rod 21 of the telescopic member 20 to extend out of the base frame 10, the second motor 182 can synchronously drive the winding wheel 142 to actively release the rope, so that the second telescopic rod 22 of the telescopic member 20 can extend out of the base frame 10 synchronously with the first telescopic rod 21 of the telescopic member 20; or, the second motor 182 can also be in a state without applied braking torque and electromagnetic torque, so that the winding wheel 142 can passively release the rope.

[0085] Optionally, in one embodiment of this application, such as Figure 8 , Figure 9 As shown, the puncture frame 30 is provided with a first contact end 381, and the telescopic member 20 is extended to a first preset position, where the first contact end 381 contacts the base frame 10; and / or the puncture frame 30 is provided with a second contact end 382, ​​and the moving member 31 is moved to a second preset position, where the moving member 31 contacts the second contact end 382; and / or the puncture frame 30 is provided with a third contact end 383, and the telescopic member 20 is provided with a wiring terminal 24 that can contact the third contact end 383, whereby the wiring terminal 24 is connected to the first motor 181 and / or the second motor 182.

[0086] When the telescopic member 20 extends to the first preset position, the first contact end 381 of the puncture frame 30 contacts the base frame 10. The first preset position can be used as the initial position in the first direction. Using this initial position in the first direction as a reference, the displacement of the telescopic member 20 along the first direction can be determined. In this embodiment, the first contact end 381 can be located at the bottom of the puncture frame 30. When the telescopic member 20 drives the puncture frame 30 to retract along the first direction, the first contact end 381 located at the bottom of the puncture frame 30 can be contacted and stopped by the top of the base frame 10. It can be understood that this physical contact between the first contact end 381 and the base frame 10 can ensure that the puncture frame 30 has a stable and reliable initial position in the first direction as a reference. Furthermore, the first contact end 381 may be provided with a contact or a sensor. The contact may be made of conductive materials such as metal. After the first contact end 381 of the puncture frame 30 comes into contact with the base frame 10, the contact provided by the first contact end 381 may connect the first circuit or the sensor provided by the first contact end 381 may detect the corresponding information to determine that the telescopic member 20 has been extended to the first preset position.

[0087] When the movable component 31 moves to the second preset position, the second contact end 382 of the puncture frame 30 contacts the movable component 31. The second preset position can be used as the initial position in the second direction. Using this initial position in the second direction as a reference, the displacement of the movable component 31 along the second direction can be determined. In this embodiment, the second contact end 382 can be disposed on the stop structure 343 of the puncture frame 30. When the movable component 31 is not pulled by the first rope 33, the movable component 31 abuts against the second contact end 382 disposed on the stop structure 343 under the elastic action of the first elastic member 342. It can be understood that this physical contact between the second contact end 382 and the movable component 31 can ensure that the movable component 31 has a stable and reliable initial position in the second direction as a reference. Furthermore, the second contact end 382 may be provided with a contact or a sensor. After the second contact end 382 comes into contact with the moving part 31, the contact provided by the second contact end 382 may connect the second circuit or the sensor provided by the second contact end 382 may detect the corresponding information to determine that the moving part 31 has moved to the second preset position.

[0088] The puncture frame 30 is provided with a third contact end 383, and the telescopic member 20 is provided with a wiring terminal 24 that can contact the third contact end 383. This allows the docking installation of the puncture frame 30 and the telescopic member 20 to serve as a prerequisite for connecting the power supply or signal source of the power device. For example, the third contact end 383 of the puncture frame 30 and the wiring terminal 24 of the telescopic member 20 can be respectively located at their docking points. For example, the wiring terminal 24 can be located at the end where the first telescopic rod 21 is connected to the puncture frame 30. The third contact end 383 can be a contact point. The wiring terminal 24 can be connected to the first motor 181 and / or the second motor 182 through the cable 25 passing through the first telescopic rod 21 of the telescopic member 20. After the puncture frame 30 is installed on the telescopic member 20, the contact point of the third contact end 383 and the wiring terminal 24 can connect the power supply or control signal of the first motor 181 and / or the second motor 182, so that the first motor 181 and / or the second motor 182 can be started at any time to drive the telescopic member 20 and / or the moving member 31 that is connected to the first motor 181 and / or the second motor 182.

[0089] In this embodiment, a drive control module 193 may be provided at the bottom of the base frame 10. The drive control module 193 is electrically connected to the first motor 181, the second motor 182, the sensor, etc., for power supply and communication to the first motor 181, the second motor 182, the sensor, etc.

[0090] Secondly, such as Figure 2 , Figure 3As shown, embodiments of this application also provide a puncture system 1000, including: an ultrasound device 200, the ultrasound device 200 including a probe moving module 201, a positioning device moving module 202, a probe rotating module 203, and an ultrasound probe; the probe rotating module 203 is connected to the probe moving module 201, and the probe moving module 201 enables the probe rotating module 203 to move along a preset direction; the ultrasound probe is connected to the probe rotating module 203, and the probe rotating module 203 enables the ultrasound probe to rotate; a puncture positioning device 100, the puncture positioning device 100 is connected to the positioning device moving module 202 of the ultrasound device 200, and the positioning device moving module 202 enables the puncture positioning device 100 to move along a third direction; wherein, the puncture positioning device 100 is any of the puncture positioning devices 100 described in the embodiments of this application.

[0091] The probe moving module 201 can be driven by a lead screw, for example... Figure 11 , Figure 12 As shown, the probe moving module 201 may include a support base 2011, a screw 2012, a slider 2013, and a lead screw motor 2014. The screw 2012 is rotatably connected to the support base 2011, and the slider 2013 is threadedly connected to the screw 2012. The probe rotating module 203 may be mounted on the slider 2013. Under the rotation of the lead screw motor 2014, the screw 2012 can cause the slider 2013 and the probe rotating module 203 to move along a preset direction, such as the back-and-forth direction. This allows adjustment of the position of the ultrasound probe on the probe rotating module 203 along the preset direction, so that the detection end of the ultrasound probe (not shown in the figure) can pass through one side of the base 10 of the puncture positioning device 100 to detect the lesion site of the patient. The support base 2011 of the probe moving module 201 may be provided with a preset direction scale to provide a reference for the displacement of the slider 2013 and the probe rotating module 203 along the preset direction. The lead screw motor 2014 or the lead screw may be equipped with an encoder to precisely control the displacement of the probe rotation module 203 along a preset direction.

[0092] The probe rotation module 203 can employ gear transmission. For example, the probe rotation module 203 may include a rotation bracket 2031, a rotation tray 2032, a gear set 2033, and a rotation motor 2034. The rotation bracket 2031 is fixedly connected to the probe moving module 201, and the rotation tray 2032 is rotatably connected to the rotation bracket 2031. The ultrasonic probe is mounted on the rotation tray 2032. An angle scale can be provided on the rotation bracket 2031, and an indicator can be provided on the rotation tray 2032 to provide a reference for the angular displacement of the rotation tray 2032 relative to the rotation bracket 2031. Using the rotation motor 2034 and the gear set 2033, the rotation tray 2032 is driven to rotate relative to the rotation bracket 2031, causing the ultrasonic probe to rotate by a preset angle to achieve the desired detection orientation. The rotation motor 2034 may be equipped with an encoder for precise control of the ultrasonic probe's rotation angle.

[0093] The positioning device moving module 202 can adopt a gear and rack transmission or a lead screw transmission. For example, the positioning device moving module 202 can be connected to the probe moving module 201. The positioning device moving module 202 includes at least a cylinder 2021 and a rod 2022. The puncture positioning device 100 is connected to one end of the rod 2022. The cylinder 2021 is provided with a second gear, and the rod 2022 is provided with a second rack along the axial direction. The second gear meshes with the second rack, allowing the rod 2022 to move relative to the cylinder 2021. That is, the puncture positioning device 100 connected to the rod 2022 can move along a third direction, such as the front-back direction, to adjust the position of the puncture frame 30 of the puncture positioning device 100 in the third direction, providing a better puncture guidance position for the puncture needle. A third-direction scale can be provided on the rod 2022 along the axial direction to provide a reference for the displacement of the rod 2022 in the third direction.

[0094] By adjusting the displacement of the telescopic member 20 of the puncture positioning device 100 along the first direction, the displacement of the moving member 31 of the puncture positioning device 100 along the second direction, and the displacement of the puncture positioning device 100 on the positioning device moving module 202 along the third direction, the moving member 31 is moved to the target position, and the puncture hole 310 on the moving member 31 can be aligned with the puncture site, providing precise guidance and positioning for the puncture needle.

[0095] The puncture system 1000 provided in the embodiments of this application includes: an ultrasound device 200 and a puncture positioning device 100; the ultrasound device 200 includes a probe moving module 201, a positioning device moving module 202, a probe rotating module 203, and an ultrasound probe; the probe rotating module 203 is connected to the probe moving module 201, and the probe moving module 201 enables the probe rotating module 203 to move along a preset direction; the ultrasound probe is connected to the probe rotating module 203, and the probe rotating module 203 enables the ultrasound probe to rotate; the puncture positioning device 100 is connected to the positioning device moving module 202 of the ultrasound device 200, and the positioning device moving module 202 enables the puncture positioning device 100 to move along a third direction; wherein, the puncture positioning device 100 is any of the puncture positioning devices 100 described in the embodiments of this application. The puncture positioning device 100 of the puncture system 1000 includes: a base frame 10, a telescopic member 20, and a puncture frame 30; the telescopic member 20 is connected to the base frame 10 and can extend and retract from the base frame 10 along a first direction; the puncture frame 30 is connected to the telescopic member 20, and the puncture frame 30 is provided with a movable member 31, which can move along a second direction, and the movable member 31 is provided with a puncture hole 310. This device allows the movable member 31 to move to the target position along the first and second directions, and then the puncture hole 310 on the movable member 31 can be used to guide the puncture needle, thereby improving the positioning accuracy of the puncture needle.

[0096] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. "Fixed connection" refers to a connection where the relative positional relationship remains unchanged after connection. The directional terms mentioned in the embodiments of this application, such as "upper," "lower," "inner," and "outer," are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of this application, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. "Multiple" refers to at least two.

[0097] In the embodiments of this application, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," "third," and "fourth" may explicitly or implicitly include one or more of that feature.

[0098] In the embodiments of this application, "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0099] References to "one embodiment" or "some embodiments" as used in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in another embodiment" appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0100] The embodiments of this application have been described in detail above. Those skilled in the art can design and modify the device and its usage within the scope of this application according to the on-site construction conditions.

[0101] The various embodiments in this specification are described in a related manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0102] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A puncture positioning device, characterized in that, include: Base frame; A telescopic member, which is connected to the base frame and is capable of extending and retracting from the base frame along a first direction; A puncture frame, connected to the telescopic member, the puncture frame having a movable member capable of moving along a second direction, and the movable member having a puncture hole; The puncture frame is also provided with a sliding rod and a first rope; the movable member is passed through the sliding rod and can move along the sliding rod, and the first end of the first rope is connected to the movable member; the puncture frame is also provided with a first limiting structure, and a first elastic member is provided between the first limiting structure and the movable member; The puncture frame is also provided with a stop structure, and the moving part can abut against the stop structure under the elastic action of the first elastic part; The base frame is equipped with a traction component, and the second end of the first rope is connected to the traction component; The traction component includes a second rope and a winding reel; the winding reel is connected to the base frame, a first end of the second rope is connected to a second end of the first rope, and a second end of the second rope is connected to the winding reel; The second end of the first rope is provided with a first adapter structure, and the first end of the second rope is provided with a second adapter structure. The first adapter structure and the second adapter structure are detachably connected. The telescopic component includes at least a first telescopic rod, the first telescopic rod having a first rack along the axial direction, the base frame having a first gear meshing with the first rack, and the first telescopic rod being able to extend and retract from the base frame along the first direction; The telescopic component includes a second telescopic rod having an axially extending inner cavity, the second telescopic rod being able to extend and retract from the base frame along the first direction, and the second rope being at least partially inserted through the inner cavity of the second telescopic rod; The second adapter structure passes through the inner cavity of the second telescopic rod, the inner cavity of the second telescopic rod is provided with a second limiting structure, and a second elastic element is provided between the second adapter structure and the second limiting structure; The puncture frame is provided with a first contact end, and the telescopic member extends and retracts to a first preset position, whereby the first contact end contacts the base frame; And / or the puncture frame is provided with a second contact end, the moving member moves to a second preset position, and the moving member contacts the second contact end; And / or the puncture frame is provided with a third contact end, and the telescopic member is provided with a wiring terminal that can contact the third contact end, the wiring terminal being connected to the first motor and / or the second motor.

2. The puncture positioning device according to claim 1, characterized in that, The base frame is provided with a first guide tube, and the first telescopic rod of the telescopic member passes through the first guide tube, and the first telescopic rod can extend and retract from the first guide tube of the base frame along the first direction.

3. The puncture positioning device according to claim 1, characterized in that, The base frame includes a second guide tube, and the second telescopic rod of the telescopic member passes through the second guide tube, and the second telescopic rod can extend and retract from the second guide tube of the base frame along the first direction.

4. The puncture positioning device according to claim 1, characterized in that, The puncture frame is equipped with a first guide wheel, and the first rope passes through the first guide wheel; and / or The base frame is equipped with a second guide wheel, and the second rope passes through the second guide wheel.

5. The puncture positioning device according to claim 3, characterized in that, The base frame includes an upper frame and a lower frame; a first guide tube of the base frame is connected to the upper frame and the lower frame respectively; a second guide tube of the base frame is connected to the upper frame and the lower frame respectively.

6. The puncture positioning device according to claim 1, characterized in that, The puncture frame is also provided with a clamp structure, and the telescopic component is provided with a snap-fit ​​structure, which can snap-fit ​​with the clamp structure.

7. The puncture positioning device according to claim 1, characterized in that, The base frame is equipped with a first motor that is driveably connected to the telescopic member, for driving the telescopic member to extend and retract from the base frame along the first direction; and / or The base frame is equipped with a second motor that is drively connected to the moving component to drive the moving component to move along the second direction.

8. A puncture system, characterized in that, include: An ultrasound device includes a probe moving module, a positioning device moving module, a probe rotating module, and an ultrasound probe; the probe rotating module is connected to the probe moving module and enables the probe rotating module to move along a preset direction; the ultrasound probe is connected to the probe rotating module and enables the ultrasound probe to rotate. A puncture positioning device, wherein the puncture positioning device is connected to the positioning device moving module of the ultrasound device, and the positioning device moving module enables the puncture positioning device to move along a third direction; wherein the puncture positioning device is the puncture positioning device according to any one of claims 1-7.

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