Ultrasonic-guided brachial plexus block anesthesia puncture equipment and method

Abstract

The invention relates to the field of medical equipment, in particular to ultrasonic-guided brachial plexus block anesthesia puncture equipment and method.The ultrasonic-guided brachial plexus block anesthesia puncture equipment comprises an ultrasonic instrument body, a supporting arm, an ultrasonic probe, a position adjusting assembly, a guiding assembly and a puncture assembly, the position adjusting assembly comprises a lifting rod and a horizontal moving block, and the lifting rod is slidably arranged on the supporting arm; the horizontal moving block is slidably arranged on the lifting rod, and the ultrasonic probe is arranged on the horizontal moving block; the guide assembly comprises a supporting frame, a rotating ball, a transverse driver, a longitudinal driver and a limiting frame, the supporting frame is fixed below the ultrasonic probe, the limiting frame is arranged above the supporting frame, the rotating ball is provided with a through hole and arranged between the supporting frame and the limiting frame, and the transverse driver is used for driving the rotating ball to transversely rotate; the longitudinal driver is used for driving the rotating ball to rotate longitudinally, and the puncture assembly is arranged in the through hole. The puncture position can be automatically controlled so that puncture can be conducted more accurately, and the anesthesia effect is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical equipment, in particular to an ultrasound-guided brachial plexus block anesthesia puncture device and method. BACKGROUND

[0002] With the development of economy and the increase of traffic accidents, upper limb fractures and injuries are increasing year by year. Upper limb fracture surgery is painful, and is often combined with multiple injuries, lung diseases and cerebrovascular diseases, with high risk of general anesthesia. Ultrasound-guided brachial plexus block can perfectly solve the surgical needs, and can relieve postoperative pain and reduce the occurrence of complications. Therefore, the application of ultrasound-guided brachial plexus block in upper limb surgery is increasing year by year. Single brachial plexus block has a limited time, and intense reflex pain often occurs when it subsides. Continuous brachial plexus block under ultrasound guidance can prolong the block time and reduce the occurrence of reflex pain, but continuous catheterization may cause infection, catheter shedding and nerve injury. Therefore, how to prolong the effect time and enhance the effect of single nerve block has become a hot spot. Studies have shown that oxymorphone can prolong the effect time of transversus abdominis fascia and enhance the effect. Hydrocodone can produce analgesic effect by stimulating u receptors, and is widely used in clinical analgesia due to its low incidence of adverse reactions such as skin itching and respiratory depression.

[0003] When performing ultrasound-guided brachial plexus block, the operator needs to accurately guide the puncture needle to the specified position around the target nerve and inject local anesthetic through the needle to achieve effective anesthesia or analgesia of the corresponding area. At present, this process mainly relies on manual operation of the doctor to complete the puncture. Since the puncture process completely depends on the skill level and stability of the operator, it is easily affected by slight hand tremor or angle deviation in actual operation, resulting in inaccurate puncture path and affecting the anesthesia effect. SUMMARY

[0004] The purpose of the present application is to provide an ultrasound-guided brachial plexus block anesthesia puncture device and method, which can automatically control the puncture position to perform puncture more accurately and improve the anesthesia effect.

[0005] To achieve the above-mentioned purpose, in a first aspect, the present application provides an ultrasound-guided brachial plexus block anesthesia puncture device, comprising an ultrasonic instrument body, a support arm and an ultrasonic probe, the ultrasonic probe is connected with the ultrasonic instrument body, further comprising a position adjusting assembly, a guiding assembly and a puncture assembly, the position adjusting assembly comprises a lifting rod and a horizontal moving block, the lifting rod is slidingly arranged on the support arm, the horizontal moving block is slidingly arranged on the lifting rod, and the ultrasonic probe is arranged on the horizontal moving block;

[0006] The guiding assembly comprises a support frame, a rotating ball, a lateral driver, a longitudinal driver and a limiting frame, the support frame is fixed below the ultrasonic probe, the limiting frame is arranged above the support frame, the rotating ball has a through hole, the rotating ball is arranged between the support frame and the limiting frame, the lateral driver is used for driving the rotating ball to rotate laterally, the longitudinal driver is used for driving the rotating ball to rotate longitudinally, and the puncture assembly is arranged in the through hole.

[0007] The lifting rod comprises a lifting rod body, a sliding clamping block and a supporting spring, a plurality of clamping grooves are arranged on the supporting arm, the sliding clamping block is slidingly arranged on the lifting rod body and is arranged correspondingly to the clamping grooves, and the supporting spring is arranged between the sliding clamping block and the lifting rod body.

[0008] The lifting rod further comprises a locking rod, the locking rod is threadedly connected with the lifting rod body and is close to the sliding clamping block.

[0009] The horizontal moving block comprises a moving block body, an elastic pressing rod, a pressing block and a control button, the elastic pressing rod is rotationally arranged on the moving block body and is used for pressing the pressing block against the lifting rod body, and the control button is slidingly arranged on one side of the elastic pressing rod.

[0010] The lateral driver comprises a driving wheel, a driving rod and a driving motor, the driving wheel is rotationally arranged on one side of the rotating ball and is in contact with the rotating ball, the driving rod is connected with the driving wheel, and an output end of the driving motor is connected with the driving rod.

[0011] The limiting frame comprises a frame body, a plurality of rolling balls, a sliding seat, a pneumatic cylinder, a friction block and a first elastic member, the frame body is arranged above the support frame, the sliding seat is slidingly arranged on the frame body, the friction block is arranged below the sliding seat, the first elastic member is arranged between the sliding seat and the frame body, the plurality of rolling balls are arranged below the frame body, and an output end of the pneumatic cylinder is connected with the sliding seat.

[0012] The puncture assembly comprises a puncture needle, a mounting rack and a pusher, the mounting rack is arranged in the through hole, the puncture needle is fixed in the mounting rack, and an output end of the pusher is connected with the mounting rack.

[0013] The mounting rack comprises a support, a clamping block and a sliding sleeve, the support is fixed on the rotating ball, the sliding sleeve is slidingly arranged in the support, and the clamping block is slidingly arranged on the sliding sleeve.

[0014] The ultrasonic-guided brachial plexus block anesthesia puncture device further comprises an ultrasonic image acquisition unit, a puncture information setting unit, a puncture needle adjusting unit and a puncture unit.

[0015] The ultrasonic image acquisition unit is configured to acquire three-dimensional space information of the puncture needle and the puncture part.

[0016] The puncture information setting unit is configured to set a puncture position based on the three-dimensional space information.

[0017] The puncture needle adjusting unit is configured to control the transverse driver and the longitudinal driver to adjust a puncture angle based on the puncture position.

[0018] The puncture unit is configured to control the pusher to push the puncture needle to puncture.

[0019] In a second aspect, the present application further provides an ultrasonic-guided brachial plexus block anesthesia puncture method, which adopts the ultrasonic-guided brachial plexus block anesthesia puncture device.

[0020] The present application provides an ultrasonic-guided brachial plexus block anesthesia puncture device and method,

[0021] The puncture device comprises an ultrasonic instrument body, a support arm and an ultrasonic probe electrically connected thereto, which is used to acquire and display ultrasonic image information of a target region in real time, and assist a doctor in accurately positioning a brachial plexus and its surrounding tissue structure. In order to realize flexible adjustment of the position of the probe, the device further comprises a position adjusting assembly, which comprises a lifting rod and a horizontal moving block. The lifting rod can slide up and down along the support arm, thereby realizing free adjustment in the height direction; and the horizontal moving block can slide transversely on the lifting rod, so that the ultrasonic probe can move flexibly in the horizontal direction. Through the design of the above structure, the doctor can quickly and accurately adjust the ultrasonic probe to the best scanning position according to the differences in the body types of patients and the different surgical sites.

[0022] The guide assembly provides precise guiding support for the puncture needle. The support frame is fixedly installed below the ultrasonic probe and plays a role of overall support; the limiting frame is arranged above the support frame and is used to limit the movement range of the rotating ball and keep it stable. The rotating ball is located between the support frame and the limiting frame, and a through hole is arranged in the rotating ball for the puncture needle to pass through. The rotating ball can realize transverse and longitudinal rotary movements through the transverse driver and the longitudinal driver respectively, so as to adjust the puncture angle and direction according to the needs in the operation, and ensure that the puncture path and the position of the target nerve completely match. The puncture assembly is stably arranged in the through hole of the rotating ball. Through linkage control with the guide assembly, the puncture needle can accurately enter the body according to the preset angle and depth, and effectively avoid nerve damage or anesthesia failure caused by human operation errors.

[0023] In summary, the ultrasound-guided brachial plexus block anesthesia puncture equipment provided by the present application not only has high-precision positioning and guiding capabilities, but also is convenient, safe and reliable to operate, can significantly improve anesthesia success rate and surgical efficiency, and has good clinical application prospects. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0025] Figure 1 is a structural diagram of an ultrasound-guided brachial plexus block anesthesia puncture equipment of the present application.

[0026] Figure 2 is a right side structural diagram of an ultrasound-guided brachial plexus block anesthesia puncture equipment of the present application.

[0027] Figure 3 is a horizontal cross-sectional structural diagram of an ultrasound-guided brachial plexus block anesthesia puncture equipment of the present application.

[0028] Figure 4 is a longitudinal cross-sectional structural diagram of an ultrasound-guided brachial plexus block anesthesia puncture equipment of the present application.

[0029] Figure 5 is Figure 4 a partial enlarged view of detail A.

[0030] Figure 6 is a horizontal cross-sectional structural diagram of an ultrasound-guided brachial plexus block anesthesia puncture equipment of the present application.

[0031] Figure 7 is Figure 6 a partial enlarged view of detail B.

[0032] The ultrasonic instrument body 101, the support arm 102, the ultrasonic probe 103, the lifting rod 104, the horizontal moving block 105, the puncture assembly 106, the support frame 107, the rotating ball 108, the transverse driver 109, the longitudinal driver 110, the limiting frame 111, the lifting rod body 112, the sliding clamping block 113, the support spring 114, the locking rod 115, the moving block body 116, the elastic pressing rod 117, the pressing block 118, the control button 119, the driving wheel 120, the driving rod 121, the driving motor 122, the frame 123, the ball 124, the sliding seat 125, the air cylinder 126, the friction block 127, the first elastic member 128, the puncture needle 129, the pusher 131, the support 132, the clamping block 133, and the sliding sleeve 135. DETAILED DESCRIPTION

[0033] Embodiments of the present application are described in detail below with reference to the attached drawings, which show examples of the embodiments. The same or similar components are denoted by the same or similar reference numerals throughout the drawings. The embodiments described below are exemplary and are intended to explain the present application, and should not be understood as limiting the present application.

[0034] In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, in the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0035] First Embodiment

[0036] Please refer to Figures 1-7The application provides an ultrasound-guided brachial plexus block anesthesia puncture device, which comprises an ultrasound instrument body 101, a support arm 102 and an ultrasound probe 103, the ultrasound probe 103 is connected with the ultrasound instrument body 101, further comprises a position adjusting assembly, a guiding assembly and a puncture assembly 106, the position adjusting assembly comprises a lifting rod 104 and a horizontal moving block 105, the lifting rod 104 is slidably arranged on the support arm 102, the horizontal moving block 105 is slidably arranged on the lifting rod 104, and the ultrasound probe 103 is arranged on the horizontal moving block 105; the guiding assembly comprises a support frame 107, a rotating ball 108, a transverse driver 109, a longitudinal driver 110 and a limiting frame 111, the support frame 107 is fixed below the ultrasound probe 103, the limiting frame 111 is arranged above the support frame 107, the rotating ball 108 has a through hole, the rotating ball 108 is arranged between the support frame 107 and the limiting frame 111, the transverse driver 109 is used for driving the rotating ball 108 to rotate transversely, the longitudinal driver 110 is used for driving the rotating ball 108 to rotate longitudinally, and the puncture assembly 106 is arranged in the through hole.

[0037] In the embodiment, the puncture device comprises an ultrasound instrument body 101, a support arm 102 and an ultrasound probe 103 electrically connected with the ultrasound instrument body 101, which is used for collecting and displaying the ultrasound image information of a target region in real time, and assisting a doctor in accurately positioning the brachial plexus and the surrounding tissue structure thereof. In order to realize flexible adjustment of the position of the probe, the device further comprises a position adjusting assembly, which comprises a lifting rod 104 and a horizontal moving block 105. The lifting rod 104 can slide up and down along the support arm 102, so as to realize free adjustment in the height direction; and the horizontal moving block 105 can slide transversely on the lifting rod 104, so that the ultrasound probe 103 can move flexibly in the horizontal direction. Through the design of the above structure, the doctor can quickly and accurately adjust the ultrasound probe 103 to the optimal scanning position according to the differences in the body types of patients and the differences in the operation sites.

[0038] The guiding assembly provides precise guiding support for the puncture needle 129. The support frame 107 is fixedly installed below the ultrasonic probe 103 and serves as an overall support; the limiting frame 111 is arranged above the support frame 107 and serves to limit the movement range of the rotating ball 108 and keep it stable. The rotating ball 108 is located between the support frame 107 and the limiting frame 111, and a through hole is arranged in the rotating ball 108 for the puncture needle 129 to pass through. The rotating ball 108 can realize horizontal and vertical rotary movements through the horizontal driver 109 and the vertical driver 110, so as to adjust the puncture angle and direction according to the needs in the operation, and ensure that the puncture path is completely matched with the target nerve position. The puncture assembly 106 is stably arranged in the through hole of the rotating ball 108. Through linkage control with the guiding assembly, the puncture needle 129 can accurately enter the body according to the preset angle and depth, effectively avoiding nerve damage or anesthesia failure caused by human operation errors.

[0039] In summary, the ultrasonic-guided brachial plexus block anesthesia puncture device provided by the present application not only has high-precision positioning and guiding capability, but also is convenient, safe and reliable to operate, can significantly improve the anesthesia success rate and operation efficiency, and has good clinical application prospect.

[0040] The lifting rod 104 comprises a lifting rod body 112, a sliding clamping block 113 and a supporting spring 114. A plurality of clamping grooves are arranged on the supporting arm 102. The sliding clamping block 113 is slidingly arranged on the lifting rod body 112 and is arranged corresponding to the clamping grooves. The supporting spring 114 is arranged between the sliding clamping block 113 and the lifting rod body 112.

[0041] The lifting rod body 112 serves as a main bearing structure and is vertically arranged on the supporting arm 102 and can slide up and down along the length direction thereof. A plurality of clamping grooves are arranged at intervals on the corresponding positions of the supporting arm 102 and are used for providing positioning selection of different height levels. The sliding clamping block 113 is movably arranged on the outer side of the lifting rod body 112 and corresponds to the clamping grooves. When the lifting rod body 112 is moved to the required height, the sliding clamping block 113 can be automatically or semi-automatically embedded in the corresponding clamping groove under the elastic force or manual control, so as to realize segmented adjustment and fixation in the height direction.

[0042] In order to enhance the stability and operation feeling in the lifting adjustment process, the device further comprises the supporting spring 114 arranged between the sliding clamping block 113 and the lifting rod body 112. The spring provides a restoring force for the sliding clamping block 113, so that the sliding clamping block 113 can automatically return to the initial position when not subjected to external force. On the other hand, the spring also helps to buffer the vibration or impact that may occur in the adjustment process, improves the running stability and service life of the overall device.

[0043] The lifting rod 104 further comprises a locking rod 115 which is threadedly connected with the lifting rod body 112 and is located close to the sliding block 113.

[0044] The lifting rod 104 further comprises a locking rod 115 structure for realizing the height locking function of the lifting rod body 112. The locking rod 115 is assembled with the lifting rod body 112 through a threaded connection mode and is located close to the sliding block 113. When it is needed to fix the height of the lifting rod 104, the end of the locking rod 115 can be rotated to press the sliding block 113, so that the sliding block 113 stably enters into the clamping groove.

[0045] The horizontal moving block 105 comprises a moving block body 116, an elastic pressing rod 117, a pressing block 118 and a control button 119. The elastic pressing rod 117 is rotationally arranged on the moving block body 116 and is used for pressing the pressing block 118 on the lifting rod body 112. The control button 119 is slidingly arranged on one side of the elastic pressing rod 117.

[0046] The moving block body 116 is sleeved on the outside of the lifting rod body 112 and can slide on the surface thereof in a transverse direction, thereby driving the ultrasonic probe 103 to be finely adjusted in the left-right direction. In order to realize reliable locking of the moving block body 116 at any position, the device is provided with a clamping mechanism composed of the elastic pressing rod 117 and the pressing block 118.

[0047] One end of the elastic pressing rod 117 is rotationally connected to the moving block body 116, and the other end is connected with the pressing block 118 and presses the pressing block 118 to the surface of the lifting rod body 112 through the elastic force. When it is needed to fix the position of the moving block, the pressing block 118 is tightly attached to the lifting rod body 112 under the action of the elastic pressing rod 117, so as to form sufficient friction to prevent sliding. When it is needed to adjust the position, the user only needs to press the control button 119 arranged on one side of the elastic pressing rod 117, so as to release the pressure of the pressing block 118, and the moving block body 116 can be freely slid to a new position and then locked again.

[0048] The transverse driver 109 comprises a driving wheel 120, a driving rod 121 and a driving motor 122. The driving wheel 120 is rotationally arranged on one side of the rotating ball 108 and is in contact with the rotating ball 108. The driving rod 121 is connected with the driving wheel 120. The output end of the driving motor 122 is connected with the driving rod 121.

[0049] The driving wheel 120 is rotatably arranged on one side of the rotating ball 108 and in contact with the outer surface of the rotating ball 108. The driving wheel 120 is preferably made of a material with good friction performance, such as high-molecular wear-resistant rubber or surface-treated metal, to ensure that the driving force can be effectively transmitted to the rotating ball 108 during driving and prevent the occurrence of skidding. The driving rod 121 is fixedly connected with the driving wheel 120 as an intermediate link for power transmission. One end of the driving rod 121 is coaxially connected with the driving wheel 120, and the other end is connected with the output end of the driving motor 122 for converting the power of the motor into the rotary motion of the driving wheel 120 through the lever principle.

[0050] The driving motor 122 is the core power source of the transverse driver 109, and is preferably a servo motor or a stepping motor, which has the advantages of fast response, high precision, strong controllability, etc. The output end of the driving motor 122 is connected with the driving rod 121 through a shaft coupling or gear transmission, etc., and can accurately control the rotating speed and direction of the driving wheel 120 according to the instructions from the control system, thereby driving the rotating ball 108 to rotate and adjust at any angle in the horizontal direction.

[0051] The limiting frame 111 includes a frame body 123, a plurality of balls 124, a sliding seat 125, a cylinder 126, a friction block 127, and a first elastic member 128. The frame body 123 is arranged above the supporting frame 107. The sliding seat 125 is slidingly arranged on the frame body 123. The friction block 127 is arranged below the sliding seat 125. The first elastic member 128 is arranged between the sliding seat 125 and the frame body 123. The plurality of balls 124 are arranged below the frame body 123. The output end of the cylinder 126 is connected with the sliding seat 125.

[0052] The frame 123 is set above the support frame 107 as the basic structure of the limiting frame 111, and plays a role of overall support and guidance. The internal space of the frame 123 together with the support frame 107 below encloses a limiting cavity for accommodating the rotating ball 108, which is used to limit the excessive displacement of the rotating ball 108 in the vertical direction, while allowing it to rotate freely within a certain range. In order to reduce the frictional resistance of the rotating ball 108 during rotation, improve its rotation flexibility and response speed, the limiting frame 111 further comprises a plurality of rolling balls 124, which are uniformly distributed and embedded in the lower surface of the frame 123, and are in contact with the upper outer surface of the rotating ball 108. The rolling balls 124 are made of high-hardness and low-friction materials (such as stainless steel or ceramic materials), which can roll when the rotating ball 108 rotates, thereby converting traditional sliding friction into rolling friction, significantly reducing energy consumption and wear, and prolonging the service life of the equipment. The limiting frame 111 further comprises an adjustable brake mechanism composed of a sliding seat 125 and a friction block 127. The sliding seat 125 is slidingly arranged in the top rail or sliding groove of the frame 123, and can move back and forth in the horizontal direction; and the friction block 127 is fixedly installed below the sliding seat 125 and faces the outer surface of the rotating ball 108. When it is necessary to lock the angle of the rotating ball 108, the friction block 127 can be pressed against the surface of the rotating ball 108 by the driving device to increase the rotation resistance, thereby realizing stable positioning of the angle. In order to realize automatic control of the pressure applied to the friction block 127, the limiting frame 111 is further provided with a pneumatic cylinder 126, the output end of which is connected with the sliding seat 125. By controlling the extension and retraction of the pneumatic cylinder 126, the sliding seat 125 can be driven to slide along the frame 123, and in turn the friction block 127 can be driven to approach or move away from the surface of the rotating ball 108, thereby realizing "braking" and "releasing" of the rotating state of the rotating ball 108.

[0053] The first elastic member 128 is arranged between the sliding seat 125 and the frame 123, and is usually a compression spring, which is used to provide a certain buffer force and reset force. When the pneumatic cylinder 126 retracts and the pushing force on the sliding seat 125 is removed, the first elastic member 128 can push the sliding seat 125 back to the initial position, so that the friction block 127 is separated from the surface of the rotating ball 108, and the free rotation state is restored. This elastic reset mechanism not only improves the degree of automation of the system, but also enhances the safety and reliability of the operation.

[0054] The puncture assembly 106 comprises a puncture needle 129, a mounting bracket and a pusher 131, the mounting bracket is arranged in the through hole, the puncture needle 129 is fixed in the mounting bracket, and the output end of the pusher 131 is connected with the mounting bracket.

[0055] The mounting frame is arranged inside the through hole of the rotating ball 108 as a fixed carrier of the puncture needle 129 and can be adjusted in space position synchronously with the angle change of the rotating ball 108. The puncture needle 129 is fixed in the mounting frame, so that the puncture needle 129 can keep a stable direction and posture during puncture, avoiding puncture failure or tissue damage caused by deviation or shaking. The pusher 131 is used as a power execution component, and the output end of the pusher 131 is connected with the mounting frame, so as to drive the mounting frame and the puncture needle 129 on the mounting frame to advance along a preset direction and complete the puncture action. The pusher 131 preferably adopts a high-precision linear driving device such as an electric push rod, a pneumatic cylinder or a servo motor, so that the puncture depth and speed can be set according to actual requirements, and precise control can be realized.

[0056] The mounting frame comprises a support 132, a clamping block 133 and a sliding sleeve 135. The support 132 is fixed on the rotating ball 108. The sliding sleeve 135 is slidingly arranged in the support 132. The clamping block 133 is slidingly arranged on the sliding sleeve 135.

[0057] The support 132 is a basic support structure of the whole mounting frame, and is fixed on the outside or around the through hole of the rotating ball 108, so as to play a role in overall positioning. The sliding sleeve 135 is embedded in the support 132 and can slide in the axial direction in the guide groove of the support 132, so as to drive the puncture needle 129 to advance or retreat. The clamping block 133 is slidingly arranged outside the sliding sleeve 135, and is usually arranged in pairs, so as to clamp and fix the puncture needle 129. The inner side of the clamping block 133 is provided with anti-skid lines or elastic pads, so as to enhance the clamping force of the puncture needle 129 and prevent displacement or rotation of the puncture needle 129 during puncture.

[0058] In addition, the mounting frame also has good compatibility. Different specifications of puncture needles 129 can be replaced according to different surgical requirements, and quick clamping and dismounting can be realized by adjusting the position of the clamping block 133, so as to improve the application range and clinical flexibility of the equipment.

[0059] The ultrasonic-guided brachial plexus block anesthesia puncture device further comprises an ultrasonic image acquisition unit, a puncture information setting unit, a puncture needle adjusting unit and a puncture unit. The ultrasonic image acquisition unit is used to acquire three-dimensional space information of the puncture needle 129 and the puncture part. The puncture information setting unit is used to set a puncture position based on the three-dimensional space information. The puncture needle adjusting unit is used to control the lateral driver 109 and the longitudinal driver 110 to adjust a puncture angle based on the puncture position. The puncture unit is used to control the pusher 131 to push the puncture needle 129 to perform puncture.

[0060] The ultrasound image acquisition unit is the perception core of the entire system, mainly used for real-time acquisition of anatomical structure images of the target region (such as the brachial plexus) and spatial position information of the puncture needle 129 in the body. The unit is electrically connected with the ultrasound probe 103, can receive and process echo signals from the ultrasound probe 103, generate high-resolution two-dimensional or three-dimensional images, and clearly display the distribution of key tissues such as nerves, blood vessels, and muscles and the spatial relationship of the puncture path. The unit can also automatically identify the position and direction of the tip of the puncture needle 129 through image recognition algorithms, and extract its coordinate parameters (X, Y, and Z axis directions) in three-dimensional space by combining with coordinate positioning technology, to provide accurate data support for subsequent puncture path planning.

[0061] Based on the three-dimensional spatial information provided by the ultrasound image acquisition unit, the puncture information setting unit sets the puncture path and the target point. The doctor can manually select the puncture point, puncture depth, and puncture angle on the ultrasound image through a human-computer interaction interface (such as a touch screen or a voice control system), or the system can automatically recommend the optimal puncture path according to a preset algorithm to ensure that the puncture needle 129 can accurately reach the target nerve around while avoiding important blood vessels and other sensitive structures.

[0062] The puncture needle adjustment unit, as one of the core control modules of the system, automatically adjusts the puncture angle according to the target parameters output by the puncture information setting unit. The unit is connected with the transverse driver 109 and the longitudinal driver 110, and can control the rotation angle of the rotating ball 108 in the horizontal direction (transverse direction) and the vertical direction (longitudinal direction), respectively.

[0063] Specifically, in order to ensure that the transverse (horizontal axis) and longitudinal (vertical axis) drivers independently control the rotating ball without motion interference, an orthogonal layout transmission mechanism is used, so that the mechanical axes of the two axes intersect at the ball center, and the torque directions are perpendicular to each other. The specific implementation is as follows:

[0064] The driving wheel 120 is driven by the motor 122 to apply a rotation torque around the Z axis, controlling the horizontal angle of the rotating ball 108. The other set of driving wheels of the longitudinal driver is driven by the pitch motor to apply a rotation torque around the X axis, controlling the pitch angle of the rotating ball 108. The rotation axes of the two sets of driving wheels must intersect at the ball center O point, ensuring that the torque application points are consistent and avoiding additional torque from causing the ball to deviate. The transverse and longitudinal driving wheels are respectively supported by angular contact bearings or crossed roller bearings, so that the torque of the two axes does not interfere with each other.

[0065] The ball socket (supporting structure of the rotating ball) adopts polytetrafluoroethylene (PTFE) or ceramic coating, with a friction coefficient <0.1, reducing the resistance in the non-driving direction. The ball socket is designed with 3-point or 6-point contact support to avoid single-point overload causing jamming. The contact points are pre-tightened by springs to dynamically compensate for manufacturing errors and ensure smooth rotation of the ball.

[0066] Since the simultaneous movement of the lateral and longitudinal drivers can cause coupling interference, a time-sharing driving strategy is adopted to decompose the compound movement into two steps:

[0067] The first step is the horizontal angle adjustment. The control system reads the target angle (θ, φ), calculates the required rotation amount in the horizontal direction Δθ = θ - θ0, and keeps the current pitch angle φ0 unchanged (the motor is enabled but does not output torque). The lateral motor 122 drives the rotating ball to θ, and the encoder provides real-time feedback until the error is less than 0.1°.

[0068] The second step is the pitch angle adjustment (longitudinal driving). The lateral driver keeps θ unchanged (the motor enters the position holding mode). The longitudinal motor drives the rotating ball to φ, and the encoder provides closed-loop correction. If "synchronous" movement is required (e.g., oblique puncture), the two axes can be fine-tuned alternately within milliseconds to simulate continuous movement using the high response speed of the motor.

[0069] To ensure that the actual angle of the rotating ball is consistent with the driving instruction, a multi-sensor fusion closed-loop control is required: the lateral encoder is installed on the output shaft of the lateral driving motor 122 to measure the horizontal rotation angle. The longitudinal encoder is installed on the output shaft of the longitudinal driving motor (not shown) to measure the pitch angle.

[0070] Resolution requirement: ≤0.1° to ensure the accuracy of small angle adjustment. The inertial measurement unit is directly fixed on the surface of the rotating ball 108 (to avoid interfering with the puncture needle operation). It detects the angular velocity (ω X ,ω Y ,ω2) for dynamic compensation of hysteresis. The three-axis accelerometer detects the direction of gravity to calculate the actual pitch / roll angle (φ a ,θ a ). When the encoder and IMU data deviation is >0.2°, the Kalman filter algorithm is triggered to preferentially use IMU data to correct system errors (such as drive belt slipping).

[0071] The encoder provides short-term high-precision angle feedback for motor PID control. The IMU provides long-term stability monitoring to prevent cumulative errors. If the IMU detects an abnormality (e.g., the ball is offset by external force), the system will immediately pause and recalibrate.

[0072] When the system determines the optimal puncture angle, the puncture needle adjustment unit will issue a control instruction to drive the transverse drive motor 122 to rotate the drive wheel 120, thereby adjusting the horizontal direction of the puncture needle 129; at the same time, the longitudinal drive 110 also acts synchronously to change the pitch angle of the puncture needle 129. The linkage control of the two enables the puncture needle 129 to accurately aim at the target position in three-dimensional space, ensuring the accuracy of the puncture path. During the adjustment process, the system can also monitor the current angle state in real time through the sensor feedback mechanism and compare it with the target value to realize closed-loop control, improve the adjustment accuracy and response speed.

[0073] The puncture unit is the functional module that finally performs the puncture operation, and controls the pusher 131 to advance the puncture needle 129 into the human tissue according to the set depth and speed. The unit is electrically connected with the pusher 131, and can accurately control the advancement distance and speed of the puncture needle 129 according to the puncture depth set by the doctor or the puncture path parameters automatically generated by the system, avoiding the problems of over-penetration or deviation caused by unstable manual operation. During the puncture process, the puncture unit can also dynamically adjust the advancement strategy in combination with real-time ultrasound image feedback, such as slowing down the advancement speed when approaching the nerve to prevent damage, or automatically pausing the advancement when encountering resistance and prompting the doctor to check whether the path is deviated, thereby significantly improving the safety and success rate of puncture. The puncture unit also has a reset function after puncture, which can control the pusher 131 to retreat to the initial position after puncture, facilitating the replacement of the puncture needle 129 or the next operation.

[0074] Second embodiment

[0075] The application also provides an ultrasound-guided brachial plexus block anesthesia puncture method, which adopts the ultrasound-guided brachial plexus block anesthesia puncture device.

[0076] First, the patient is placed in a suitable surgical position (such as a supine position or a lateral position), and the target area (such as the supraclavicular, axillary or intermuscular groove, etc.) to be subjected to nerve block is fully exposed. The doctor preliminarily judges the approximate position of the brachial plexus by visual inspection and palpation, and places the ultrasound probe 103 in the corresponding area for preliminary scanning.

[0077] Start the ultrasound image acquisition unit, and use the high-resolution ultrasound probe 103 to continuously scan the target area. The system performs three-dimensional reconstruction on the two-dimensional image information collected, to generate a three-dimensional anatomical model of the target area. The model can clearly show the brachial plexus bundle, surrounding blood vessels, muscle tissue and skin hierarchical structure, and mark the current spatial position of the puncture needle 129.

[0078] The doctor selects the best puncture point and depth and sets the puncture angle on the human-computer interaction interface according to the three-dimensional image provided by the system. The system can automatically generate a recommended path by the built-in algorithm to avoid important blood vessels and sensitive structures and ensure that the puncture needle 129 can accurately reach the surrounding nerves. All parameters are recorded by the puncture information setting unit and transmitted to the subsequent execution module.

[0079] After receiving the path planning data, the puncture needle adjustment unit starts to drive the horizontal driver 109 and the vertical driver 110 to work. The horizontal drive motor 122 drives the rotating ball 108 to rotate horizontally, so that the direction of the puncture needle 129 is consistent with the planned path; at the same time, the vertical driver 110 adjusts the pitch angle of the puncture needle 129, so that it matches the target nerve plane. The whole adjustment process can be completed in a few seconds, and closed-loop control is realized through sensor feedback to ensure that the angle accuracy reaches the millimeter level.

[0080] After confirming that the puncture angle is correct, the puncture unit starts the pusher 131 to advance the puncture needle 129 according to the preset speed and depth. During the advancement process, the system continuously collects ultrasound images to monitor the position of the tip of the puncture needle 129 and its relative relationship with the target nerve in real time. If there is a deviation or excessive resistance, the system will automatically alarm and pause the advancement, prompting the doctor to intervene, thereby effectively preventing nerve damage or puncture failure.

[0081] When the puncture needle 129 reaches the target position, the doctor injects local anesthetic through the puncture needle 129 to complete the brachial plexus block. After the puncture is completed, the pusher 131 automatically retreats, and the puncture assembly 106 returns to the initial position, facilitating the replacement of the puncture needle 129 or the next operation. The system can also record the data of the whole puncture process for subsequent analysis, teaching or optimization.

[0082] The above only discloses one preferred embodiment of the present application, and of course cannot limit the scope of the present application. Those skilled in the art can understand that the above-mentioned embodiment can be implemented in whole or in part, and equivalent changes made according to the claims of the present application still fall within the scope of the present application.

Claims

1. An ultrasound-guided brachial plexus block anesthesia puncture device, comprising an ultrasound instrument body, a support arm, and an ultrasound probe, wherein the ultrasound probe is connected to the ultrasound instrument body, characterized in that, It also includes a position adjustment component, a guide component, and a puncture component. The position adjustment component includes a lifting rod and a horizontal moving block. The lifting rod is slidably disposed on the support arm, the horizontal moving block is slidably disposed on the lifting rod, and the ultrasound probe is disposed on the horizontal moving block. The guiding assembly includes a support frame, a rotating ball, a lateral actuator, a longitudinal actuator, and a limiting frame. The support frame is fixed below the ultrasound probe, and the limiting frame is disposed above the support frame. The rotating ball has a through hole and is disposed between the support frame and the limiting frame. The lateral actuator is used to drive the rotating ball to rotate laterally, and the longitudinal actuator is used to drive the rotating ball to rotate longitudinally. The puncture assembly is disposed within the through hole.

2. The ultrasound-guided brachial plexus block anesthesia puncture device as described in claim 1, characterized in that, The lifting rod includes a lifting rod body, a sliding block, and a support spring. The support arm is provided with multiple slots. The sliding block is slidably disposed on the lifting rod body and is disposed corresponding to the slots. The support spring is disposed between the sliding block and the lifting rod body.

3. The ultrasound-guided brachial plexus block anesthesia puncture device as described in claim 2, characterized in that, The lifting rod also includes a locking rod, which is threadedly connected to the lifting rod body and is located near the sliding block.

4. The ultrasound-guided brachial plexus block anesthesia puncture device as described in claim 3, characterized in that, The horizontal moving block includes a moving block body, an elastic pressure rod, a clamping block, and a control button. The elastic pressure rod is rotatably mounted on the moving block body and is used to press the clamping block against the lifting rod body. The control button is slidably mounted on one side of the elastic pressure rod.

5. The ultrasound-guided brachial plexus block anesthesia puncture device as described in claim 4, characterized in that, The transverse actuator includes a drive wheel, a drive rod, and a drive motor. The drive wheel is rotatably disposed on one side of the rotating ball and contacts the rotating ball. The drive rod is connected to the drive wheel, and the output end of the drive motor is connected to the drive rod.

6. The ultrasound-guided brachial plexus block anesthesia puncture device as described in claim 5, characterized in that, The limiting frame includes a frame body, multiple balls, a sliding seat, a cylinder, a friction block, and a first elastic element. The frame body is disposed above the support frame, the sliding seat is slidably disposed on the frame body, the friction block is disposed below the sliding seat, the first elastic element is disposed between the sliding seat and the frame body, the multiple balls are disposed below the frame body, and the output end of the cylinder is connected to the sliding seat.

7. The ultrasound-guided brachial plexus block anesthesia puncture device as described in claim 6, characterized in that, The puncture assembly includes a puncture needle, a mounting bracket, and a pusher. The mounting bracket is disposed within the through hole, the puncture needle is fixed within the mounting bracket, and the output end of the pusher is connected to the mounting bracket.

8. The ultrasound-guided brachial plexus block anesthesia puncture device as described in claim 7, characterized in that, The mounting bracket includes a support, a clamping block, and a sliding sleeve. The support is fixed on the rotating ball, the sliding sleeve is slidably disposed within the support, and the clamping block is slidably disposed on the sliding sleeve.

9. The ultrasound-guided brachial plexus block anesthesia puncture device as described in claim 8, characterized in that, The ultrasound-guided brachial plexus block anesthesia puncture device also includes an ultrasound image acquisition unit, a puncture information setting unit, a puncture needle adjustment unit, and a puncture unit. The ultrasound image acquisition unit is used to acquire three-dimensional spatial information of the puncture needle and the puncture site; The puncture information setting unit is used to set the puncture position based on three-dimensional spatial information; The puncture needle adjustment unit is used to control the lateral driver and the longitudinal driver to adjust the puncture angle based on the puncture position; The puncture unit is used to control the pusher to push the puncture needle to perform puncture.

10. A method for ultrasound-guided brachial plexus block anesthesia puncture, characterized in that, The ultrasound-guided brachial plexus block anesthesia puncture device as described in claim 9 is used.

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