Semi-automatic puncture device based on ultrasonic image

Abstract

The invention discloses a semi-automatic puncture device based on an ultrasonic image. The semi-automatic puncture device comprises a puncture support, an ultrasonic detection device, a control module, a puncture needle and a pushing mechanism. The puncture support is provided with a vertical part, a transverse part and an inclined part, the vertical part is vertically arranged at one end of the transverse part, and the inclined part is obliquely arranged at the other end of the transverse part by 45 degrees. The ultrasonic detection device is arranged on the vertical part and is used for acquiring an ultrasonic image of the arm of the patient in real time. The control module is arranged on the top face of the inclined part, the pushing mechanism and the puncture needle are both arranged on the bottom face of the inclined part, and the pushing mechanism is used for pushing the puncture needle to conduct telescopic puncture along the inclined part. After the central axis of the ultrasonic image is aligned with the artery of the patient, the control module triggers the pushing mechanism to push the puncture needle to advance by 45 degrees so as to perform puncture. The puncture accuracy and safety can be improved, and the operation cost and the medical risk are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of puncture equipment, and more particularly to a semi-automatic puncture device based on an ultrasound image. BACKGROUND

[0002] It is an important disease monitoring and treatment method to guide a puncture needle to a target site of a human body under ultrasound guidance to achieve cytological biopsy, histological biopsy, cyst aspiration and treatment. The puncture needle is an important tool in such ultrasound-guided surgery. The current puncture for biopsy is affected by the accuracy and stability of the operation action of medical personnel, and the puncture position and puncture angle need to be decided in advance during the puncture process, which requires the participation of artificial technical experience to perform the puncture, and the accuracy of the result of artificial decision cannot be stably guaranteed. At the same time, artificial puncture has the risk of injury and infection to medical personnel. Therefore, it is of great significance to improve the accuracy and automation level of puncture and increase the safety of puncture. SUMMARY

[0003] The present application provides a semi-automatic puncture device based on an ultrasound image, which solves the problems of accuracy and safety in the puncture process of the existing puncture needle, improves the automation level of the puncture needle puncture, improves the accuracy and safety of the puncture, and reduces the cost of surgery and the risk of medical treatment.

[0004] To achieve the above object, the present application provides the following technical scheme:

[0005] A semi-automatic puncture device based on an ultrasound image, comprising: a puncture support, an ultrasound detection device, a control module, a puncture needle and a pushing mechanism;

[0006] The puncture support is provided with a vertical part, a horizontal part and an inclined part, the vertical part is vertically arranged at one end of the horizontal part, and the inclined part is arranged at the other end of the horizontal part at an angle of 45° and forms an angle of 45° with the lower end of the vertical part;

[0007] The ultrasound detection device is arranged on the vertical part and is used for acquiring an ultrasound image of a patient's arm in real time;

[0008] The control module is arranged on the top surface of the inclined part and is signal connected with the ultrasound detection device and the pushing mechanism, respectively;

[0009] The pushing mechanism and the puncture needle are arranged on the bottom surface of the inclined part, and the pushing mechanism is used for pushing the puncture needle to stretch and retract along the inclined part;

[0010] The control module triggers the pushing mechanism to push the puncture needle to advance at an angle of 45° after the central axis of the ultrasound image is aligned with the patient's artery to perform puncture.

[0011] Preferably, the control module comprises a controller, a display screen and a trigger key;

[0012] The controller is in signal connection with the display screen and the trigger key respectively, and the display screen displays the ultrasonic image detected by the ultrasonic detection device in real time;

[0013] The medical staff presses the trigger key after aligning the axis in the ultrasonic image with the artery to trigger the pushing mechanism to perform the puncture action.

[0014] Preferably, the pushing mechanism comprises an electric push rod and a push rod base;

[0015] The push rod base is in a stepped structure, and is provided with a through hole in the axial direction, one end of the electric push rod penetrates through the through hole, and the other end of the electric push rod is connected with the push rod base;

[0016] The push rod base is provided with a threaded hole, and the threaded hole is bolted with the back surface of the inclined part of the puncture support;

[0017] The electric push rod is provided with a motor inside to drive the push rod of the electric push rod to perform axial extension and retraction pushing along the through hole.

[0018] Preferably, the pushing mechanism further comprises a puncture needle base and a sliding groove;

[0019] The top of the puncture needle base is provided with a mounting groove, and the puncture needle is arranged in the mounting groove;

[0020] The sliding groove is arranged at the back of the inclined part and at the front end of the push rod base, and the sliding groove is provided with a concave track inside;

[0021] The two side edges of the puncture needle base are slidably arranged in the sliding groove through the concave track.

[0022] Preferably, the puncture needle base comprises a sliding block, a fixing seat and a support plate;

[0023] The fixing seat and the support plate are coaxially arranged on the top surface of the sliding block, and the fixing seat is provided with the mounting groove on the top surface in the axial direction;

[0024] The sliding block is slidably arranged in the concave track in the sliding groove;

[0025] The top of the support plate is provided with a groove, the groove corresponds to the mounting groove, and a gap is arranged between the support plate and the fixing seat to limit the needle cylinder of the puncture needle;

[0026] When the electric push rod pushes the puncture needle to puncture, the needle head of the puncture needle extends forward along the groove.

[0027] Preferably, the patch pressure sensor is further included.

[0028] The end of the mounting groove away from the support plate is slidably provided with a clamping plate, one side of the clamping plate is connected with the end head of the electric push rod, and the other side of the clamping plate is connected with the pushing end of the puncture needle.

[0029] The patch pressure sensor is arranged in the clamping plate to acquire the pushing pressure of the push rod on the puncture needle in real time.

[0030] Preferably, the sliding groove is a square structure, the top surface of the sliding groove is provided with a recess, the bottom surface of the sliding groove is provided with the concave track, and an iron sheet is pasted in the recess.

[0031] Preferably, the electromagnet is further included.

[0032] The electromagnet is arranged on the top surface of the inclined part and close to one end of the puncture needle, the electromagnet is electrically connected with the control module, the electromagnet generates a magnetic attraction force on the iron sheet of the sliding groove when the electromagnet is electrified, so that the sliding groove is adsorbed on the inclined part;

[0033] The control module controls the electromagnet to lose magnetism when an abnormality occurs, so that the sliding groove falls off from the inclined part, thereby terminating puncture.

[0034] Preferably, the camera is further included.

[0035] The camera is arranged on the vertical part and arranged on two side surfaces of the vertical part respectively with the ultrasonic detection device.

[0036] The camera is signal connected with the control module, and the camera is used to shoot images of a needle entry area in real time.

[0037] Preferably, the top surface of the inclined part is provided with a PCB board fixing groove and an electromagnet fixing groove, and the vertical part is provided with a camera fixing seat and a mounting cavity.

[0038] The PCB board fixing groove is used to arrange the corresponding PCB board of the control module.

[0039] The electromagnet fixing groove is a circular groove structure and is used to embed the electromagnet.

[0040] The camera fixing seat is a flat plate structure and is provided with a mounting hole, and the camera is fixedly connected with the camera fixing seat through the mounting hole.

[0041] The camera fixing seat is horizontally arranged on one side of the vertical part facing the inclined part.

[0042] The vertical part is a left-right split structure, and the left-right split parts are provided with a slot, and the mounting cavity is formed when the left-right split parts are combined, and the ultrasonic detection device is arranged in the mounting cavity.

[0043] The present application provides a kind of based on ultrasound image's semi-automatic puncture device, by setting ultrasonic detection device and push mechanism in puncture support, user controls push mechanism driven puncture needle to puncture using the ultrasound image collected by ultrasonic detection device, solve the accuracy and safety problem existing in the puncture process of existing puncture needle, can improve the automation level of puncture needle puncture, improve the accuracy and safety of puncture, reduce operation cost and medical risk. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the specific embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows.

[0045] Figure 1 It is a schematic diagram of a semi-automatic puncture device based on ultrasound image provided by the present application.

[0046] Figure 2 It is a side view schematic diagram of a semi-automatic puncture device based on ultrasound image provided by the present application.

[0047] Figure 3 It is a structural schematic diagram of puncture support provided by the present application.

[0048] Figure 4 It is a combined front view schematic diagram of puncture needle base and sliding groove provided by the present application.

[0049] Figure 5 It is a combined back view schematic diagram of puncture needle base and sliding groove provided by the present application.

[0050] Figure 6 It is an explosion schematic diagram of the combination of puncture needle base and sliding groove provided by the present application.

[0051] Figure 7 It is a structural schematic diagram of control module provided by the present application. DETAILED DESCRIPTION

[0052] In order to make the person in the art better understand the scheme of the embodiments of the present application, the embodiments of the present application will be further described in detail below in combination with the drawings and embodiments.

[0053] To address the accuracy and safety issues in current needle puncture procedures, this invention provides a semi-automatic puncture device based on ultrasound imaging. This device solves the accuracy and safety problems in existing needle puncture procedures, improves the automation level of needle puncture, enhances puncture accuracy and safety, and reduces surgical costs and medical risks.

[0054] like Figures 1-6 As shown, a semi-automatic puncture device based on ultrasound imaging includes: a puncture support 1, an ultrasound detection device, a control module 2, a puncture needle 4, and a pushing mechanism 3. The puncture support 1 has a vertical portion 12, a horizontal portion 11, and an inclined portion 13. The vertical portion 12 is vertically disposed at one end of the horizontal portion 11, and the inclined portion 13 is inclined at 45° to the other end of the horizontal portion 11, forming a 45° angle with the lower end of the vertical portion 12. The ultrasound detection device is disposed on the vertical portion 12 and is used to acquire ultrasound images of the patient's arm in real time. The control module 2 is disposed on the top surface of the inclined portion 13 and is signal-connected to both the ultrasound detection device and the pushing mechanism 3. The pushing mechanism 3 and the puncture needle 4 are both disposed on the bottom surface of the inclined portion 13, and the pushing mechanism 3 is used to push the puncture needle 4 to extend and retract along the inclined portion 13 for puncture. After the control module 2 aligns the central axis of the ultrasound image with the patient's artery, it triggers the pushing mechanism 3 to advance the puncture needle at a 45° angle to perform the puncture.

[0055] Specifically, the control module can be integrated onto a PCB circuit board, positioned on the top surface of the inclined section, and connected to the pushing mechanism and the ultrasound detection device. After assembling the ultrasound detection device with the puncture support, the user holds the entire puncture support against their arm. The ultrasound detection device begins to acquire real-time ultrasound images of the arm. The user subjectively judges the artery location based on their experience and manually aligns the ultrasound image's central axis with the artery. At this point, the user presses the trigger button, and the pusher mechanism begins to push the puncture needle forward at a 45° angle, piercing the skin to puncture the radial artery detected by the ultrasound detection device. This device improves the automation level of puncture needle insertion, enhances the accuracy and safety of puncture, and reduces surgical costs and medical risks.

[0056] Furthermore, the control module includes: a controller, a display screen, and a trigger key; the controller is signal-connected to the display screen and the trigger key respectively, and the display screen displays the ultrasound image detected by the ultrasound detection device in real time; after the medical staff aligns the axis with the artery in the ultrasound image, they press the trigger key to trigger the pushing mechanism to perform a puncture action.

[0057] In one embodiment, an STM32 microcontroller can be used as the microprocessor for the control module, such as... Figure 7As shown, the device takes STM32 as the control core and is connected with the ultrasonic detection device.

[0058] Further, the pushing mechanism comprises an electric push rod 32 and a push rod base 31; the push rod base 31 is in a stepped structure and is provided with a through hole in the axial direction, one end of the electric push rod 32 penetrates through the through hole, and the other end of the electric push rod 32 is connected with the push rod base 31. The push rod base 31 is provided with a threaded hole, and the threaded hole is bolted with the back of the inclined part 13 of the puncture support. The electric push rod 32 is provided with a motor inside to drive the push rod of the electric push rod 32 to axially extend and retract along the through hole.

[0059] Specifically, a fixed through hole is reserved at the top end of the inclined part, and the push rod base is fixed in the inclined part through the fixed through hole and bolts. The push rod base is provided with a through hole, and the push rod needs to be inserted into the through hole reserved in the inclined part during assembly.

[0060] Further, the pushing mechanism further comprises a puncture needle base 33 and a sliding groove 34. The top of the puncture needle base 33 is provided with a mounting groove, and the puncture needle 4 is arranged in the mounting groove. The sliding groove 34 is arranged at the back of the inclined part and at the front end of the push rod base 31, and the sliding groove 34 is provided with a concave track inside. The two side edges of the puncture needle base 33 are slidably arranged in the sliding groove 34 through the concave track.

[0061] Further, the puncture needle base 33 comprises a sliding block 36, a fixing seat and a support plate 35. The fixing seat and the support plate 35 are coaxially arranged on the top surface of the sliding block 36, and the top surface of the fixing seat is provided with the mounting groove in the axial direction; the sliding block 36 is slidably arranged in the concave track in the sliding groove. The top of the support plate 35 is provided with a groove, which corresponds to the mounting groove, and a gap is arranged between the support plate 35 and the fixing seat to limit the needle cylinder of the puncture needle. When the electric push rod 32 pushes the puncture needle to puncture, the needle head of the puncture needle extends forward along the groove.

[0062] The device further comprises a patch pressure sensor; one end of the mounting groove away from the support plate is slidably provided with a clamping plate 37, one side of the clamping plate 37 is connected with the end of the electric push rod, and the other side of the clamping plate 37 is connected with the pushing end of the puncture needle.

[0063] The patch pressure sensor is arranged in the clamping plate 37 to acquire the pushing pressure of the push rod on the puncture needle in real time.

[0064] Further, the sliding groove 34 is square structure, the top surface of the sliding groove 34 is provided with a pit, the bottom surface of the sliding groove 34 is provided with the concave track, the pit is pasted with an iron sheet.

[0065] The device further comprises an electromagnet; the electromagnet is arranged on the top surface of the inclined part and close to one end of the puncture needle, the electromagnet is electrically connected with the control module, and when the electromagnet is electrified, the electromagnet generates magnetic attraction force on the iron sheet of the sliding groove, so that the sliding groove is adsorbed on the inclined part. The control module controls the electromagnet to lose magnetism when an abnormality occurs, so that the sliding groove falls off from the inclined part, thereby terminating puncture.

[0066] Specifically, when the device is used, it is held by medical staff, and is moved along the patient's arm to find the puncture position. After selecting the puncture position, the medical staff presses the trigger key, so that the push rod pushes the puncture needle to pierce the patient's skin in a direction of 45° with the patient's arm, and continues to puncture to the radial artery position detected by the ultrasonic detection device. During this process, if the pressure information collected by the pressure sensor is judged as an abnormal condition, the electromagnet quickly loses magnetism to make the sliding groove fall off from the inclined part, thereby aborting the needle insertion.

[0067] The device further comprises a camera 6; the camera 6 is arranged on the vertical part 12, and is arranged on the two side surfaces of the vertical part respectively with the ultrasonic detection device; the camera 6 is signal connected with the control module, and the camera is used for real-time shooting of the image of the needle insertion area.

[0068] Further, the top surface of the inclined part 13 is provided with a PCB board fixing groove 131 and an electromagnet fixing groove 132, and the vertical part 12 is provided with a camera fixing seat 121 and a mounting cavity.

[0069] The PCB board fixing groove 131 is used for arranging the corresponding PCB board of the control module.

[0070] The electromagnet fixing groove 132 is a circular groove structure, which is used for embedding the electromagnet.

[0071] The camera fixing seat 121 is a flat plate structure, which is provided with a mounting hole, and the camera is fixedly connected with the camera fixing seat through the mounting hole. The camera fixing seat 121 is horizontally arranged on one side surface of the vertical part 12 facing the inclined part.

[0072] The vertical part is a left-right split structure, and the left-right split parts are provided with grooves, and form the mounting cavity when combined, and the ultrasonic detection device is arranged in the mounting cavity.

[0073] In practical applications, the vertical part can be printed by a 3D printer to form a shaped product, so that the formed irregularly shaped recess mounting cavity is completely covered and fitted with the ultrasonic detection device, and the ultrasonic probe is wrapped together with the back plate of the support. The left and right parts of the vertical part can be fixed together by a strap passing through the component, and the through holes reserved on both sides are used to firmly fit the ultrasonic probe, so that each component mounted on the component fixing platform is integrated with the ultrasonic probe. The vertical part reserves a fixing hole position of the camera fixing seat, and the camera fixing seat can be fixed on the vertical part through a screw. One side of the vertical part reserves a mounting position of a trigger button, and the trigger button is signal-connected with the control module, so as to control the start and stop of the puncture action.

[0074] The inclined part of the puncture support is 45 degrees with the vertical part, and is provided with a pushing mechanism, an STM32 control module and a fixed groove of an electromagnet, and is mainly used to mount and fix each component carried in the inclined direction. Among them, the STM32 control module and the electromagnet are on the top side of the inclined part, and the pushing mechanism is on the bottom side of the inclined part. In addition, a puncture needle base and a mounting groove on the puncture needle base are also arranged on the inclined part, but they are not directly mounted on the inclined part, but are attracted by the electromagnet on the bottom side of the inclined part. The puncture needle base is used to clamp the puncture needle, and the puncture needle is arranged in the mounting groove and is pushed by the rear pushing rod to slide forward along the mounting groove. At the same time, a placement hole position of a patch pressure sensor is reserved at the end of the puncture needle base, and when the pushing rod pushes the puncture needle to move in the mounting groove, the patch pressure sensor can send the interaction force between the pushing rod and the puncture needle in real time, so as to judge whether the puncture process is normal.

[0075] It can be seen that the present application provides a kind of semi-automatic puncture device based on ultrasonic image, by setting ultrasonic detection device and pushing mechanism on puncture support, user controls pushing mechanism to drive puncture needle to puncture using ultrasonic image collected by ultrasonic detection device, solve the problem of accuracy and safety in the existing puncture needle puncture process, can improve the automation level of puncture needle puncture, improve the accuracy and safety of puncture, reduce the cost of operation and medical risk.

[0076] The above describes the structure, features and effects of the present application according to the embodiments shown in the drawings, and the above description is only the preferred embodiment of the present application, but the present application is not limited to the embodiments shown in the drawings, any change or modification made according to the concept of the present application, or equivalent embodiments with equivalent changes, as long as they are within the scope of the present application.

Claims

1. A semi-automatic puncture device based on ultrasound imaging, characterized in that, include: Puncture support, ultrasonic detection device, control module, puncture needle and pushing mechanism; The puncture support is provided with a vertical part, a horizontal part and an inclined part. The vertical part is vertically arranged at one end of the horizontal part, and the inclined part is inclined at 45° at the other end of the horizontal part, forming a 45° angle with the lower end of the vertical part. The ultrasound detection device is mounted on the vertical part and is used to acquire ultrasound images of the patient's arm in real time. The control module is disposed on the top surface of the inclined part and is connected to the ultrasonic detection device and the pushing mechanism respectively. Both the pushing mechanism and the puncture needle are disposed on the bottom surface of the inclined portion. The pushing mechanism is used to push the puncture needle to perform telescopic puncture along the inclined portion. After the control module aligns the central axis of the ultrasound image with the patient's artery, it triggers the pushing mechanism to advance the puncture needle at a 45° angle to perform the puncture.

2. The semi-automatic puncture device based on ultrasound imaging according to claim 1, characterized in that, The control module includes: a controller, a display screen, and a trigger button; The controller is connected to the display screen and the trigger key signal respectively, and the display screen displays the ultrasound image detected by the ultrasound detection device in real time; After aligning the axis with the artery in the ultrasound image, the medical staff presses the trigger button to activate the push mechanism for puncture.

3. The semi-automatic puncture device based on ultrasound imaging according to claim 2, characterized in that, The pushing mechanism includes: an electric actuator and an actuator base; The push rod base has a stepped structure, and the push rod base has a through hole along the axial direction. One end of the electric push rod passes through the through hole, and the other end of the electric push rod is connected to the push rod base. The push rod base is provided with a threaded through hole, and is fixed to the back of the inclined part of the puncture support by a bolt through the threaded through hole; The electric actuator is equipped with a motor to drive the actuator rod to extend and retract axially along the through hole.

4. The semi-automatic puncture device based on ultrasound imaging according to claim 3, characterized in that, The actuation mechanism also includes: a puncture needle base and a sliding groove; The top of the puncture needle base is provided with a mounting groove, and the puncture needle is disposed in the mounting groove; The sliding groove is located on the back of the inclined part and at the front end of the push rod base, and a concave track is provided in the sliding groove; The two sides of the puncture needle base are slidably disposed in the sliding groove via the concave track.

5. The semi-automatic puncture device based on ultrasound imaging according to claim 4, characterized in that, The puncture needle base includes: a slider, a fixed base, and a support plate; The top surface of the slider is coaxially provided with the fixing seat and the support plate, and the top surface of the fixing seat is provided with the mounting groove along the axial direction; The slider is slidably disposed within the concave track in the sliding groove; The top of the support plate is provided with a groove, which corresponds to the mounting groove. There is a gap between the support plate and the fixing seat to limit the syringe of the puncture needle. When the electric actuator pushes the puncture needle to perform puncture, the tip of the puncture needle extends forward along the groove.

6. The semi-automatic puncture device based on ultrasound imaging according to claim 5, characterized in that, Also includes: Patch pressure sensor; A clamping plate is slidably provided at one end of the mounting groove away from the support plate. One side of the clamping plate is connected to the end of the electric push rod, and the other side of the clamping plate is connected to the pushing end of the puncture needle. The patch pressure sensor is disposed inside the clamp to obtain the pushing pressure of the push rod on the puncture needle in real time.

7. The semi-automatic puncture device based on ultrasound imaging according to claim 6, characterized in that, The sliding groove has a square structure, with a recess on the top surface and a concave track on the bottom surface. An iron sheet is attached to the recess.

8. The semi-automatic puncture device based on ultrasound imaging according to claim 7, characterized in that, Also includes: Electromagnet; The electromagnet is disposed on the top surface of the inclined portion and near one end of the puncture needle. The electromagnet is electrically connected to the control module. When the electromagnet is energized, it generates a magnetic attraction force on the iron sheet of the sliding groove, so that the sliding groove is attracted to the inclined portion. When an abnormality occurs, the control module demagnetizes the electromagnet, causing the sliding groove to detach from the inclined portion, thereby terminating the puncture.

9. The semi-automatic puncture device based on ultrasound imaging according to claim 8, characterized in that, Also includes: camera; The camera is mounted on the vertical section, and the ultrasonic detection device is mounted on both sides of the vertical section respectively. The camera is signal-connected to the control module, and the camera is used to capture images of the needle insertion area in real time.

10. The semi-automatic puncture device based on ultrasound imaging according to claim 9, characterized in that, The top surface of the inclined part is provided with a PCB board fixing groove and an electromagnet fixing groove, and the vertical part is provided with a camera fixing seat and a mounting cavity. The PCB board fixing slot is used to set the PCB board corresponding to the control module; The electromagnet fixing groove is a circular groove structure, used to embed the electromagnet; The camera mount is a flat plate structure with mounting holes, through which the camera is fixedly connected to the camera mount; The camera mount is horizontally disposed on the side of the vertical part facing the inclined part; The vertical part is a left-right split structure, and the left and right split parts are provided with slots. When assembled, they form the mounting cavity, and the ultrasonic testing device is set in the mounting cavity.

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