X-ray guided minimally invasive intervention rapid positioning puncture system

Abstract

The invention discloses an X-ray guided minimally invasive intervention rapid positioning puncture system, and relates to the technical field of medical instruments. According to the main structural design, a rigid positioning support is manufactured through an integrated forming process and comprises a fixed arm and an adjustable movable arm which are connected through a transmission mechanism, and a three-dimensional metal scaling point set is integrated on the top of the rigid positioning support; the puncture guide module is detachably connected with the adjustable movable arm and is provided with a universal guide structure adaptive to puncture needles of various specifications; the real-time compensation module is used for capturing human body surface displacement data and transmitting the data to the control host in real time; the control host is used for receiving the X-ray image signal and the human body surface displacement data, calculating and outputting a puncture angle correction instruction, dynamically optimizing an X-ray scanning mode and being provided with a man-machine interaction interface for parameter checking and adjusting. Based on the design, the comprehensive beneficial effects that the puncture positioning precision is improved, the clinical operation convenience is optimized, the doctor-patient radiation risk is reduced, and the equipment use economy is enhanced can be achieved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically to an X-ray guided minimally invasive interventional rapid positioning and puncture system. Background Technology

[0002] X-ray guided puncture is an important tool in minimally invasive interventional therapy, widely used in clinical procedures such as puncture biopsy, particle implantation, and radiofrequency ablation. However, existing techniques face numerous technical bottlenecks in practical applications, severely limiting improvements in puncture accuracy and operational efficiency.

[0003] (1) Positioning accuracy is difficult to maintain in the long term. Most existing puncture positioning devices adopt a multi-joint robotic arm structure, and there are gaps in their transmission mechanism. After long-term use, mechanical wear can easily lead to a decrease in positioning accuracy, affecting the accuracy of puncture. In addition, during the puncture process, the direction of the puncture frame is often manually controlled by medical staff, which makes it difficult to avoid slight movements, thus introducing deviations.

[0004] (2) Physiological factors such as respiratory movements can introduce displacement errors. Organs such as the lungs and liver will deform and shift with respiratory movements, causing dynamic changes in the location of lesions. Existing compensation methods, such as breath-holding or tracking with surface markers, have problems such as rough control, invasiveness, or impact on patient comfort, making it difficult to achieve accurate real-time compensation.

[0005] (3) Both doctors and patients face a high risk of radiation exposure. Traditional manual puncture methods require doctors to repeatedly adjust the direction and position of the needle under X-ray fluoroscopy, resulting in prolonged exposure of patients and medical staff to radiation. Especially in cases of complex anatomical structures or special patient positions, the failure rate of puncture is high, further increasing the cumulative radiation dose.

[0006] (4) The procedure is complex and highly dependent on the doctor's experience. The doctor needs to construct a three-dimensional anatomical structure in his mind based on the two-dimensional C-arm X-ray image and plan the puncture path, which inevitably leads to cognitive bias. The entire puncture process often requires multiple scans for confirmation and manual adjustments, which not only prolongs the operation time but also increases the difficulty of operation and the learning curve.

[0007] Therefore, how to propose an X-ray guided puncture system that is urgently needed in clinical practice and can comprehensively solve core problems such as positioning accuracy and stability, dynamic error compensation, radiation control and ease of operation is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0008] In view of this, the present invention provides a minimally invasive interventional rapid positioning and puncture system under X-ray guidance, which solves the problems existing in the background technology.

[0009] To achieve the above objectives, the present invention provides the following technical solution: An X-ray guided minimally invasive interventional rapid positioning and puncture system includes: a rigid positioning support, a puncture guide module, a real-time compensation module, and a control host; The rigid positioning bracket is made using an integrated molding process, including a fixed arm and an adjustable movable arm connected by a transmission mechanism, and the top of the rigid positioning bracket integrates a three-dimensional metal calibration point group. The puncture guide module is detachably connected to the adjustable movable arm and has a universal guide structure that adapts to various sizes of puncture needles; The real-time compensation module integrates displacement sensing elements and wireless data transmission units to capture human body surface displacement data and transmit it to the control host in real time. The control host is connected to the X-ray imaging equipment and the real-time compensation module to receive X-ray image signals and human body surface displacement data, calculate and output puncture angle correction instructions, dynamically optimize the X-ray scanning mode, and is equipped with a human-machine interface for viewing and adjusting parameters.

[0010] Optionally, the transmission mechanism is a double-gear meshing transmission mechanism, including a driving gear and a driven gear that mesh with each other. The driving gear is fixedly connected to the adjustable movable arm, and the driven gear is rotatably connected to the fixed arm. The tooth surfaces of the two gears are nitrided to eliminate transmission backlash.

[0011] Optionally, the three-dimensional metal calibration point group consists of three non-collinear tungsten alloy markers, which are arranged in a triangular spatial distribution to form a stable three-dimensional coordinate reference; and the center line connecting the three markers is strictly collinear with the axis of the universal guide structure of the puncture guide module to form an X-ray projection positioning reference.

[0012] Optionally, the inner wall of the universal guide structure is provided with a ceramic wear-resistant protective layer, and the outer wall is provided with laser-etched depth markings; and two sets of elastic positioning calipers are symmetrically arranged inside the universal guide structure. The clamping end of the elastic positioning caliper is provided with an arc-shaped anti-slip contact surface. The clamping force can be adjusted by a knob that runs through the side wall of the universal guide structure to adapt to puncture needles of different diameters.

[0013] Optionally, the displacement sensing elements include a miniature gyroscope and a piezoresistive pressure sensor, which are integrated and packaged in the same housing and fixedly installed at the end of the adjustable movable arm close to the human body surface. Miniature gyroscopes are used to collect angular displacement data of the human body surface caused by breathing and changes in body position in real time, and to capture posture deflection information. Piezoresistive pressure sensors are used to collect linear displacement data of the human body surface in real time, capturing information on stretching and contracting movements in the forward and backward, and up and down directions.

[0014] Optionally, the wireless data transmission unit adopts the Bluetooth Low Energy transmission protocol, has data encryption function based on the AES-128 standard, and the data transmission delay does not exceed a preset threshold, which is set according to the response speed requirements of the positioning compensation algorithm.

[0015] Optionally, the control host uses a positioning compensation algorithm to perform puncture angle correction calculations. The positioning compensation algorithm has a built-in mapping model between body surface displacement and puncture angle. The output of the control host is electrically connected to a drive module, and the output of the drive module is electrically connected to a transmission mechanism to drive the adjustable movable arm to complete the angle fine adjustment.

[0016] Optionally, the control host can trigger dynamic optimization of the X-ray scanning mode by using a positioning accuracy threshold. Specifically, when the puncture positioning deviation is less than or equal to the preset positioning accuracy threshold, it automatically sends a scanning mode switching command to the X-ray imaging device to switch the continuous scanning mode to the intermittent scanning mode to reduce the X-ray radiation dose.

[0017] Optionally, the fixed arm of the rigid positioning bracket is equipped with a multi-dimensional adjustment base at its end, which has three-dimensional adjustment functions: horizontal translation, vertical lifting and lowering, and circumferential rotation. Each adjustment direction is equipped with a locking knob, and the adjustment base is equipped with a horizontal calibration component.

[0018] Optionally, the control host is equipped with an abnormal alarm module, which includes an alarm control unit, an alarm execution unit, and an alarm information storage unit. The alarm control unit is used to generate an alarm command and send it to the alarm execution unit when the puncture positioning deviation exceeds the preset safety threshold, the X-ray radiation dose exceeds the standard, or the connection between devices is abnormal. The alarm execution unit is used to issue an audio alarm prompt through a buzzer at a preset frequency after receiving an alarm command, and at the same time issue a visual alarm prompt through a multi-color LED indicator. The alarm information storage unit is used to synchronously record the time of occurrence of the anomaly, the anomaly type, and the corresponding parameter data.

[0019] As can be seen from the above technical solution, compared with the prior art, the present invention discloses an X-ray guided minimally invasive interventional rapid positioning and puncture system, which has the following beneficial effects: (1) Significantly improved puncture positioning accuracy: The rigid positioning bracket is integrally formed and the dual gear transmission mechanism eliminates the problems of traditional transmission gap and mechanical wear from the structure. It is combined with the three-dimensional tungsten alloy calibration point group to form a stable benchmark. The real-time compensation module collects body surface displacement data in collaboration and realizes the closed-loop correction of puncture angle through the mapping model built into the control host. It effectively offsets the positioning error caused by breathing and body position changes, and greatly improves the accuracy and stability of puncture positioning.

[0020] (2) Optimization of clinical operation adaptability and convenience: The puncture guide module is adapted to various sizes of puncture needles through the elastic positioning clamp, ceramic wear-resistant protective layer and laser etched depth mark, which not only ensures the smooth advancement of puncture and extends the service life of the equipment, but also provides medical staff with intuitive and accurate depth reference; the multi-dimensional adjustable base is adapted to various scenarios, and can be quickly calibrated with a level, reducing the difficulty of operation.

[0021] (3) Medical staff safety and data privacy protection: The control host dynamically optimizes the X-ray scanning mode by triggering the positioning accuracy threshold, which significantly reduces the X-ray radiation exposure dose; the abnormal alarm module monitors the risk in real time and provides audible and visual prompts, further improving the safety of clinical operations; the wireless data transmission unit ensures real-time data transmission while effectively preventing data leakage or tampering, thus protecting clinical data security and patient privacy. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention 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 embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0023] Figure 1 This is a diagram illustrating the architecture of the X-ray-guided minimally invasive interventional rapid positioning and puncture system provided by the present invention. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] In X-ray-guided minimally invasive interventional puncture surgery, existing positioning puncture systems generally suffer from problems such as susceptibility to mechanical wear affecting positioning accuracy, poor adaptability, high radiation exposure doses for both medical staff and patients, and cumbersome operation, severely restricting the safety and efficiency of clinical surgery. To address these technical pain points, this invention provides a structurally optimized and functionally integrated X-ray-guided minimally invasive interventional rapid positioning puncture system. Through multi-module collaborative design, it achieves precise, safe, and efficient puncture positioning, such as... Figure 1 As shown, it specifically includes: a rigid positioning bracket, a puncture guide module, a real-time compensation module, and a control host; The rigid positioning bracket is made using an integrated molding process, including a fixed arm and an adjustable movable arm connected by a transmission mechanism, and the top of the rigid positioning bracket integrates a three-dimensional metal calibration point group. The puncture guide module is detachably connected to the adjustable movable arm and has a universal guide structure that adapts to various sizes of puncture needles; The real-time compensation module integrates displacement sensing elements and wireless data transmission units to capture human body surface displacement data and transmit it to the control host in real time. The control host is connected to the X-ray imaging equipment and the real-time compensation module to receive X-ray image signals and human body surface displacement data, calculate and output puncture angle correction instructions, dynamically optimize the X-ray scanning mode, and is equipped with a human-machine interface for viewing and adjusting parameters.

[0026] In the aforementioned technical solution, the X-ray-guided minimally invasive interventional rapid positioning and puncture system achieves precise functional division and coordinated linkage through modular design. The integrated structure of the rigid positioning stent and the three-dimensional positioning benchmark ensure the stability of the positioning basis. The universal guiding structure improves the clinical adaptability of the equipment, while the real-time compensation module and the algorithm optimization of the control host effectively solve the problems of dynamic displacement error and excessive radiation dose. This system has a simple structure and is easy to operate, making it widely adaptable to minimally invasive interventional puncture procedures in various locations such as the lungs, kidneys, and liver. It can be used without significant modifications to existing X-ray imaging equipment, reducing the cost of clinical deployment.

[0027] As the core component for adjusting the posture of the movable arm in a rigid positioning bracket, the transmission mechanism's transmission accuracy directly determines the accuracy of puncture positioning. Existing transmission structures often suffer from positioning misalignment due to backlash or wear from long-term use, thus requiring targeted optimization of the transmission mechanism. In this embodiment, the transmission mechanism is a double-gear meshing transmission mechanism, including a driving gear and a driven gear that mesh with each other. The driving gear is fixedly connected to the adjustable movable arm, and the driven gear is rotatably connected to the fixed arm. The tooth surfaces of both gears are nitrided to eliminate transmission backlash.

[0028] The optimized transmission mechanism eliminates transmission backlash to the greatest extent possible through the tight meshing of two gears. At the same time, the nitriding treatment of the gear teeth significantly improves the hardness and wear resistance of the gears, effectively preventing wear and deformation after long-term use, ensuring the long-term stability of transmission accuracy, and providing reliable structural support for precise puncture.

[0029] The three-dimensional metal calibration point set is a key reference component for X-ray image positioning, and its stability and positioning accuracy directly affect the alignment between the X-ray image and the puncture path. Existing calibration point sets often suffer from blurred projection or reference offset due to improper material selection or unreasonable spatial layout, thus requiring optimization of the structural design of the calibration point set. In this embodiment, the three-dimensional metal calibration point set consists of three non-collinear tungsten alloy marker points, which are spatially distributed in a triangle to form a stable three-dimensional coordinate reference; and the line connecting the centers of the three marker points is strictly collinear with the axis of the universal guide structure of the puncture guide module, forming an X-ray projection positioning reference.

[0030] Tungsten alloys have high density, which can form clear projection marks under X-ray scanning, making it easy for the host to quickly and accurately identify them. The triangular spatial distribution design makes the three-dimensional coordinate reference more stable and less prone to reference failure due to the offset of a single mark point. The collinear design of the line connecting the center of the mark point and the axis of the puncture guide structure ensures the precise alignment of the X-ray projection reference with the actual puncture path, reducing positioning deviation from the source.

[0031] A universal guide structure needs to simultaneously meet the compatibility requirements of multiple puncture needle sizes, ensure smooth puncture advancement, and provide accurate depth reference. Existing guide structures often suffer from poor compatibility, rapid wear, or easily blurred depth markings, affecting the efficiency and accuracy of clinical procedures. In this embodiment, the universal guide structure has a ceramic wear-resistant protective layer on its inner wall and laser-etched depth markings on its outer wall. Furthermore, two sets of elastic positioning clamps are symmetrically arranged within the universal guide structure. The clamping ends of the elastic positioning clamps have arc-shaped anti-slip contact surfaces. The clamping force can be adjusted by a knob penetrating the side wall of the universal guide structure to accommodate puncture needles of different diameters.

[0032] The inner ceramic wear-resistant protective layer combines high hardness and low friction coefficient, reducing frictional resistance during needle advancement, ensuring smooth progress, and preventing wear on the guide structure over long-term use. The laser-etched depth markings on the outer wall are wear-resistant and corrosion-resistant, maintaining clarity over time and providing medical staff with intuitive and accurate reference for needle insertion depth. The symmetrically configured elastic positioning clamps, with adjustable clamping force via knobs, can stably accommodate needles of different diameters. The arc-shaped anti-slip contact surface ensures the stability of needle fixation while preventing damage to the needle from excessive clamping force, significantly improving the clinical adaptability and ease of operation of the equipment.

[0033] Furthermore, the curved, non-slip contact surface of the flexible positioning clamp fits into a removable sterile silicone sleeve, the surface of which has anti-slip textures. The sterile silicone sleeve can be replaced periodically as part of the surgical procedure, avoiding cross-infection between different patients and meeting clinical aseptic operation requirements; the anti-slip textures further enhance the gripping stability of the puncture needle, preventing the puncture needle from rotating or shifting during advancement.

[0034] The displacement sensing element is the core component of the real-time compensation module for capturing human body surface displacement. The comprehensiveness and accuracy of the data it collects directly determine the effectiveness of dynamic compensation. Existing sensing elements are often limited in type and cannot comprehensively capture the multidimensional displacements caused by human respiration and positional changes, resulting in inaccurate compensation. Therefore, it is necessary to optimize the configuration of the sensing element. In this embodiment, the displacement sensing element includes a miniature gyroscope and a piezoresistive pressure sensor, which are integrated and packaged in the same housing and fixedly installed at the end of the adjustable movable arm close to the human body surface. Miniature gyroscopes are used to collect angular displacement data of the human body surface caused by breathing and changes in body position in real time, and to capture posture deflection information. Piezoresistive pressure sensors are used to collect linear displacement data of the human body surface in real time, capturing information on stretching and contracting movements in the forward and backward, and up and down directions.

[0035] In the above scheme, the coordinated use of a miniature gyroscope and a piezoresistive pressure sensor enables comprehensive acquisition of multi-dimensional displacement information of the human body surface, capturing both angular deflection and linear movement, providing complete and accurate data support for the compensation algorithm of the control host. The integrated packaging and close mounting of the two components near the human body surface shortens the displacement transmission path, reduces data acquisition delay, and further improves the real-time performance and accuracy of dynamic compensation.

[0036] The wireless data transmission unit is responsible for transmitting displacement sensing data to the control host. Its transmission stability, real-time performance, and security directly affect the dynamic compensation effect and the privacy of clinical data. Existing wireless transmissions often suffer from excessive latency, susceptibility to interference, or data leakage risks, thus requiring optimization of the transmission unit design. In this embodiment, the wireless data transmission unit adopts the Bluetooth Low Energy protocol, features data encryption based on the AES-128 standard, and ensures that the data transmission latency does not exceed a preset threshold. This preset threshold is set according to the response speed requirements of the positioning compensation algorithm.

[0037] In the above solution, the Bluetooth Low Energy transmission protocol not only reduces the device's power consumption and extends its battery life, but also has strong anti-interference capabilities, making it adaptable to complex clinical surgical environments. The AES-128 standard's data encryption function can encrypt the transmitted displacement data throughout the entire process, effectively preventing data leakage or tampering, and ensuring clinical data security and patient privacy. Meanwhile, the strictly controlled transmission delay ensures that the displacement data can be transmitted to the control host in a timely manner, enabling the compensation algorithm to respond quickly and avoiding untimely compensation due to transmission lag.

[0038] The puncture angle correction function of the control host is the core of achieving dynamic compensation, and its calculation accuracy and execution efficiency directly determine the compensation effect. Existing angle correction methods often suffer from inaccurate correction or slow response due to imperfect algorithms or a lack of effective drive execution structures. Therefore, it is necessary to optimize the implementation scheme of angle correction. In this embodiment, the control host uses a positioning compensation algorithm for puncture angle correction calculation. The positioning compensation algorithm has a built-in mapping model between body surface displacement and puncture angle. The output of the control host is electrically connected to a drive module, and the output of the drive module is electrically connected to a transmission mechanism to drive the adjustable movable arm to complete the angle fine adjustment.

[0039] The above solution uses a positioning compensation algorithm based on a built-in "surface displacement-puncture angle" mapping model to quickly convert the collected displacement data into precise angle corrections, improving computational efficiency and accuracy. The addition of the drive module enables precise conversion of "electrical signal-mechanical action," driving the transmission mechanism to move the movable arm to complete minute angle adjustments. Combined with the high-precision design of the transmission mechanism, a closed-loop control of "data acquisition-computation correction-drive adjustment" is formed, ensuring that the puncture angle can accurately adapt to the dynamic changes in the lesion location in real time.

[0040] Furthermore, a sudden malfunction in the control unit during clinical surgery could lead to interruption of puncture positioning, affecting surgical safety. Therefore, an emergency backup function is necessary to ensure a smooth transition during surgery. In this embodiment, the control unit has a built-in emergency backup module, which includes a backup power supply and a manual control unit. When the main power supply fails, the backup power supply automatically switches to ensure that core data is not lost and basic positioning functions continue to operate. When the automatic angle correction function fails, medical staff can input angle parameters through the manual control unit via a human-machine interface to drive the adjustable arm to complete the angle adjustment, while the system simultaneously records the manual operation log. The addition of the emergency backup module significantly improves the reliability of the system, avoiding surgical interruptions caused by a single fault. The automatic switching of the backup power supply ensures data continuity, and the manual control unit provides medical staff with an emergency operation path, balancing surgical safety and operational flexibility, and meeting the high reliability requirements of clinical medical devices.

[0041] Dynamically optimizing X-ray scanning modes is a key means of reducing radiation exposure for medical staff and patients. However, existing scanning mode switching often lacks clear triggering conditions, leading to inaccurate radiation dose control. Therefore, it is necessary to refine the implementation logic of scanning mode optimization. In this embodiment, the control host triggers dynamic optimization of the X-ray scanning mode through a positioning accuracy threshold. Specifically, when the puncture positioning deviation is less than or equal to a preset positioning accuracy threshold, it automatically sends a scanning mode switching command to the X-ray imaging equipment, switching the continuous scanning mode to an intermittent scanning mode to reduce the X-ray radiation dose.

[0042] The above-mentioned detailed plan clarifies the triggering conditions for scanning mode switching. The intermittent scanning mode is only switched when the positioning accuracy meets the preset threshold, which ensures the accuracy of puncture positioning and minimizes the radiation dose. By automatically switching scanning modes, no manual operation is required from medical staff, simplifying the operation process. At the same time, it avoids the problem of excessive radiation dose or insufficient positioning accuracy caused by human judgment errors, thus taking into account both safety and convenience.

[0043] The adjusting base of the fixed arm of the rigid positioning bracket directly affects the bracket's installation adaptability and the accuracy of its positioning reference. Existing adjusting bases often cause difficulties in bracket installation or reference misalignment due to insufficient adjustment dimensions or a lack of precise calibration components. Therefore, it is necessary to optimize the design of the adjusting base. In this embodiment, the fixed arm end of the rigid positioning bracket is equipped with a multi-dimensional adjusting base, which has adjustment functions in three dimensions: horizontal translation, vertical lifting, and circumferential rotation. Each adjustment direction is equipped with a locking knob, and the adjusting base is equipped with a horizontal calibration component.

[0044] In the above solution, the three-dimensional adjustment function allows the stent to flexibly adapt to different operating table frames and clinical surgical scenarios, making it easy for medical staff to quickly adjust the stent position to the optimal positioning angle; the locking knobs in each adjustment direction can fix the posture after adjustment, preventing the stent from shifting during surgery; the horizontal calibration component can help medical staff quickly judge the levelness of the stent installation, ensure the accuracy of the positioning benchmark, reduce positioning deviation caused by stent tilting, and improve the clinical adaptability and ease of operation of the equipment.

[0045] In clinical surgery, deviations in puncture positioning, excessive radiation doses, or abnormal equipment connections can all affect surgical safety. Existing equipment often lacks a comprehensive abnormality monitoring and alarm mechanism, making it difficult to provide timely warnings of risks. Therefore, it is necessary to add and optimize an abnormality alarm module. In this embodiment, the control host is equipped with an abnormality alarm module, which includes: an alarm control unit, an alarm execution unit, and an alarm information storage unit. The alarm control unit is used to generate an alarm command and send it to the alarm execution unit when the puncture positioning deviation exceeds the preset safety threshold, the X-ray radiation dose exceeds the standard, or the connection between devices is abnormal. The alarm execution unit is used to issue an audio alarm prompt through a buzzer at a preset frequency after receiving an alarm command, and at the same time issue a visual alarm prompt through a multi-color LED indicator. The alarm information storage unit is used to synchronously record the time of occurrence of the anomaly, the anomaly type, and the corresponding parameter data.

[0046] In the above solution, the abnormal alarm module enables comprehensive monitoring of key risk points during the operation. Through dual audible and visual alarm prompts, it ensures that medical staff can promptly detect and handle abnormal situations, maximizing surgical safety. The alarm information storage function facilitates subsequent tracing and review of the causes of abnormalities by medical staff, providing data support for surgical quality assessment and equipment maintenance, while also improving the safety and traceability of the equipment.

[0047] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0048] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A minimally invasive interventional rapid positioning and puncture system under X-ray guidance, characterized in that, include: Rigid positioning bracket, puncture guide module, real-time compensation module, and control host; The rigid positioning bracket is made using an integrated molding process, including a fixed arm and an adjustable movable arm connected by a transmission mechanism, and the top of the rigid positioning bracket integrates a three-dimensional metal calibration point group. The puncture guide module is detachably connected to the adjustable movable arm and has a universal guide structure that adapts to various sizes of puncture needles; The real-time compensation module integrates displacement sensing elements and wireless data transmission units to capture human body surface displacement data and transmit it to the control host in real time. The control host is connected to the X-ray imaging equipment and the real-time compensation module to receive X-ray image signals and human body surface displacement data, calculate and output puncture angle correction instructions, dynamically optimize the X-ray scanning mode, and is equipped with a human-machine interface for viewing and adjusting parameters.

2. The X-ray-guided minimally invasive interventional rapid positioning and puncture system according to claim 1, characterized in that, The transmission mechanism is a double-gear meshing transmission mechanism, including a driving gear and a driven gear that mesh with each other. The driving gear is fixedly connected to the adjustable movable arm, and the driven gear is rotatably connected to the fixed arm. The tooth surfaces of the two gears are nitrided to eliminate transmission backlash.

3. The X-ray-guided minimally invasive interventional rapid positioning and puncture system according to claim 1, characterized in that, The three-dimensional metal calibration point group consists of three non-collinear tungsten alloy markers. The three markers are arranged in a triangular spatial distribution to form a stable three-dimensional coordinate reference. Furthermore, the line connecting the centers of the three markers is strictly collinear with the axis of the universal guide structure of the puncture guide module, forming an X-ray projection positioning reference.

4. The X-ray-guided minimally invasive interventional rapid positioning and puncture system according to claim 1, characterized in that, The inner wall of the universal guide structure is equipped with a ceramic wear-resistant protective layer, and the outer wall is equipped with laser-etched depth markings. Two sets of elastic positioning calipers are symmetrically arranged inside the universal guide structure. The clamping end of the elastic positioning caliper is equipped with an arc-shaped anti-slip contact surface. The clamping force can be adjusted by a knob that runs through the side wall of the universal guide structure to accommodate puncture needles of different diameters.

5. The X-ray-guided minimally invasive interventional rapid positioning and puncture system according to claim 1, characterized in that, The displacement sensing element includes a miniature gyroscope and a piezoresistive pressure sensor, which are integrated and packaged in the same housing and fixedly installed at the end of the adjustable movable arm that is close to the human body surface. Miniature gyroscopes are used to collect angular displacement data of the human body surface caused by breathing and changes in body position in real time, and to capture posture deflection information. Piezoresistive pressure sensors are used to collect linear displacement data of the human body surface in real time, capturing information on stretching and contracting movements in the forward and backward, and up and down directions.

6. The X-ray-guided minimally invasive interventional rapid positioning and puncture system according to claim 1, characterized in that, The wireless data transmission unit adopts the Bluetooth Low Energy transmission protocol, has data encryption function based on the AES-128 standard, and the data transmission delay does not exceed a preset threshold. The preset threshold is set according to the response speed requirements of the positioning compensation algorithm.

7. The X-ray-guided minimally invasive interventional rapid positioning and puncture system according to claim 1, characterized in that, The control host uses a positioning compensation algorithm to perform puncture angle correction calculations. The positioning compensation algorithm has a built-in mapping model between body surface displacement and puncture angle. The output of the control host is electrically connected to a drive module, and the output of the drive module is electrically connected to a transmission mechanism to drive the adjustable movable arm to complete the angle fine adjustment.

8. The X-ray-guided minimally invasive interventional rapid positioning and puncture system according to claim 1, characterized in that, The control host triggers dynamic optimization of the X-ray scanning mode through the positioning accuracy threshold. Specifically, when the puncture positioning deviation is less than or equal to the preset positioning accuracy threshold, it automatically sends a scanning mode switching command to the X-ray imaging equipment to switch the continuous scanning mode to the intermittent scanning mode to reduce the X-ray radiation dose.

9. The X-ray-guided minimally invasive interventional rapid positioning and puncture system according to claim 1, characterized in that, The fixed arm of the rigid positioning bracket is equipped with a multi-dimensional adjustment base, which has three-dimensional adjustment functions: horizontal translation, vertical lifting and lowering, and circumferential rotation. Each adjustment direction is equipped with a locking knob, and the adjustment base is equipped with a horizontal calibration component.

10. The X-ray-guided minimally invasive interventional rapid positioning and puncture system according to claim 1, characterized in that, The control host is equipped with an abnormal alarm module, which includes: an alarm control unit, an alarm execution unit, and an alarm information storage unit; The alarm control unit is used to generate an alarm command and send it to the alarm execution unit when the puncture positioning deviation exceeds the preset safety threshold, the X-ray radiation dose exceeds the standard, or the connection between devices is abnormal. The alarm execution unit is used to issue an audio alarm prompt through a buzzer at a preset frequency after receiving an alarm command, and at the same time issue a visual alarm prompt through a multi-color LED indicator. The alarm information storage unit is used to synchronously record the time of the anomaly, the anomaly type, and the corresponding parameter data.

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