Pericardium puncture needle with intra-needle ultrasound and puncture system

Abstract

The invention provides a pericardium puncture needle with intra-needle ultrasound and a puncture system, belongs to the technical field of medical instruments, and aims to solve the problems that puncture is conventionally adopted under the guidance of thoracic ultrasound, an ultrasound plane is inconsistent with a needle point in position and direction, the guide effect on the puncture process is limited, and the pericardium puncture needle highly depends on the hand feeling and technology of a puncture person. The needle comprises a needle body, the needle body is provided with an axial cavity channel, the rear end of the needle body is provided with a channel disc, and the channel disc is provided with a pipe body connector communicated with the cavity channel; the needle tail shell is provided with an axial piston channel, one end of the needle tail shell is connected to the tail end of the needle body, the cavity channel is communicated with the piston channel, and the other end of the needle tail shell is connected with a hydraulic source pipeline; one end of the ultrasonic rod is provided with an ultrasonic head, the other end of the ultrasonic rod is provided with a piston disc, one end of the ultrasonic head of the ultrasonic rod is slidably arranged in the cavity channel, and one end of the piston disc of the ultrasonic rod is slidably arranged in the piston channel. The device has the technical effects that the puncture positioning accuracy and depth controllability are realized, and the operation safety and the clinical operability are improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a pericardiocentesis needle and puncture system with intraneedle ultrasound. Background Technology

[0002] Pericardiocentesis is an important clinical procedure for diagnosing and treating pericardial diseases. By aspirating fluid from the pericardial cavity or injecting medication through a puncture needle, the cause of the heart condition can be identified and effective treatment can be provided. This technique requires extremely high precision, necessitating accurate location of the pericardial cavity to avoid damage to surrounding structures such as the myocardium, coronary arteries, or lung tissue.

[0003] Traditional pericardiocentesis primarily relies on transthoracic ultrasound guidance, but this method has significant limitations: the spatial position and direction of travel between the ultrasound plane and the puncture needle tip are difficult to match in real time, resulting in limited intraoperative image guidance. This misalignment between the ultrasound plane and the puncture path makes the procedure highly dependent on the operator's experience, judgment, and manual control. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes a pericardiocentesis needle and system with intraneedle ultrasound, which solves the problem that conventional transthoracic ultrasound-guided puncture has limited guidance effect on the puncture process due to the inconsistency between the ultrasound plane and the needle tip position and direction, and is highly dependent on the puncturist's feel and skill.

[0005] The technical solution adopted in this invention is a pericardiocentesis needle and puncture system with intraneedle ultrasound.

[0006] One type of pericardiocentesis needle with intraneedle ultrasound includes: The needle body has an axial cavity channel, and a channel plate is provided at the rear end of the needle body. The channel plate has a tube connection port that communicates with the cavity channel. The needle tail shell is provided with an axial piston channel. One end of the needle tail shell is connected to the tail end of the needle body, and the cavity channel and the piston channel are connected. The other end of the needle tail shell is connected to the hydraulic power supply line. And an ultrasonic rod, wherein one end of the ultrasonic rod is provided with an ultrasonic head and the other end is provided with a piston disc, the ultrasonic head end of the ultrasonic rod is slidably disposed in the cavity channel, and the piston disc end of the ultrasonic rod is slidably disposed in the piston channel and the sliding position is controlled by the hydraulic power supply pipeline.

[0007] One of them is a pericardiocentesis system with intraneedle ultrasound. Including a pericardiocentesis needle with intraneedle ultrasound as described above; It also includes a driver, which includes a drive housing and a drive gear. The drive gear is rotatably disposed in the drive housing. The needle tail housing passes axially through the drive gear and is threadedly engaged with the drive gear. The needle tail housing also passes axially through the drive housing and is slidably engaged with the drive housing. The interface between the needle tail shell and the drive shell has a limiting protrusion in the inner hole of the drive shell and a limiting groove on the outer periphery of the needle tail shell. The limiting protrusion and the limiting groove are fitted and slidably engaged, and can limit the maximum sliding range between the drive shell and the needle tail shell.

[0008] Optionally, the driver further includes a drive gear ring and a planetary gear; the drive gear ring is coaxially arranged with the drive gear, the drive gear ring is located outside the drive gear, the drive gear ring is also rotatably arranged inside the drive housing, the planetary gear is arranged between the drive gear and the drive gear ring and meshes with both simultaneously, and the gear shaft of the planetary gear is rotatably arranged in the drive housing.

[0009] Optionally, the drive gear ring is wider than the planetary gear, and a portion of the inner ring of the drive gear ring in the width direction meshes with the planetary gear, while another portion meshes with the input gear and is driven by a motor.

[0010] Optionally, it also includes a support frame, one end of which is detachably connected to the end face of the drive housing, and the other end extends toward the tip of the needle body and has a contact pad at this end. The support frame has a cavity for accommodating the needle body.

[0011] Optionally, the support frame further includes a transmission gear, a transmission rack, and a handle, with the handle located in the middle of the support frame; the end face of the drive gear ring facing the support frame is provided with a gear plate, the transmission gear is mounted on the end of the support frame facing the driver via a one-way bearing, the axis of the transmission gear is perpendicular to the axis of the gear plate, the transmission rack is parallel to the axial direction of the needle body, the transmission rack is provided with a pressing handle, the handle of the support frame is provided with a guide groove for the pressing handle to slide, and a reset elastic element is provided between the pressing handle and the bottom of the guide groove; when the support frame is installed on the drive housing, the transmission gear meshes with the gear plate, and the transmission gear can be driven by the transmission rack.

[0012] Optionally, one end of the support frame is a contact pad, and the other end is an end plate connected to the drive housing. The contact pad and the end plate are connected through a bottom housing. The transmission rack is located inside the bottom housing, and the needle body is located outside the bottom housing.

[0013] Optionally, a transparent cover is connected between the bottom shell and the end plate, the needle body is located inside the transparent cover, the contact pad has a through hole in the middle, and the tip of the needle body faces the through hole and is located outside the transparent cover.

[0014] Optionally, the support frame is also equipped with a camera, which faces the contact pad.

[0015] Optionally, the driver is further provided with a transparent housing on the side opposite to the needle body, and the needle tail housing is always located inside the transparent housing during axial movement.

[0016] As can be seen from the above technical solution, the beneficial technical effects of the present invention are as follows: This technical solution significantly improves the clinical efficacy of pericardiocentesis by integrating an intra-needle ultrasound system. Traditional transthoracic ultrasound guidance often results in delayed image guidance and reliance on operator experience due to the misalignment between the ultrasound plane and the puncture path. This solution, however, integrates the ultrasound head directly into the needle tip, ensuring complete synchronization between ultrasound image acquisition and the puncture path, achieving truly real-time and precise navigation. During puncture, the ultrasound probe advances synchronously with the needle, ensuring the ultrasound field of view remains focused on the tissue surrounding the needle tip, avoiding image distortion caused by probe position and ultrasound direction in traditional methods. Combined with a motor-driven needle advance control system, it can monitor ultrasound feedback and advancement speed and depth, triggering protective effects when approaching critical structures such as the pericardium, significantly reducing the risk of mispuncture. The post-puncture ultrasound probe retraction design preserves the complete drainage channel while avoiding the cumbersome operation of repeatedly changing instruments required by traditional double-lumen needles. This technology makes pericardiocentesis precision controllable, especially reducing the operational requirements for complex cases and improving operational safety. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0018] Figure 1 This is a schematic diagram of the overall shape.

[0019] Figure 2 This is a schematic diagram of the shape of the transparent cover and the transparent shell.

[0020] Figure 3 This is a schematic diagram of the shape of the non-transparent shell.

[0021] Figure 4 This is a schematic diagram of the shape without a support frame.

[0022] Figure 5 This is a schematic diagram of the internal workings of the driver.

[0023] Figure 6 This is a schematic diagram of the puncture needle and the internal ultrasonic rod.

[0024] Figure 7for Figure 6 A magnified view of a portion of point A in the middle.

[0025] Figure 8 This is a schematic diagram showing the connection between the transmission rack and the transmission gear.

[0026] Figure 9 A schematic diagram showing the setup of the transmission rack within the driver.

[0027] Figure 10 A schematic diagram showing the position of the limiting protrusion.

[0028] Figure 11 This is a schematic diagram showing the connection between the transmission gear and the gear plate.

[0029] Figure 12 This is a schematic diagram showing the configuration of the transmission rack within the support frame.

[0030] Reference numerals: needle body 11, channel plate 111, tube connection port 112, needle tail shell 12, limiting groove 121, hydraulic power pipeline 122, ultrasonic rod 13, ultrasonic head 131, piston plate 132, driver 2, drive shell 21, limiting protrusion 211, drive gear 22, threaded fit 23, drive gear ring 24, gear plate 241, planetary gear 25, input gear 26, motor 27, transparent shell 28, support frame 3, end plate 31, contact pad 32, bottom shell 33, camera 331, handle 3311, guide groove 3312, transmission gear 34, pressing handle 341, transmission rack 35, reset elastic element 36, one-way bearing 37, transparent cover 38. Detailed Implementation

[0031] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0032] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0033] One type of pericardiocentesis needle with intraneedle ultrasound is described in the appendix. Figure 6 and Figure 7 One possible implementation method is as follows: The needle body 11 has an axial cavity channel. The rear end of the needle body 11 has a channel plate 111. The channel plate 111 has a tube connection port 112 that communicates with the cavity channel. The tube connection port 112 can be connected to an external flexible tube. According to actual needs, multiple tube connection ports 112 can be provided, which are used to aspirate accumulated fluid or inject drugs. The needle tail shell 12 is provided with an axial piston channel. The diameter of the needle tail shell 12 is larger than that of the needle body 11. The diameter of the needle body 11 is usually 1-2 mm, and the diameter of the needle tail shell 12 can be 1-2 cm. One end of the needle tail shell 12 is connected to the tail end of the needle body 11, and the cavity channel and the piston channel are connected. That is, the whole formed by the needle body 11 and the needle tail shell 12 is completely connected from the needle tip to the tail end. The other end of the needle tail shell 12 is connected to the hydraulic power supply line 122. The connection end between the needle tail shell 12 and the needle body 11 is provided with a pressure balance port to connect the inside and outside of the cavity. Furthermore, the ultrasonic rod 13 has an ultrasonic head 131 at one end and a piston disc 132 at the other end. The ultrasonic head 131 of the ultrasonic rod 13 is slidably disposed within the cavity channel, and the piston disc 132 of the ultrasonic rod 13 is slidably disposed within the piston channel, with its sliding position controlled by the hydraulic power supply line 122. When pressure is injected into the needle tail shell 12 through the hydraulic power supply line 122, it can push the ultrasonic rod 13 to move towards the needle body 11; when pressure is withdrawn, it can control the ultrasonic rod 13 to move back.

[0034] The ultrasonic head 131 needs to have a small size, which is an existing technology. High-performance piezoelectric materials, such as lithium niobate or lead zirconate titanate, can be used. These materials have excellent piezoelectric properties and can generate sufficiently strong ultrasonic signals in a small size. Microelectromechanical systems (MEMS) technology is used to fabricate piezoelectric crystals into tiny array units, with unit sizes controlled at the millimeter level. A large number of tiny piezoelectric crystals are integrated on the wafer using photolithography, etching, and other techniques to form a high-density array. Using micro-packaging technology, the piezoelectric crystal array and driving circuitry are integrated into the ultrasonic rod 13 near the tip. The circuitry connects along the ultrasonic rod 13 to the piston disk 132, and further devices are placed in the piston disk 132, such as wireless communication technology to transmit information to the outside.

[0035] Furthermore, in a potential implementation, the ultrasonic head 131 of the ultrasonic rod 13 is fixed at its end. During the manufacturing process, a probe made of selected high-performance piezoelectric material is first assembled into an integral unit. Through an adhesive bonding process, the probe is firmly attached to the preset installation position at the end of the ultrasonic rod 13. The ultrasonic rod 13 is made of rigid material and has an internal groove for accommodating wires. A thin rubber sleeve with one end closed is used to cover the ultrasonic head 131 and the ultrasonic rod 13 like wearing a sock. The open end of the rubber sleeve is fixed to the piston plate at the other end of the ultrasonic rod 13, ensuring that the ultrasonic head 131 will not fall off due to vibration or force during subsequent use. At the same time, the ultrasonic rod 13 achieves the sealing and sliding function of the puncture needle cavity.

[0036] Regarding the wiring harness organization, since the ultrasonic head 131 needs to transmit signals with external devices, thin wires leading from the ultrasonic head 131 extend along the wire grooves arranged inside the ultrasonic rod 13. The wires eventually connect to the drive circuit board inside the piston disc 132. The piston disc 132 is larger in size and can better accommodate components. The signals are processed and converted by the chips on the circuit board and transmitted wirelessly to the receiving device.

[0037] In the above embodiments, the operation procedure of the pericardial puncture needle is as follows: Initially, pressure is injected into the needle tail shell 12 through the hydraulic power supply line 122 to push the ultrasonic rod 13 to move. The ultrasonic head 131 of the ultrasonic rod 13 is located inside the needle tip end of the needle body 11. During the puncture, the ultrasonic head 131 continuously monitors the area in front of the needle tip and provides feedback on the results via a display screen or other means; After the puncture is completed, the needle body 11 and the needle tail shell 12 remain stationary. The ultrasonic rod 13 is pulled back by the suction pressure from the needle tail shell 12 through the hydraulic power supply line 122. The ultrasonic head 131 of the ultrasonic rod 13 retracts to the area beyond the channel plate 111. At this time, the cavity channel of the needle body 11 is connected to the tube connection port 112, and the accumulated fluid or medication can be extracted or injected through the tube connection port 112.

[0038] In the above embodiments, the beneficial technical effects include: 1. The millimeter-level ultrasonic head 131, utilizing high-performance piezoelectric materials and MEMS technology, accurately detects the situation in front of the needle tip, improving puncture safety. 2. The hydraulic power supply line 122 controls the movement of the ultrasonic rod 13. After puncture, the ultrasonic head 131 retracts, and the cavity channel connects with the tube connection port 112, facilitating the aspiration of accumulated fluid or the injection of drugs, providing flexible operation and diverse functions.

[0039] One possible implementation of a pericardiocentesis system with intraneedle ultrasound is as follows: This includes a pericardiocentesis needle with intraneedle ultrasound, as described above; It also includes a driver 2, which includes a driver housing 21 and a driver gear 22. The driver gear 22 is rotatably disposed inside the driver housing 21. The needle tail housing 12 passes axially through the driver gear 22 and is threadedly engaged with the driver gear 22 23. The needle tail housing 12 also passes axially through the driver housing 21 and is slidably engaged with the driver housing 21. The interface between the needle tail housing 12 and the drive housing 21 is provided with a limiting protrusion 211 in the inner hole of the drive housing 21 (see reference). Figure 10 The needle tail shell 12 has a limiting groove 121 on its outer periphery (participating in the process). Figure 7The limiting protrusion 211 is fitted and slidably engaged with the limiting groove 121, and can limit the maximum sliding range between the drive housing 21 and the needle tail housing 12. The principle is that the limiting groove 121 is closed at both ends, and the limiting protrusion 211 of the needle tail housing 12 can only slide within the length range of the limiting groove 121.

[0040] The principle of the above embodiment is as follows: by rotating the drive gear 22, the drive gear 22 drives the needle tail shell 12 to move axially through the thread. At the same time, the cooperation of the limiting groove 121 and the limiting protrusion 211 ensures that when the drive gear 22 rotates, the puncture needle can only move axially and cannot rotate with it.

[0041] In one possible implementation, see Appendix Figure 9 The driver 2 also includes a drive gear ring 24 and a planetary gear 25; the drive gear ring 24 is coaxially arranged with the drive gear 22, the drive gear ring 24 is located outside the drive gear 22, the drive gear ring 24 is also rotatably arranged in the drive housing 21, the planetary gear 25 is arranged between the drive gear 22 and the drive gear ring 24 and meshes with both of them, and the gear shaft of the planetary gear 25 is rotatably arranged in the drive housing 21.

[0042] In the above embodiment, the drive gear ring 24, the planetary gear 25 and the drive gear 22 (sun gear) constitute a planetary gear train. By rotating the drive gear ring 24, the drive gear 22 can be driven to rotate, thereby driving the needle tail housing 12 to move axially.

[0043] See appendix Figure 10 or Figure 3 The drive gear ring 24 is wider than the planetary gear 25. A portion of the inner ring of the drive gear ring 24 in the width direction meshes with the planetary gear 25, and the other portion meshes with the input gear 26 and is driven by the motor 27.

[0044] As an alternative or parallel solution to the above embodiments, at least a portion of the outer ring of the drive gear ring 24 is exposed outside the drive housing 21, and a structure is provided to increase friction, facilitating manual rotation of the drive gear ring 24 to manually control needle insertion or retraction. Furthermore, the drive gear ring 24 is relatively large, allowing for more precise control of the needle insertion distance through rotation, making it particularly suitable for manual micro-distance needle insertion when puncturing critical areas.

[0045] In one possible implementation, see Appendix Figure 1 It also includes a support frame 3, one end of which is detachably connected to the end face of the drive housing 21, and the other end extends toward the tip of the needle body 11 and is provided with a contact pad 32. The support frame 3 is provided with a cavity for accommodating the needle body 11. During puncture, the contact pad 32 can abut against the patient's body surface to form support and positioning.

[0046] Further, see appendix. Figure 3 , Figure 9 and Figure 12 The support frame 3 also includes a transmission gear 34, a transmission rack 35, and a handle 3311. The handle 3311 is located in the middle of the support frame 3. The end face of the drive gear ring 24 facing the support frame 3 is provided with a gear disk 241. The transmission gear 34 is located on the end of the support frame 3 facing the driver 2 via a one-way bearing 37. The one-way bearing 37 is prior art, allowing rotation in one direction and locking the reverse rotation. The axis of the transmission gear 34 is perpendicular to the axis of the gear disk 241. The transmission rack 35 is parallel to the axis of the needle body 11. The transmission rack 35 is provided with a pressing handle 341. The handle 3311 of the support frame 3 is provided with a guide groove 3312 for the pressing handle 341 to slide. A reset elastic element 36 is provided between the pressing handle 341 and the bottom of the guide groove 3312. The pressing handle 341 protrudes from the support frame 3 and can be pressed. When the support frame 3 is installed on the drive housing 21, the transmission gear 34 meshes with the gear disk 241. The transmission gear 34 can be driven by the transmission rack 35. Another gear can be set on the shaft of the transmission gear 34 and mesh with the teeth of the transmission rack 35.

[0047] The working process of the above embodiments is as follows: During the pressing process, the pressing handle 341 and the transmission rack 35 move backward. The transmission rack 35 drives the transmission gear 34 to rotate, the transmission gear 34 drives the drive gear ring 24 to rotate, and the drive gear ring 24 drives the drive gear 22 to rotate through the planetary gear system, thereby driving the puncture needle forward. When the pressing handle 341 is released, the reset elastic element 36 causes the pressing handle 341 and the transmission rack 35 to reset and move forward. The transmission rack 35 drives the shaft of the transmission gear 34 to rotate, but since the transmission gear 34 is mounted with a one-way bearing, the power cannot be transmitted to the transmission gear 34, and therefore the movement of the puncture needle cannot be driven.

[0048] By repeatedly pressing the handle 341, the forward movement of the puncture needle can be continuously controlled. The above embodiment provides an optional manual operation mode on the basis of automatic needle insertion.

[0049] In one possible implementation, see Appendix Figure 12 One end of the support frame 3 is a contact pad 32, and the other end is an end plate 31 connected to the drive housing 21. The contact pad 32 and the end plate 31 are connected by the bottom housing 33. The transmission rack 35 is located inside the bottom housing 33, and the needle body 11 is located outside the bottom housing 33.

[0050] A transparent cover 38 is connected between the bottom shell 33 and the end plate 31. The needle body 11 is located inside the transparent cover 38. A through hole is provided in the middle of the contact pad 32. The tip of the needle body 11 faces the through hole and is located outside the transparent cover 38.

[0051] The support frame 3 is also equipped with a camera 331, which faces the contact pad 32.

[0052] The driver 2 is also provided with a transparent housing 28 on the side opposite to the needle body 11, and the needle tail housing 12 is always located inside the transparent housing 28 during the axial movement.

[0053] The above-described embodiments offer numerous advantages. The transparent cover 38 and transparent shell 28 allow medical personnel to directly observe the movement of the needle body 11 and needle tail shell 12, facilitating timely monitoring of the operational status. The camera 331, facing the contact pad 32, clearly records the puncture site, providing more reference information for the operation. The tip of the needle body 11 is located outside the transparent cover 38, not obstructing normal puncture operations. Simultaneously, the bottom shell 33 and other structures isolate internal components such as the transmission rack 35, comprehensively improving the safety, reliability, and convenience of pericardiocentesis.

[0054] In one possible implementation, the patient lies on the operating table, and to ensure the subsequent pericardiocentesis procedure can be performed accurately and smoothly, a robotic arm with multiple degrees of freedom is installed next to the operating table. This robotic arm has flexible and versatile movement capabilities, and can be adjusted in multiple directions and angles according to actual needs.

[0055] The drive housing 21 is firmly held by the end of the robotic arm and, through careful adjustment, is fixed at the appropriate angle above the patient's body, providing stable and reliable support for the entire puncture process.

[0056] Subsequently, medical staff, based on the actual situation and their operating habits, chose to control the puncture needle using either manual or electric mode. Regardless of the mode, the ultrasonic tip was always activated. In manual mode, the medical staff repeatedly pressed the handle 341, which caused the transmission rack 35 to move backward, thereby driving the transmission gear 34 to rotate. Through a series of gear transmissions, the puncture needle was then steadily advanced. After releasing the handle 341, the components returned to their original positions under the action of the reset elastic element 36. Due to the one-way bearing 37, the puncture needle was not driven in the opposite direction. Alternatively, the drive gear ring 24 could be rotated directly to advance the needle. In electric mode, the motor 27 drove the input gear 26, which, through a planetary gear system and other transmission structures, caused the drive gear 22 to rotate, thereby driving the needle tail housing 12 to move axially, achieving the needle advance or retraction operation.

[0057] It is worth mentioning that throughout the entire operation, the drive housing 21 remained firmly fixed. This feature is extremely crucial, as it effectively prevents the drive housing 21 from shifting due to differences in the force applied by different operators, greatly improving the accuracy and stability of the puncture. This provides a strong guarantee for the successful implementation of pericardiocentesis and fully demonstrates the scientific and rational design of the pericardiocentesis system.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A pericardiocentesis needle with intraneedle ultrasound, characterized in that, include: The needle body (11) has an axial cavity channel. The rear end of the needle body (11) is provided with a channel plate (111). The channel plate (111) is provided with a tube connection port (112) that communicates with the cavity channel. The needle tail shell (12) is provided with an axial piston channel. One end of the needle tail shell (12) is connected to the tail end of the needle body (11), and the cavity channel and the piston channel are connected. The other end of the needle tail shell (12) is connected to the hydraulic power supply line (122). And, an ultrasonic rod (13), one end of which is provided with an ultrasonic head (131) and the other end is provided with a piston disc (132). The ultrasonic head (131) of the ultrasonic rod (13) is slidably disposed in the cavity channel, and the piston disc (132) of the ultrasonic rod (13) is slidably disposed in the piston channel and the sliding position is controlled by the hydraulic power supply line (122).

2. A pericardiocentesis system with intraneedle ultrasound, characterized in that: Including a pericardiocentesis needle with intraneedle ultrasound as described in claim 1; It also includes a driver (2), which includes a drive housing (21) and a drive gear (22). The drive gear (22) is rotatably disposed in the drive housing (21). The needle tail housing (12) passes through the drive gear (22) axially and is threadedly engaged (23) with the drive gear (22). The needle tail housing (12) also passes through the drive housing (21) axially and is slidably engaged with the drive housing (21). The interface between the needle tail shell (12) and the drive shell (21) is provided. The inner hole of the drive shell (21) is provided with a limiting protrusion (211), and the outer periphery of the needle tail shell (12) is provided with a limiting groove (121). The limiting protrusion (211) and the limiting groove (121) are fitted and slidably engaged, and the maximum sliding range between the drive shell (21) and the needle tail shell (12) is limited.

3. The pericardiocentesis system with intraneedle ultrasound as described in claim 2, characterized in that: The driver (2) also includes a drive gear ring (24) and a planetary gear (25); The drive gear ring (24) is coaxially arranged with the drive gear (22). The drive gear ring (24) is located outside the drive gear (22). The drive gear ring (24) is also rotatably arranged inside the drive housing (21). The planetary gear (25) is arranged between the drive gear (22) and the drive gear ring (24) and meshes with both of them. The gear shaft of the planetary gear (25) is rotatably arranged in the drive housing (21).

4. The pericardiocentesis system with intraneedle ultrasound as described in claim 3, characterized in that: The drive gear ring (24) is wider than the planetary gear (25). A portion of the inner ring of the drive gear ring (24) in the width direction meshes with the planetary gear (25), and another portion meshes with the input gear (26) and is driven by the motor (27).

5. A pericardiocentesis system with intraneedle ultrasound as described in claim 3, characterized in that: It also includes a support frame (3), one end of which is detachably connected to the end face of the drive housing (21), and the other end extends toward the tip of the needle body (11) and is provided with a contact pad (32) at this end. The support frame (3) is provided with a cavity for accommodating the needle body (11).

6. A pericardiocentesis system with intraneedle ultrasound as described in claim 5, characterized in that: The support frame (3) also includes a transmission gear (34), a transmission rack (35) and a handle (3311), wherein the handle (3311) is located in the middle of the support frame (3); The drive gear ring (24) has a gear plate (241) on its end face facing the support frame (3). The transmission gear (34) is set on the support frame (3) facing the driver (2) via a one-way bearing (37). The axis of the transmission gear (34) is perpendicular to the axis of the gear plate (241). The transmission rack (35) is parallel to the axis of the needle body (11). The transmission rack (35) has a pressing handle (341). The handle (3311) of the support frame (3) has a guide groove (3312) for the pressing handle (341) to slide. A reset elastic element (36) is provided between the pressing handle (341) and the bottom of the guide groove (3312). When the support frame (3) is installed on the drive housing (21), the transmission gear (34) meshes with the gear plate (241), and the transmission gear (34) can be driven by the transmission rack (35).

7. A pericardiocentesis system with intraneedle ultrasound as described in claim 6, characterized in that: One end of the support frame (3) is a contact pad (32), and the other end is an end plate (31) connected to the drive housing (21). The contact pad (32) and the end plate (31) are connected by a bottom housing (33). The transmission rack (35) is located inside the bottom housing (33), and the needle body (11) is located outside the bottom housing (33).

8. A pericardiocentesis system with intraneedle ultrasound as described in claim 7, characterized in that: A transparent cover (38) is connected between the bottom shell (33) and the end plate (31). The needle body (11) is located inside the transparent cover (38). A through hole is provided in the middle of the contact pad (32). The tip of the needle body (11) faces the through hole and is located outside the transparent cover (38).

9. A pericardiocentesis system with intraneedle ultrasound as described in claim 5, characterized in that: The support frame (3) is also equipped with a camera (331) facing the contact pad (32).

10. A pericardiocentesis system with intraneedle ultrasound as described in claim 2, characterized in that: The driver (2) is also provided with a transparent shell (28) on the side opposite to the needle body (11), and the needle tail shell (12) is always located inside the transparent shell (28) during the axial movement.

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