A piezoelectric ceramic transducer-based pancreatic duct stone crushing device

Abstract

The application discloses a kind of based on piezoelectric ceramic transducer pancreatic duct stone device, including bottom plate and fixed frame, the inner wall of the fixed frame includes bed board, the bottom of the fixed frame is fixed with the outer wall of two ends vertically downward first positioning plate, the bottom of two first positioning plate is fixed with the outer wall of corresponding side first positioning shaft, the bottom of the bed board is fixed with the outer wall of two ends vertically downward second positioning plate, the bottom of two second positioning plate is fixed with the outer wall of corresponding side second positioning shaft.The output shaft of synchronous hydraulic push rod is stretched out, the two ends of synchronous hydraulic push rod are movably connected with first positioning shaft and second positioning shaft by first positioning block and second positioning block respectively, and then the top side of bed board is inclined by synchronous hydraulic push rod, and the inclination angle is controlled at 0-30 °, to facilitate adjusting the inclination angle of patient's body under the state of patient's body anesthesia.

Description

Technical Field

[0001] This invention relates to the field of medical auxiliary equipment technology, specifically to a pancreatic duct stone fragmentation device based on a piezoelectric ceramic transducer. Background Technology

[0002] Extracorporeal shock wave lithotripsy (ESWL) for pancreatic duct stones is a non-invasive technique that uses focused shock waves to break up the stones. Because pancreatic duct stones are hard and attached to the inner wall of the duct, referred pain may occur during the procedure, especially if the stone is large or located deep within the duct. Therefore, anesthesia is a necessary adjunct to ensure patient comfort and surgical safety.

[0003] In complex lithotripsy procedures, the patient's position needs to be tilted. The commonly used treatment positions are supine or tilted to the right at a 30° angle. However, during the procedure, the patient cannot move under anesthesia. Adjusting and controlling the patient's position by the doctor is not only time-consuming and laborious, but also easily causes the patient's body to shift, affecting the accuracy of extracorporeal lithotripsy.

[0004] To address the aforementioned issues, we propose a pancreatic duct stone fragmentation device based on a piezoelectric ceramic transducer. Summary of the Invention

[0005] The purpose of this invention is to provide a pancreatic duct stone fragmentation device based on a piezoelectric ceramic transducer to overcome the above-mentioned shortcomings in the technology.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A lithotripsy device for pancreatic duct stones based on a piezoelectric ceramic transducer includes a base plate and a fixed frame. The fixed frame is fixed to the top of the base plate by four supports. The inner wall of the fixed frame includes a bed board. Vertically downward first positioning plates are fixed to the outer walls at both ends of the bottom of the fixed frame. First positioning shafts are fixed to the corresponding outer walls at the bottom of the two first positioning plates. Vertically downward second positioning plates are fixed to the outer walls at both ends of the bottom of the bed board. Second positioning shafts are fixed to the corresponding outer walls at the bottom of the two second positioning plates. The first positioning shafts include two first positioning blocks. The second positioning shaft includes two second positioning blocks. One end of the outer wall of the two first positioning blocks is movably connected to the outer wall of the first positioning shaft through an opening using a bearing. One end of the outer wall of the two second positioning blocks is movably connected to the outer wall of the second positioning shaft through an opening using a bearing. A synchronous hydraulic push rod is fixedly provided on the top outer wall of the two first positioning blocks. The output end of the two synchronous hydraulic push rods is fixedly connected to the bottom outer wall of the second positioning block. Felt cloth is sewn onto the top outer wall of the bed board. Equally spaced body position blocks are placed on the top of the felt cloth, and an elastic protective belt is also placed on the top of the felt cloth.

[0008] Furthermore, a first rotating shaft is fixedly provided on the outer wall of one end of both sides of the bed board, and a rotating hole is opened on the inner wall of both sides of the fixed frame. The inner wall of the rotating hole is movably connected to the inner wall of the first rotating shaft through a bearing.

[0009] Furthermore, the positioning block is made of sponge material, and a first bristle patch is sewn onto the bottom outer wall of the positioning block, with the bottom of the first bristle patch adhered to the top of the felt cloth.

[0010] Furthermore, the outer wall of the elastic band is sewn with a second bristle patch, and the inner wall of one end of the elastic band is sewn with a Velcro fastener. The second bristle patch is adhered to the outer wall of the felt cloth, and the Velcro fastener is also adhered to the outer wall of the second bristle patch. A gravel positioning opening is opened on the outer wall of the top side of the second bristle patch.

[0011] Furthermore, a translation seat is provided on the top side of the base plate, and two parallel linear motors are installed on the top outer wall of the base plate. The bottom of the translation seat is connected to the moving ends of the two linear motors.

[0012] Furthermore, two limiting plates are installed on the top outer wall of the base plate, and two parallel guide rods are fixedly provided on the corresponding outer wall of the two limiting plates. Two guide holes are opened on the bottom side wall of the translation seat. The inner wall of the guide hole is slidably connected to the outer wall of the guide rod. The two guide rods are parallel to the two linear motors.

[0013] Furthermore, the top of the translation seat is provided with a lifting platform, and a control unit is fixed to one side of the outer wall of the lifting platform by a bracket. The control unit includes a display panel and control buttons.

[0014] Furthermore, a U-shaped clamp is fixedly provided on the outer wall of one end of the lifting platform. The interior of the U-shaped clamp includes a piezoelectric ceramic transducer. A steering sleeve is fixedly provided on the outer wall of the piezoelectric ceramic transducer. Second rotating shafts are fixedly provided on the outer walls of both sides of the steering sleeve. The outer walls of both sides of the U-shaped clamp are movably connected to the second rotating shafts through openings using bearings. A positioning sleeve is fixedly provided on one outer wall of the U-shaped clamp. A limit motor is installed inside the positioning sleeve. The output shaft of the limit motor is fixedly connected to the outer wall of one end of a second rotating shaft through a coupling.

[0015] The present invention also provides a method for using a pancreatic duct stone fragmentation device based on a piezoelectric ceramic transducer, comprising the following steps:

[0016] S1: The fixed frame is fixed to the top of the base plate by four brackets. The inner wall of the fixed frame is provided with a bed board. Rotation holes are opened on the inner walls of both sides of the fixed frame. The first rotating shaft fixed to the outer wall of one end of the bed board is movably connected to the inner wall of the rotation hole through bearings to realize the rotational connection between the bed board and the fixed frame.

[0017] S2: Vertically downward first positioning plates are fixedly installed on the outer walls of the bottom two ends of the fixed frame. First positioning shafts are fixedly installed on the outer walls of the corresponding sides of the bottom of the two first positioning plates. Vertically downward second positioning plates are fixedly installed on the outer walls of the bottom two ends of the bed board. Second positioning shafts are fixedly installed on the outer walls of the corresponding sides of the bottom of the two second positioning plates. Two first positioning blocks are installed on the first positioning shaft. One end of the outer wall of the two first positioning blocks is movably connected to the outer wall of the first positioning shaft through an opening using a bearing. Two second positioning blocks are installed on the second positioning shaft. One end of the outer wall of the two second positioning blocks is movably connected to the outer wall of the second positioning shaft through an opening using a bearing. Synchronous hydraulic push rods are fixedly installed on the top outer walls of the two first positioning blocks. The output ends of the two synchronous hydraulic push rods are fixedly connected to the bottom outer walls of the second positioning blocks. By controlling the extension and retraction of the synchronous hydraulic push rods, the tilt angle of the bed board can be adjusted. The adjustable range of the tilt angle of the bed board is 0-30°.

[0018] S3: Felt cloth is sewn onto the top outer wall of the board. Several positioning blocks made of sponge material are placed on top of the felt cloth. The first barbed tape sewn onto the bottom outer wall of the positioning blocks is attached to the top of the felt cloth to fix the positioning blocks. The position and number of positioning blocks can be adjusted according to the patient's positioning needs to prevent the patient's position from shifting when the body is tilted. An elastic band is placed on top of the felt cloth. A second barbed tape is sewn onto the outer wall of the elastic band and is attached to the outer wall of the felt cloth. Velcro sewn onto the inner wall of one end of the elastic band is usually attached to the outer wall of the second barbed tape. The elastic band is tied to the part of the patient that needs lithotripsy through the Velcro and the second barbed tape. A lithotripsy positioning port is opened on one side of the top outer wall of the second barbed tape. The patient's lithotripsy part is located inside the lithotripsy positioning port, which makes it easy to determine the lithotripsy position.

[0019] S4: A translation seat is set on one side of the top of the base plate. Two parallel linear motors are installed on the top outer wall of the base plate. The bottom of the translation seat is connected to the moving end of the two linear motors. The linear motors can drive the translation seat to move on the base plate. Two limiting plates are also installed on the top outer wall of the base plate. Two parallel guide rods are fixed on the corresponding side outer wall of the two limiting plates. Two guide holes are opened on the bottom side wall of the translation seat so that the inner wall of the guide hole is slidably connected to the outer wall of the guide rod. The two guide rods are parallel to the two linear motors, which helps to improve the stability of the translation process of the translation seat.

[0020] S5: A lifting platform is set on the top of the translation seat. A control unit is fixedly set on one side of the outer wall of the lifting platform by a bracket. The control unit includes a display panel and control buttons for controlling the operation of the present invention. A U-shaped clamp is fixedly set on one end of the outer wall of the lifting platform. The piezoelectric ceramic transducer is placed inside the U-shaped clamp. A steering sleeve is fixedly set on the outer wall of the piezoelectric ceramic transducer. Second rotating shafts are fixedly set on both sides of the outer wall of the steering sleeve. The two sides of the outer wall of the U-shaped clamp are movably connected to the second rotating shafts through openings using bearings. The piezoelectric ceramic transducer rotates inside the U-shaped clamp. A positioning sleeve is fixedly set on one side of the outer wall of the U-shaped clamp. A limit motor is installed inside the positioning sleeve. The output shaft of the limit motor is fixedly connected to one end of the outer wall of a second rotating shaft through a coupling. By controlling the rotation of the limit motor, the angle of the piezoelectric ceramic transducer is adjusted so that it is aligned with the location of the pancreatic duct stone in the patient for lithotripsy.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The present invention uses the output shaft of a synchronous hydraulic push rod to extend out. The two ends of the synchronous hydraulic push rod are movably connected to the first positioning shaft and the second positioning shaft respectively through the first positioning block and the second positioning block. In this way, the synchronous hydraulic push rod tilts one side of the top of the bed board, and the tilt angle is controlled between 0-30°, which makes it convenient to adjust the tilt angle of the patient's body under the condition of anesthesia.

[0023] 2. The present invention uses a felt cloth sewn to the top of the bed board, on which several positioning blocks made of sponge material are placed. The positioning blocks made of sponge are fixed to the appropriate position of the felt cloth by a first bristle adhesive and placed on both sides of the patient's body position. This can limit the patient's body position. At the same time, an elastic strap is tied to the patient's affected area. The elastic strap is also attached to the felt cloth by a second bristle adhesive, which can further restrict the patient's body position and greatly avoid displacement of the patient's body position during tilting. This is beneficial to improving the accuracy of extracorporeal shock wave lithotripsy. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0025] Figure 1 This is a schematic diagram of the structure of a pancreatic duct stone fragmentation device based on a piezoelectric ceramic transducer according to the present invention;

[0026] Figure 2 This is a three-dimensional structural schematic diagram of a pancreatic duct stone fragmentation device based on a piezoelectric ceramic transducer according to the present invention;

[0027] Figure 3 This is a schematic diagram of the bed plate structure of a pancreatic duct stone fragmentation device based on a piezoelectric ceramic transducer according to the present invention;

[0028] Figure 4 This is a schematic diagram of the synchronous hydraulic push rod structure of a pancreatic duct stone fragmentation device based on a piezoelectric ceramic transducer according to the present invention;

[0029] Figure 5 This is a schematic diagram of the body positioning block structure of a pancreatic duct stone fragmentation device based on a piezoelectric ceramic transducer according to the present invention;

[0030] Figure 6 This is a schematic diagram of the elastic protective belt structure of a pancreatic duct stone fragmentation device based on a piezoelectric ceramic transducer according to the present invention;

[0031] Figure 7 This invention relates to a lithotripsy device for pancreatic duct stones based on a piezoelectric ceramic transducer. Figure 1 Enlarged structural diagram of section A in the middle.

[0032] Explanation of reference numerals in the attached figures:

[0033] 1. Base plate, 2. Fixed frame, 3. Bed board, 4. First rotating shaft, 5. First positioning plate, 6. First positioning shaft, 7. Second positioning plate, 8. Second positioning shaft, 9. First positioning block, 10. Second positioning block, 11. Synchronous hydraulic push rod, 12. Felt cloth, 13. Body position stop block, 14. Elastic protective belt, 15. First burr patch, 16. Second burr patch, 17. Velcro, 18. Crushed stone positioning port, 19. Translation seat, 20. Linear motor, 21. Limiting plate, 22. Guide rod, 23. Guide hole, 24. Lifting platform, 25. Control machine, 26. U-shaped clamp, 27. Piezoelectric ceramic transducer, 28. Steering sleeve, 29. Second rotating shaft, 30. Positioning sleeve, 31. Limiting motor. Detailed Implementation

[0034] The following drawings will disclose several embodiments of the present invention. For clarity, many physical details will be described in the following description. However, it should be understood that these physical details are not intended to limit the invention. That is, in some embodiments of the invention, these physical details are not essential. Furthermore, for the sake of simplicity, some conventional structures and components will be shown in the drawings in a simple schematic manner.

[0035] Furthermore, in this invention, the use of terms such as "first" and "second" is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit the invention. They are merely used to distinguish components or operations described using the same technical terms, and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but only if they are feasible for those skilled in the art. If a combination of technical solutions is contradictory or impossible to implement, such a combination should be considered nonexistent and not within the scope of protection claimed by this invention.

[0036] Example 1: Refer to the appendix of the instruction manual. Figure 1-5 A lithotripsy device for pancreatic duct stones based on a piezoelectric ceramic transducer includes a base plate 1 and a fixed frame 2. The fixed frame 2 is fixed to the top of the base plate 1 by four brackets. A bed board 3 is provided on the inner wall of the fixed frame 2. Rotation holes are opened on the inner walls of both sides of the fixed frame 2. The first rotating shaft 4 fixed to the outer wall of one end of the bed board 3 is movably connected to the inner wall of the rotation hole through bearings, so as to realize the rotational connection between the bed board 3 and the fixed frame 2.

[0037] Example 2: Based on Example 1, vertically downward first positioning plates 5 are fixedly installed on the outer walls of the bottom two ends of the fixed frame 2. First positioning shafts 6 are fixedly installed on the corresponding outer walls of the bottom of the two first positioning plates 5. Vertically downward second positioning plates 7 are fixedly installed on the outer walls of the bottom two ends of the bed board 3. Second positioning shafts 8 are fixedly installed on the corresponding outer walls of the bottom of the two second positioning plates 7. Two first positioning blocks 9 are installed on the first positioning shaft 6. One end of the outer wall of the two first positioning blocks 9 is movably connected to the outer wall of the first positioning shaft 6 through an opening using a bearing. Two second positioning blocks 10 are installed on the second positioning shaft 8. One end of the outer wall of the two second positioning blocks 10 is movably connected to the outer wall of the second positioning shaft 8 through an opening using a bearing. Synchronous hydraulic push rods 11 are fixedly installed on the top outer walls of the two first positioning blocks 9. The output ends of the two synchronous hydraulic push rods 11 are fixedly connected to the bottom outer walls of the second positioning blocks 10. By controlling the extension and retraction of the synchronous hydraulic push rods 11, the tilt angle of the bed board 3 can be adjusted. The adjustable range of the tilt angle of the bed board 3 is 0-30°.

[0038] Example 3: Based on Example 1, a felt cloth 12 is sewn to the top outer wall of the bed board 3. Several positioning blocks 13 made of sponge material are placed on top of the felt cloth 12. The first bristle patch 15 sewn to the bottom outer wall of the positioning block 13 is adhered to the top of the felt cloth 12 to fix the positioning block 13. The position and number of positioning blocks 13 can be adjusted according to the patient's position needs to prevent the patient's position from shifting when tilting. An elastic support belt is placed on top of the felt cloth 12. 14. A second bristle patch 16 is sewn onto the outer wall of the elastic band 14. The second bristle patch 16 is adhered to the outer wall of the felt 12. A Velcro 17 sewn onto the inner wall of one end of the elastic band 14 is usually adhered to the outer wall of the second bristle patch 16. The elastic band 14 is tied to the area of ​​the patient requiring lithotripsy by the Velcro 17 and the second bristle patch 16. A lithotripsy positioning opening 18 is opened on the outer wall of the top side of the second bristle patch 16. The area of ​​the patient requiring lithotripsy is located inside the lithotripsy positioning opening 18, which facilitates the determination of the lithotripsy location.

[0039] Example 4: Based on Example 1, a translation seat 19 is provided on one side of the top of the base plate 1. Two parallel linear motors 20 are installed on the outer top wall of the base plate 1. The bottom of the translation seat 19 is connected to the moving ends of the two linear motors 20. The linear motors 20 can drive the translation seat 19 to translate on the base plate 1. Two limiting plates 21 are also installed on the outer top wall of the base plate 1. Two parallel guide rods 22 are fixedly provided on the outer wall of the corresponding side of the two limiting plates 21. Two guide holes 23 are opened on the bottom side wall of the translation seat 19, so that the inner wall of the guide hole 23 is slidably connected to the outer wall of the guide rod 22. The two guide rods 22 are parallel to the two linear motors 20, which helps to improve the stability of the translation process of the translation seat 19. A lifting platform 24 is provided on the top of the translation seat 19. A control machine 25 is fixedly provided on one side of the outer wall of the lifting platform 24 by a bracket. The control machine 25 includes a display. The panel and control buttons are used to control the operation of the present invention. A U-shaped clamp 26 is fixedly installed on the outer wall of one end of the lifting platform 24. The piezoelectric ceramic transducer 27 is placed inside the U-shaped clamp 26. A steering sleeve 28 is fixedly installed on the outer wall of the piezoelectric ceramic transducer 27. Second rotating shafts 29 are fixedly installed on the outer walls of both sides of the steering sleeve 28. The outer walls of both sides of the U-shaped clamp 26 are movably connected to the second rotating shafts 29 through openings using bearings. The piezoelectric ceramic transducer 27 rotates within the U-shaped clamp 26. A positioning sleeve 30 is fixedly installed on one side of the outer wall of the U-shaped clamp 26. A limit motor 31 is installed inside the positioning sleeve 30. The output shaft of the limit motor 31 is fixedly connected to the outer wall of one end of a second rotating shaft 29 through a coupling. By controlling the rotation of the limit motor 31, the angle of the piezoelectric ceramic transducer 27 can be adjusted so that it is aligned with the location of the pancreatic duct stone in the patient for lithotripsy.

[0040] Working principle:

[0041] Refer to the instruction manual appendix Figure 1-5In use, the doctor first determines the patient's body where lithotripsy is needed, then the elastic band 14 is tied to the affected area, aligning the lithotripsy positioning port 18 with the area requiring lithotripsy. The patient then lies on the felt cloth 12 on the bed board 3. According to their body position, the sponge-made positioning block 13 is fixed to the appropriate position on the felt cloth 12 using the first bristle patch 15, limiting the patient's lateral position, such as the head, sides of the chest, sides of the hips, or legs. Simultaneously, the elastic band 14 is also attached to the top of the felt cloth 12 using the second bristle patch 16, preventing displacement of the patient's body during tilting. After the patient's position is fixed, anesthesia is administered under the control of the anesthesiologist. After anesthesia, medical staff operate the control unit 25, starting the linear motor 20, which moves the translation seat 19 along the guide rod 22 on the base plate 1, moving the U-shaped clamp 26 and internal pressure plate on the lifting platform 24. The piezoelectric ceramic transducer 27 is moved above the patient's body. Then, the height of the lifting platform 24 is adjusted to bring the piezoelectric ceramic transducer 27 closer to the patient's body. Next, the limit motor 31 is activated, driving the second rotating shaft 29 to rotate. With the cooperation of the steering sleeve 28, the piezoelectric ceramic transducer 27 is precisely rotated to the position aligned with the pancreatic duct stone. Finally, the piezoelectric ceramic transducer 27 is activated, using the high-frequency vibration energy it generates to perform lithotripsy on the pancreatic duct stone. When the patient's position needs to be tilted, the output ends of the two synchronous hydraulic push rods 11 are fixedly connected to the bottom outer wall of the second positioning block 10. By controlling the extension and retraction of the synchronous hydraulic push rods 11, the tilt angle of the bed board 3 can be adjusted. The tilt angle of the bed board 3 can be adjusted within the range of 0-30°, thereby controlling the tilt of the patient's position. During this process, medical staff can observe the lithotripsy situation through the display panel of the control unit 25 and adjust the status of each component of the device as needed to ensure the smooth completion of the lithotripsy operation.

[0042] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A lithotripsy device for pancreatic duct stones based on a piezoelectric ceramic transducer, comprising a base plate (1) and a fixing frame (2), wherein the fixing frame (2) is fixed to the top of the base plate (1) by four supports, characterized in that, The inner wall of the fixed frame (2) includes a bed board (3). The bottom two ends of the fixed frame (2) are fixed with vertically downward first positioning plates (5). The bottom corresponding side of the two first positioning plates (5) is fixed with a first positioning shaft (6). The bottom two ends of the bed board (3) are fixed with vertically downward second positioning plates (7). The bottom corresponding side of the two second positioning plates (7) is fixed with a second positioning shaft (8). The first positioning shaft (6) includes two first positioning blocks (9). The second positioning shaft (8) includes two second positioning blocks (10). The two first positioning blocks (9) One end of the outer wall of the first positioning shaft (6) is movably connected to the outer wall of the first positioning shaft (6) through an opening using a bearing. One end of the outer wall of the two second positioning blocks (10) is movably connected to the outer wall of the second positioning shaft (8) through an opening using a bearing. The top outer wall of the two first positioning blocks (9) is fixedly provided with a synchronous hydraulic push rod (11). The output end of the two synchronous hydraulic push rods (11) is fixedly connected to the bottom outer wall of the second positioning block (10). The top outer wall of the bed board (3) is sewn with a felt cloth (12). The top of the felt cloth (12) is provided with equally spaced body position blocks (13), and the top of the felt cloth (12) is also provided with an elastic guard belt (14).

2. The pancreatic duct stone fragmentation device based on a piezoelectric ceramic transducer according to claim 1, characterized in that, The outer wall of one end of the two sides of the bed board (3) is fixed with a first rotating shaft (4), and the inner walls of the two sides of the fixed frame (2) are provided with rotating holes. The inner wall of the rotating hole is movably connected to the inner wall of the first rotating shaft (4) through a bearing.

3. The pancreatic duct stone fragmentation device based on a piezoelectric ceramic transducer according to claim 1, characterized in that, The body positioning block (13) is made of sponge material, and the bottom outer wall of the body positioning block (13) is also sewn with a first bristle patch (15), the bottom of which is attached to the top of the felt cloth (12).

4. The pancreatic duct stone fragmentation device based on a piezoelectric ceramic transducer according to claim 1, characterized in that, The outer wall of the elastic band (14) is sewn with a second barbed patch (16), and the inner wall of one end of the elastic band (14) is sewn with a Velcro patch (17). The second barbed patch (16) is adhered to the outer wall of the felt cloth (12), and the Velcro patch (17) is also adhered to the outer wall of the second barbed patch (16). A gravel positioning opening (18) is opened on the outer wall of the top side of the second barbed patch (16).

5. The pancreatic duct stone fragmentation device based on a piezoelectric ceramic transducer according to claim 1, characterized in that, The top side of the base plate (1) is also provided with a translation seat (19). Two parallel linear motors (20) are installed on the top outer wall of the base plate (1). The bottom of the translation seat (19) is connected to the moving end of the two linear motors (20).

6. A lithotripsy device for pancreatic duct stones based on a piezoelectric ceramic transducer according to claim 5, characterized in that, Two limiting plates (21) are also installed on the top outer wall of the base plate (1). Two parallel guide rods (22) are fixed on the corresponding outer wall of the two limiting plates (21). Two guide holes (23) are opened on the bottom side wall of the translation seat (19). The inner wall of the guide hole (23) is slidably connected to the outer wall of the guide rod (22). The two guide rods (22) are parallel to the two linear motors (20).

7. A lithotripsy device for pancreatic duct stones based on a piezoelectric ceramic transducer according to claim 5, characterized in that, The top of the translation seat (19) is provided with a lifting platform (24), and a control machine (25) is fixedly provided on one side of the outer wall of the lifting platform (24) by a bracket. The control machine (25) includes a display panel and control buttons.

8. A lithotripsy device for pancreatic duct stones based on a piezoelectric ceramic transducer according to claim 7, characterized in that, A U-shaped clamp (26) is fixedly provided on the outer wall of one end of the lifting platform (24). The U-shaped clamp (26) contains a piezoelectric ceramic transducer (27). A steering sleeve (28) is fixedly provided on the outer wall of the piezoelectric ceramic transducer (27). A second rotating shaft (29) is fixedly provided on both outer walls of the steering sleeve (28). The two outer walls of the U-shaped clamp (26) are movably connected to the second rotating shaft (29) through openings using bearings. A positioning sleeve (30) is fixedly provided on one outer wall of the U-shaped clamp (26). A limit motor (31) is installed inside the positioning sleeve (30). The output shaft of the limit motor (31) is fixedly connected to one outer wall of a second rotating shaft (29) through a coupling.

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