Vascular puncture positioning device for neurointervention

Abstract

This invention relates to the field of medical device technology, specifically to a vascular interventional puncture positioning device for neurointervention, comprising an image planning unit, an optical positioning unit, and a buffer mechanism. The image planning unit plans the puncture path of the puncture needle based on ultrasound image data; the optical positioning unit tracks the spatial position of the puncture needle and the patient's body surface; and the buffer mechanism receives instructions from the image planning unit and the optical positioning unit to clamp and position the puncture needle. The buffer mechanism includes a locking component and a sensing component. The locking component locks the needle insertion angle when the puncture needle posture matches the planned path; the sensing component acquires the needle insertion resistance and applies a damping action to the puncture needle when the resistance reaches a preset threshold. This invention provides tactile feedback-based early warning for the operator, improving the safety and controllability of the surgical procedure.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a vascular puncture positioning device for neurointervention. Background Technology

[0002] In neurointerventional surgery, the choice of puncture point and angle significantly impacts the incidence of intraoperative complications such as hematoma, pseudoaneurysm, and vascular dissection. Traditional puncture relies on the surgeon's experience and surface landmarks, which are inherently subjective and prone to error; puncture is often more difficult, especially in obese patients, those with tortuous blood vessels, or those with anatomical variations. Therefore, there is an urgent need for a puncture-aiding device that enables real-time imaging, dynamic guidance, and precise positioning.

[0003] In existing technologies, such as the CorPath GRX vascular interventional robot, this device is mainly used for coronary and peripheral vascular interventional treatments. It achieves high-precision manipulation of guidewires and instruments through remote control, improving surgical stability and reducing operator radiation exposure. This product possesses excellent force feedback and motion control capabilities, helping to reduce human error and improve surgical repeatability.

[0004] While the aforementioned products can perform vascular puncture interventions, they may lack the ability to predict the puncture path; their functions only cover the catheter intervention stage and do not include arterial puncture; they may not integrate ultrasound guidance, needle tip tracking, or intelligent positioning functions; thus, they cannot resolve the risks of branch intrusion or vascular dissection caused by inaccurate puncture in neurointerventions, and have some shortcomings in puncture positioning. Therefore, it is necessary to propose a safe and controllable vascular puncture positioning device for neurointerventions. Summary of the Invention

[0005] To address the aforementioned issues, this invention provides a vascular puncture positioning device for neurointervention. The device uses an image planning unit to pre-determine the optimal puncture path based on ultrasound image data, providing a navigation reference for the operation. When the puncture needle posture matches the planned path, a locking component locks the needle insertion angle, ensuring accurate puncture. When the puncture resistance abnormally increases and reaches a preset threshold, a damping action is applied to slow the needle insertion speed, providing tactile feedback-based early warning to the operator and improving the safety and controllability of the surgical procedure.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: a vascular puncture positioning device for neurointervention, comprising an image planning unit, an optical positioning unit, and a buffer mechanism. The image planning unit is used to plan the puncture path of the puncture needle based on ultrasound image data; the optical positioning unit is used to track the spatial position of the puncture needle and the patient's body surface; and the buffer mechanism is used to receive instructions from the image planning unit and the optical positioning unit to clamp and position the puncture needle.

[0007] The buffer mechanism includes a locking component and a sensing component. The locking component is used to lock the needle insertion angle when the puncture needle posture matches the planned path. The sensing component is used to obtain the needle insertion resistance and apply a damping action to the puncture needle when the needle insertion resistance reaches a preset threshold.

[0008] The technical principles of the above solution are as follows:

[0009] The image planning unit pre-plans the puncture path based on ultrasound image data, providing a precise navigation reference for the puncture operation. The optical positioning unit tracks the spatial position of the puncture needle relative to the patient's body surface in real time, providing feedback on whether the puncture needle posture deviates from the planned path. The buffer mechanism, as the execution component, receives instructions from the first two and works in coordination. When the angle sensor detects that the puncture needle posture matches the planned path, the locking component automatically locks the needle insertion angle to ensure stable puncture direction. The sensing component monitors the resistance changes during needle insertion in real time. If the resistance reaches a preset threshold, a damping action is applied to slow down the needle insertion speed and avoid excessive puncture damage to vascular tissue.

[0010] The above approach has the following beneficial effects:

[0011] 1. This solution uses an image planning unit to pre-determine the optimal puncture path based on ultrasound image data, providing a navigation benchmark for the operation; the optical positioning unit captures the spatial relationship between the puncture needle and the patient's body surface in real time, ensuring that posture deviations during puncture can be detected immediately. When the puncture needle posture matches the planned path, the locking component automatically locks the needle insertion angle, reducing angle deviations caused by manual adjustments and achieving posture fixation; it is suitable for surgical scenarios with complex anatomical structures such as blood vessels and high spatial accuracy requirements, providing reliable assurance for precise puncture.

[0012] 2. This solution constructs an active safety protection mechanism through the coordinated design of resistance sensing and damping control. The sensing component monitors the needle insertion resistance in real time. When the resistance abnormally increases (such as when touching blood vessels or dense tissue) and reaches a preset threshold, a damping action is applied to slow down the needle insertion speed, providing the operator with tactile feedback-based early warning and avoiding tissue damage due to improper operation force. Blood vessels in the vascular area are delicate and structurally fragile. This design, combining passive protection and active intervention, can reduce the risk of complications such as blood vessel rupture and bleeding during puncture, providing crucial protection for patient safety. It also alleviates the operator's psychological stress during the procedure and improves surgical controllability.

[0013] 3. This solution integrates image planning, real-time positioning, and dynamic buffering functions through modular design, optimizing the clinical operation process. The integrated clamping and positioning functions of the buffering mechanism reduce repetitive operations such as manual angle adjustment and repeated position confirmation in traditional punctures, simplifying the surgeon's operation steps. The collaboration between the optical positioning unit and the image planning unit reduces process interruptions caused by switching between multiple devices, improving surgical efficiency. In addition, this design is highly adaptable to patients with different body types and anatomical variations. Through real-time spatial position tracking and dynamic locking, it can flexibly handle complex situations such as slight changes in patient position during surgery, reducing over-reliance on surgeon experience and making standardized operating procedures easier to promote in complex clinical scenarios.

[0014] Furthermore, the locking assembly includes a spherical rotor, a base, a controller, and several telescopic components. The spherical rotor has a channel inside for the puncture needle to pass through, and the spherical rotor is spherically hinged to the top of the base. The telescopic components are circumferentially hinged to the top of the base, and all telescopic components are electrically connected to the controller. An angle sensor is also fixedly connected to the outer wall of the spherical rotor. The controller is used to acquire the angle signal emitted by the angle sensor and control the operation of the telescopic components based on the angle signal. The output shaft of the telescopic components is hinged to the outer wall of the spherical rotor.

[0015] The controller is used to keep the spherical rotor in a floating state when the telescopic component is not moving; when the angle sensor detects that the puncture needle posture conforms to the preset puncture path, the telescopic component is driven to press against the spherical rotor, causing it to enter a locked state.

[0016] Beneficial effects: The spherical rotor enables flexible multi-angle adjustment of the puncture needle, while the circumferentially distributed telescopic components tighten synchronously upon positioning triggering, ensuring precise locking and reducing manual fixation errors. Automatic switching between floating and locked states balances adjustment flexibility and positioning stability, improving puncture accuracy and reducing the risks of vascular interventional surgery.

[0017] Furthermore, each telescopic component has a transmission cylinder fixedly connected to its outer wall, and a movable plate slidingly fitted to the inner wall of each transmission cylinder; each movable plate has a transmission rod fixedly connected to its top, and the end of the transmission rod away from the movable plate is fixedly connected to the output shaft of the telescopic component.

[0018] The side of the transmission cylinder away from the transmission rod is connected to an input pipe and an output pipe, and the connection between the input pipe and the output pipe and the transmission cylinder is connected to a one-way valve; the output pipe is connected to the outside of the transmission cylinder, and the end of the input pipe away from the transmission cylinder is connected to a suction cup, which is fixedly connected to the bottom of the base.

[0019] Beneficial effects: When the telescopic component is locked in position against the spherical rotor, the transmission rod drives the movable plate to slide, and the suction cup generates adsorption through negative pressure, enhancing the stability of the base and reducing operational positioning deviation. The one-way valve ensures stable transmission of adsorption force, and the linkage design simplifies the structure, improving the mechanical reliability and ease of operation during the puncture process.

[0020] Furthermore, the sensing component includes a guide sleeve communicating with the channel, the guide sleeve being fixedly connected to the outer wall of the spherical rotor; a damping cylinder is fixedly connected to the outer wall of the guide sleeve, the damping cylinder being filled with magnetorheological fluid; an excitation coil is embedded in the inner side wall of the damping cylinder, and the excitation coil is electrically connected to the controller.

[0021] A piston plate is slidably fitted onto the inner wall of the damping cylinder, and several guide holes are opened on the piston plate; a push rod is fixedly connected to the top of the piston plate, and the push rod is detachably connected to the puncture needle; an accelerometer is also fixedly connected to the outer wall of the push rod, and the controller is used to acquire the acceleration signal emitted by the accelerometer and control the operation of the excitation coil based on the acceleration signal.

[0022] Beneficial effects: By utilizing the magnetic field response characteristics of magnetorheological fluid and combining it with an accelerometer to capture the puncture needle signal, the damping force can be controlled by adjusting the magnetic field strength of the excitation coil through a controller. Damping feedback provides the surgeon with immediate tactile warnings, improving device synergy and surgical safety.

[0023] Furthermore, the buffer mechanism also includes a limiting component for locking the needle insertion depth. The limiting component includes a drive member, a lead screw, and a stop. The drive member is fixedly connected to the outer wall of the guide sleeve, and the controller is electrically connected to the drive member. The output shaft of the drive member is fixedly connected to the lead screw coaxially, and the outer wall of the lead screw is threaded with a nut seat for blocking the stop. The stop is fixedly connected to the outer wall of the push rod, and a limiting plate is fixedly connected to the outer wall of the guide sleeve. The lead screw and the limiting plate are rotatably engaged. A guide rod is fixedly connected to the top of the limiting plate, and the nut seat is slidably engaged with the outer wall of the guide rod.

[0024] Beneficial effects: The needle insertion depth is locked through a lead screw drive, the drive unit drives the nut seat to slide stably along the guide rod, and the cooperation between the stop block and the nut seat limits the stroke of the push rod, preventing excessive or shallow punctures. Automatic adjustment replaces manual operation, reducing human error, and in conjunction with the damping adjustment of the sensing component, further improves puncture safety and accuracy.

[0025] Furthermore, the optical positioning unit monitors the spatial position deviation of the puncture needle relative to the target blood vessel in real time; when the position deviation exceeds the preset tolerance threshold, the controller controls the operation of each telescopic component, drives the telescopic component to move, and guides the spherical rotor to drive the puncture needle back to the planned path direction.

[0026] Beneficial effects: The optical positioning unit monitors the spatial position deviation of the puncture needle in real time, and the controller drives the circumferential telescopic component to extend and retract, guiding the puncture needle back to the planned path via a spherical rotor. This mechanism can correct positional deviations in real time, ensuring that the puncture path is consistent with the preset plan, improving dynamic positioning accuracy, and enhancing the stability and reliability of surgical operations.

[0027] Furthermore, the controller is also used to control the operation of the drive unit when the acceleration signal detects that the puncture needle has decelerated suddenly, and to drive the nut seat to move to contact the current position of the stop.

[0028] Beneficial effects: When the puncture needle decelerates suddenly, the drive mechanism is triggered, causing the stop to move rapidly to the current position of the advance rod and make contact via a lead screw, thus locking the needle insertion depth. It can stop needle insertion when there is a sudden change in puncture resistance. In conjunction with the damping adjustment of the sensing component, it improves the safety and controllability of surgical procedures.

[0029] Furthermore, a pressure sensor is fixedly connected to the bottom of the stop block. The controller is used to acquire the pressure signal emitted by the pressure sensor and control the operation of the excitation coil based on the pressure signal.

[0030] Beneficial effects: The pressure sensor captures pressure changes in real time during needle insertion, and the controller adjusts the magnetic field strength of the excitation coil accordingly to regulate the damping force of the magnetorheological fluid. The coordinated response of pressure feedback and damping force reduces hard contact impact, further improving the controllability and safety of the puncture operation, and meeting the accuracy requirements of force feedback in vascular interventional surgery.

[0031] Furthermore, the controller is also used to calculate the rate of change of the acceleration signal in real time. When the rate of change exceeds a preset threshold, it is determined that a high-density tissue has been encountered, and the excitation coil is controlled to increase the current to provide incremental damping.

[0032] Beneficial effects: By calculating the rate of change of acceleration signal in real time, it can identify when the puncture needle encounters high-density tissue and increase the current of the excitation coil to provide incremental damping. This mechanism can transmit tactile feedback to the surgeon through changes in resistance, assisting in judging tissue characteristics; at the same time, it automatically slows down the needle insertion speed, improving the safety and controllability of the surgical procedure.

[0033] Furthermore, the controller also integrates a learning module, which is used to record the correspondence between acceleration signals, pressure signals, locking timing and successful puncture paths during historical punctures; in subsequent operations, the trigger threshold, damping response curve and initial value of the locking signal are optimized based on similar anatomical structures.

[0034] Beneficial effects: The learning module establishes a signal, path, and parameter correlation model by accumulating historical puncture data, dynamically optimizing the locking threshold, damping response curve, and initial value of the limiting depth for different patient anatomical structures. This enables personalized puncture parameter adaptation and improves the accuracy of operations in complex anatomical scenarios. Attached Figure Description

[0035] Figure 1 This is an isometric view of the vascular puncture positioning device for neurointervention of the present invention.

[0036] Figure 2 For the present invention Figure 1Sectional view along the AA direction.

[0037] Figure 3 For the present invention Figure 1 Enlarged view of section B.

[0038] Figure 4 For the present invention Figure 2 Enlarged view of section C.

[0039] Figure 5 For the present invention Figure 2 Enlarged view of section D.

[0040] The reference numerals in the accompanying drawings of the instruction manual include: 1. Spherical rotor; 2. Base; 3. Telescopic component; 4. Transmission cylinder; 5. Transmission rod; 6. Movable plate; 7. Guide sleeve; 8. Damping cylinder; 9. Magnetorheological fluid; 10. Excitation coil; 11. Piston plate; 12. Push rod; 13. Drive component; 14. Lead screw; 15. Stop block; 16. Nut seat. Detailed Implementation

[0041] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0042] The following detailed description illustrates the specific implementation method:

[0043] The basic implementation examples are as follows: Figures 1-5 The image shows a vascular puncture positioning device for neurointervention, comprising an image planning unit, an optical positioning unit, and a buffer mechanism. In this embodiment, both the image planning unit and the optical positioning unit utilize existing technologies. The image planning unit plans the puncture path of the puncture needle based on ultrasound image data. The optical positioning unit tracks the spatial position of the puncture needle and the patient's body surface. The buffer mechanism receives instructions from the image planning unit and the optical positioning unit to clamp and position the puncture needle. In this embodiment, the image planning unit uses B-mode ultrasound for real-time imaging, and the optical positioning unit uses a near-infrared optical tracking camera for real-time monitoring.

[0044] The buffer mechanism includes a locking component and a sensing component. The locking component is used to lock the needle insertion angle when the puncture needle posture matches the planned path. The sensing component is used to obtain the needle insertion resistance and apply a damping action to the puncture needle when the needle insertion resistance reaches a preset threshold.

[0045] The locking assembly includes a spherical rotor 1, a base 2, a controller, and several telescopic components 3. In this embodiment, the telescopic components 3 are electric push rods, and the controller is a PLC controller. The spherical rotor 1 has a channel for the puncture needle to pass through inside, and the spherical rotor 1 is spherically hinged to the top of the base 2. The telescopic components 3 are circumferentially hinged to the top of the base 2, and all telescopic components 3 are electrically connected to the controller. An angle sensor is also fixedly bonded to the outer wall of the spherical rotor 1. The controller is used to acquire the angle signal emitted by the angle sensor and control the operation of the telescopic components 3 based on the angle signal. The output shaft of the telescopic components 3 is hinged to the outer wall of the spherical rotor 1.

[0046] The controller keeps the spherical rotor 1 in a floating state when the telescopic member 3 is not in motion; when the angle sensor detects that the puncture needle posture matches the preset puncture path, the telescopic member 3 is driven to press against the spherical rotor 1, causing it to enter a locked state. In this embodiment, the channel is aligned with the desired puncture position, and the base 2 can be installed at its output end using a C-arm machine or robotic arm; the angular rotation of the spherical rotor 1 is only activated when the telescopic member 3 is in an active state, and when the output shaft length of the telescopic member 3 is fixed, the spherical rotor 1 is also fixed.

[0047] Specifically, in the initial state, the controller keeps the telescopic components 3, which are circumferentially hinged to the top of the base 2, floating in coordination, allowing the spherical rotor 1 to rotate freely on the base 2. The doctor manually adjusts the puncture needle's posture accordingly, and the optical positioning unit monitors its alignment with the planned path in real time. When the angle sensor detects that the puncture needle coincides with the preset path, a coordinated locking mechanism is triggered. The controller synchronously drives all telescopic components 3 to extend and retract. Since each telescopic component 3 is hinged at both ends to the base 2 and the outer wall of the spherical rotor 1 respectively, a uniform radial constraint force is applied to the spherical rotor 1 from multiple directions through changes in the length of the output shaft.

[0048] During this process, the supporting and synergistic action of the telescopic components 3 envelops and locks the spherical rotor 1 in its current position. This coordinated process achieves the switching from flexible omnidirectional floating to locking, fully preserving the feel of manual fine-tuning by the doctor, while ensuring the precision and reliability of angle locking. Meanwhile, the sensing components continuously detect the needle insertion resistance and apply damping action when specific changes occur in the resistance, ensuring the stability and controllability of the puncture process.

[0049] The outer wall of the telescopic component 3 is screwed with a transmission cylinder 4, and the inner wall of the transmission cylinder 4 is slidably fitted with a movable plate 6 (such as...). Figure 5 The top of the movable plate 6 is fixedly glued with a transmission rod 5, and the end of the transmission rod 5 away from the movable plate 6 is fixedly snapped with the output shaft of the telescopic component 3.

[0050] The side of the transmission cylinder 4 away from the transmission rod 5 is connected to an input pipe and an output pipe. The connection between the input pipe and the output pipe and the transmission cylinder 4 is connected to a one-way valve. In this embodiment, the one-way valve is used to guide the fluid, so that the fluid flows in from the input pipe and then flows out through the output pipe. The output pipe is connected to the outside of the transmission cylinder 4. The end of the input pipe away from the transmission cylinder 4 is connected to a suction cup. The suction cup is fixedly bonded to the bottom of the base 2.

[0051] Specifically, when the controller drives the telescopic component 3 to perform the locking action, the extension movement of the output shaft of the telescopic component 3 pushes the movable plate 6 to slide inside the transmission cylinder 4 via the transmission rod 5. This movement increases the internal volume of the transmission cylinder 4, creating a negative pressure. This negative pressure generates an adsorption force through the suction cup at the end of the input pipe, causing the entire base 2 to be stably adsorbed in the installation position. This fixing mechanism allows the base 2 to increase its fixing force on the opposite side of the adjustment direction when the spherical rotor 1 is adjusted in various directions, ensuring the stability of the upper adjustment components of the spherical rotor 1 and further improving positioning accuracy.

[0052] During the unlocking process, the output shaft of the telescopic component 3 retracts, driving the movable plate 6 to move in the opposite direction via the transmission rod 5. At this time, the internal volume of the transmission cylinder 4 decreases, creating positive pressure. Fluid is discharged through the output pipe, and the discharged gas blows onto the surface of the telescopic component 3, thereby providing heat dissipation for the telescopic component 3 and ensuring stable operation of the device. This ingenious design allows the angle locking operation to be naturally linked with the overall fixation of the device, achieving self-stabilization during the surgical process without additional power; it also provides a cooling mechanism for the power components, further improving the service life of the device.

[0053] The sensing assembly includes a guide sleeve 7 communicating with the channel, and the guide sleeve 7 is fixedly connected to the outer wall of the spherical rotor 1 by screws; a damping cylinder 8 is fixedly connected to the outer wall of the guide sleeve 7 by screws, and the damping cylinder 8 is filled with magnetorheological fluid 9 (such as... Figure 4 (As shown); an excitation coil 10 is embedded in the inner wall of the damping cylinder 8, and the excitation coil 10 is electrically connected to the controller.

[0054] A piston plate 11 is slidably fitted on the inner wall of the damping cylinder 8, and several guide holes are opened on the piston plate 11; a push rod 12 is fixedly bonded to the top of the piston plate 11, and the push rod 12 is detachably engaged with the puncture needle; an accelerometer is also fixedly bonded to the outer wall of the push rod 12, and the controller is used to acquire the acceleration signal emitted by the accelerometer and control the operation of the excitation coil 10 based on the acceleration signal.

[0055] Specifically, during the normal puncture phase, the excitation coil 10 is not energized, the magnetorheological fluid 9 remains in a fluid state, and the piston plate 11 can move smoothly within the damping cylinder 8. The doctor receives clear tactile feedback through the push rod 12. When the puncture needle encounters different tissue interfaces (such as the blood vessel wall), the accelerometer on the push rod 12 captures changes in motion in real time. In particular, when the needle tip penetrates the anterior wall of the blood vessel and produces a feeling of loss of contact, the accelerometer immediately detects this characteristic signal and transmits it to the controller. The controller outputs current to the excitation coil 10, forming a strong magnetic field within the cylinder, causing the magnetorheological fluid 9 to transform into a near-solid state.

[0056] This phase transition process blocks the flow holes on the piston plate 11, resisting the piston's movement and thus applying significant buffering damping to the puncture needle via the push rod 12. This linkage mechanism enables control from tissue resistance sensing to real-time mechanical feedback, reducing vascular damage caused by excessively deep punctures.

[0057] The buffer mechanism also includes a limiting component for locking the needle insertion depth. The limiting component includes a drive element 13, a lead screw 14, and a stop block 15. In this embodiment, the drive element 13 is a servo motor. The drive element 13 is screwed and fixedly connected to the outer wall of the guide sleeve 7. The controller is electrically connected to the drive element 13. The output shaft of the drive element 13 is coaxially fixedly connected to the lead screw 14 through a coupling. The outer wall of the lead screw 14 is threaded with a nut seat 16 for blocking the stop block 15. The stop block 15 is screwed and fixedly connected to the outer wall of the push rod 12. The outer wall of the guide sleeve 7 is screwed and fixedly connected to a limiting plate. The lead screw 14 is rotatably engaged with the limiting plate. The top of the limiting plate is screwed and fixedly connected to a guide rod. The nut seat 16 is slidably engaged with the outer wall of the guide rod.

[0058] Specifically, before the puncture begins, the controller activates the drive unit 13 to rotate according to the preset puncture depth. The drive unit 13 synchronously drives the lead screw 14 to rotate. As the lead screw 14 rotates, the nut seat 16 smoothly moves along the guide rod to the predetermined coordinates, forming a mechanical barrier. When the push rod 12 drives the stop block 15 to continue advancing until it contacts the nut seat 16, the movement is physically stopped, and the puncture needle stops precisely at a safe depth. This process combines electrical signal sensing with mechanical limiting, effectively preventing over-puncture through dynamically set stop points.

[0059] This embodiment achieves precise, stable, and safe puncture operations through intelligent linkage of multiple components. When the puncture needle posture conforms to the planned path, the locking component, in conjunction with the telescopic component 3, locks the spherical rotor 1 while simultaneously causing the movable plate 6 of the transmission cylinder 4 to slide, allowing the suction cup to adhere to the fixed base 2. Upon unlocking, it also expels gas to dissipate heat from the telescopic component 3. The sensing component uses an accelerometer to sense changes in puncture resistance in real time, and in conjunction with the excitation coil 10, adjusts the state of the magnetorheological fluid 9, providing damping buffer to avoid vascular damage. The limiting component, in conjunction with the drive component 13, adjusts the position of the nut seat 16 according to the preset depth, and achieves mechanical limiting through the contact between the stop block 15 and the nut seat 16 to prevent over-puncture. The linkage between the components is automatic and coordinated without additional operation, preserving the tactile feedback of manual operation by the doctor while improving the accuracy of puncture positioning and the safety of the surgical procedure.

[0060] In another embodiment, the optical positioning unit monitors the spatial position deviation of the puncture needle relative to the target blood vessel in real time; when the position deviation exceeds the preset tolerance threshold, the controller controls the operation of each telescopic component 3, drives the telescopic component 3 to move, and guides the spherical rotor 1 to drive the puncture needle to return to the planned path direction.

[0061] The specific implementation process is as follows: When the optical positioning unit detects a spatial deviation between the puncture needle and the planned path, the controller immediately activates the active guidance mode. By calculating the required compensation displacement of each telescopic component 3, the spherical rotor 1 is driven to generate angle correction using differentiated telescopic combinations. Through coordinated telescopic movements, multiple telescopic components 3 push the spherical rotor 1, along with the puncture needle, smoothly return to the target orientation along the minimum path. Throughout the adjustment process, the real-time position is continuously compared with the planned path to form dynamic control, and the locking state is immediately restored once the positional deviation is eliminated. This dual capability of active navigation and correction, as well as locking, ensures positioning accuracy while reducing operational difficulty, allowing doctors to enjoy intelligent mechanical guidance and stable locking protection during complex surgeries.

[0062] In another embodiment, the controller is also configured to control the drive unit 13 to operate when the acceleration signal detects a sudden deceleration of the puncture needle, thereby driving the nut seat 16 to move to contact the current position of the stop block 15.

[0063] The specific implementation process is as follows: When the puncture needle decelerates suddenly, the drive component 13 is triggered, which drives the stop 15 to move rapidly to the current position of the advance rod 12 and make contact through the lead screw 14, thereby locking the needle insertion depth. This can stop needle insertion when there is a sudden change in puncture resistance (such as when the blood vessel wall or target tissue is touched). In conjunction with the damping adjustment of the sensing component, it improves the safety and controllability of the surgical procedure.

[0064] In other embodiments, a pressure sensor is also fixedly attached to the bottom of the stop 15, and the controller is used to acquire the pressure signal emitted by the pressure sensor and control the excitation coil 10 to operate based on the pressure signal.

[0065] The specific implementation process is as follows: The pressure sensor captures the pressure change signal in real time during needle insertion, and the controller adjusts the magnetic field strength of the excitation coil 10 accordingly, thereby controlling the damping force of the magnetorheological fluid 9. The pressure feedback and damping force respond in synergy, reducing the impact of hard contact and further improving the controllability and safety of the puncture operation, thus meeting the requirements of force feedback accuracy for vascular interventional surgery.

[0066] In other embodiments, the controller is also used to calculate the rate of change of the acceleration signal in real time. When the rate of change exceeds a preset threshold, it is determined that a high-density tissue has been encountered, and the excitation coil 10 is controlled to increase the current to provide incremental damping.

[0067] The specific implementation process is as follows: By calculating the rate of change of the acceleration signal in real time, it can identify when the puncture needle encounters high-density tissue (such as the blood vessel wall) and increase the current of the excitation coil by 10 to provide incremental damping. This mechanism can transmit tactile feedback to the surgeon through changes in resistance, assisting in judging tissue characteristics; at the same time, it automatically slows down the needle insertion speed, improving the safety and controllability of the surgical operation.

[0068] In other embodiments, the controller also integrates a learning module. This module records the correspondence between acceleration signals, pressure signals, locking timing, and successful puncture paths during historical punctures. In subsequent operations, it optimizes the trigger threshold, damping response curve, and initial value of the limiting depth of the locking signal based on similar anatomical structures. In this embodiment, the learning module employs a supervised learning algorithm, using successful puncture paths as labels to train a correlation model between acceleration or pressure signals and parameters.

[0069] The specific implementation process is as follows: The learning module establishes a signal, path, and parameter correlation model by accumulating historical puncture data, and dynamically optimizes the locking threshold, damping response curve, and initial value of the limiting depth for different patient anatomical structures. This achieves personalized puncture parameter adaptation and improves the accuracy of operations in complex anatomical scenarios.

[0070] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A vascular puncture positioning device for neurointervention, comprising an image planning unit and an optical positioning unit, wherein the image planning unit is used to plan the puncture path of the puncture needle based on ultrasound image data; and the optical positioning unit is used to track the spatial position of the puncture needle and the patient's body surface; characterized in that, It also includes a buffer mechanism, which receives instructions from the image planning unit and the optical positioning unit to clamp and position the puncture needle. The buffer mechanism includes a locking component and a sensing component. The locking component is used to lock the needle insertion angle when the puncture needle posture matches the planned path. The sensing component is used to obtain the needle insertion resistance and apply a damping action to the puncture needle when the needle insertion resistance reaches a preset threshold.

2. The vascular puncture and positioning device for neurointervention according to claim 1, characterized in that, The locking assembly includes a spherical rotor (1), a base (2), a controller, and several telescopic components (3). The spherical rotor (1) has a channel for the puncture needle to pass through. The spherical rotor (1) is ball-jointed to the top of the base (2). The telescopic components (3) are circumferentially hinged to the top of the base (2). All telescopic components (3) are electrically connected to the controller. An angle sensor is also fixedly connected to the outer wall of the spherical rotor (1). The controller is used to acquire the angle signal emitted by the angle sensor and control the operation of the telescopic components (3) based on the angle signal. The output shaft of the telescopic components (3) is hinged to the outer wall of the spherical rotor (1). The controller is used to keep the spherical rotor (1) in a floating state when the telescopic component (3) is not in motion; when the angle sensor detects that the puncture needle posture conforms to the preset puncture path, the telescopic component (3) is driven to press against the spherical rotor (1) and put it into a locked state.

3. The vascular puncture positioning device for neurointervention according to claim 2, characterized in that, The outer wall of the telescopic component (3) is fixedly connected to a transmission cylinder (4), and the inner wall of the transmission cylinder (4) is slidably fitted with a movable plate (6); the top of the movable plate (6) is fixedly connected to a transmission rod (5), and the end of the transmission rod (5) away from the movable plate (6) is fixedly connected to the output shaft of the telescopic component (3); The side of the transmission cylinder (4) away from the transmission rod (5) is connected to an input pipe and an output pipe. The connection between the input pipe and the output pipe and the transmission cylinder (4) is connected to a one-way valve. The output pipe is connected to the outside of the transmission cylinder (4). The end of the input pipe away from the transmission cylinder (4) is connected to a suction cup. The suction cup is fixedly connected to the bottom of the base (2).

4. The vascular puncture and positioning device for neurointervention according to claim 3, characterized in that, The sensing component includes a guide sleeve (7) that communicates with the channel and is fixedly connected to the outer wall of the spherical rotor (1); a damping cylinder (8) is fixedly connected to the outer wall of the guide sleeve (7) and is filled with magnetorheological fluid (9); an excitation coil (10) is embedded in the inner side wall of the damping cylinder (8) and is electrically connected to the controller; The inner wall of the damping cylinder (8) is fitted with a piston plate (11), and the piston plate (11) has several guide holes. The top of the piston plate (11) is fixedly connected to a push rod (12), which is detachably connected to the puncture needle. An accelerometer is also fixedly connected to the outer wall of the push rod (12). The controller is used to obtain the acceleration signal emitted by the accelerometer and control the excitation coil (10) to run based on the acceleration signal.

5. The vascular puncture and positioning device for neurointervention according to claim 4, characterized in that, The buffer mechanism also includes a limiting component for locking the needle insertion depth. The limiting component includes a drive (13), a lead screw (14), and a stop (15). The drive (13) is fixedly connected to the outer wall of the guide sleeve (7), and the controller is electrically connected to the drive (13). The output shaft of the drive (13) is coaxially fixedly connected to the lead screw (14), and the outer wall of the lead screw (14) is threaded with a nut seat (16) for blocking the stop (15). The stop (15) is fixedly connected to the outer wall of the push rod (12), and a limiting plate is fixedly connected to the outer wall of the guide sleeve (7). The lead screw (14) is rotatably engaged with the limiting plate. A guide rod is fixedly connected to the top of the limiting plate, and the nut seat (16) is slidably engaged with the outer wall of the guide rod.

6. The vascular puncture positioning device for neurointervention according to claim 5, characterized in that, The optical positioning unit monitors the spatial position deviation of the puncture needle relative to the target blood vessel in real time. When the position deviation exceeds the preset tolerance threshold, the controller controls the operation of each telescopic component (3), drives the telescopic component (3) to move, and guides the spherical rotor (1) to drive the puncture needle to return to the planned path direction.

7. The vascular puncture and positioning device for neurointervention according to claim 6, characterized in that, The controller is also used to control the drive (13) to operate when the acceleration signal detects that the puncture needle has decelerated suddenly, and to drive the nut seat (16) to move to contact the current position of the stop (15).

8. The vascular puncture positioning device for neurointervention according to claim 7, characterized in that, A pressure sensor is also fixedly connected to the bottom of the stop (15). The controller is used to obtain the pressure signal emitted by the pressure sensor and control the excitation coil (10) to run based on the pressure signal.

9. The vascular puncture positioning device for neurointervention according to claim 8, characterized in that, The controller is also used to calculate the rate of change of the acceleration signal in real time. When the rate of change exceeds a preset threshold, it is determined that a high-density tissue has been encountered, and the excitation coil (10) is controlled to increase the current to provide incremental damping.

10. The vascular puncture positioning device for neurointervention according to claim 9, characterized in that, The controller also integrates a learning module, which records the correspondence between acceleration signals, pressure signals, locking timing and successful puncture paths during historical punctures; in subsequent operations, it optimizes the trigger threshold, damping response curve and initial value of the limiting depth of the locking signal based on similar anatomical structures.

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