Puncture needle driving device, method and vapor ablation apparatus

Abstract

The present application provides a kind of puncture needle driving device, method and steam ablation equipment, it is related to medical equipment technical field, device includes drive circuit, electromagnetic solenoid, magnetic drive part, puncture needle, drive circuit is used to provide current to electromagnetic solenoid, so that magnetic drive part drives puncture needle moves along target direction;It further includes the position detection circuit being arranged at the outlet of electromagnetic solenoid, position detection circuit under the condition of detecting that magnetic drive part reaches the outlet of electromagnetic solenoid, sends detection signal to drive circuit;Drive circuit after receiving detection signal, stop power supply to electromagnetic solenoid or provide reverse current to electromagnetic solenoid, so that magnetic drive part drives puncture needle continues to move along target direction.The present application can avoid that magnetic drive part is subjected to force opposite to target direction, increase the puncture depth of puncture needle, solve the problem that lesion cannot be touched, steam leakage and other problems due to insufficient puncture depth.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a puncture needle driving device, method, and steam ablation device. Background Technology

[0002] With the rapid development of minimally invasive interventional therapy techniques, steam ablation devices have gradually become a hot topic of widespread interest in interventional radiology and oncology treatment. Steam ablation devices use a puncture needle carrying steam that circulates internally to penetrate the lesion tissue. The steam is then targeted to the lesion. When the saturated steam comes into contact with the cooler lesion tissue, it rapidly condenses from a gaseous state to a liquid state, releasing a large amount of latent heat in the process, achieving precise inactivation of the lesion tissue and cells. This energy transfer method is highly efficient and uniform, ensuring that the target tissue reaches the ideal ablation temperature within a short time, thereby achieving complete coagulative necrosis and improving the safety margin of treatment.

[0003] Currently, steam ablation devices typically use electromagnetically driven puncture needles. For example, reverse currents are simultaneously supplied to two electromagnetic solenoids, driving the magnets inside the solenoids to move. The magnets then drive the puncture needle to puncture and withdraw. However, this method has limited puncture depth, which may lead to problems such as failure to reach the lesion or steam leakage due to insufficient puncture depth. Summary of the Invention

[0004] This invention provides a puncture needle driving device, method, and steam ablation equipment to solve the defects in the prior art, such as inability to reach the lesion due to insufficient puncture depth and steam leakage.

[0005] This invention provides a puncture needle driving device, including a driving circuit, an electromagnetic solenoid, a magnetic driving element disposed within the electromagnetic solenoid, and a puncture needle fixed on the magnetic driving element. The driving circuit is used to provide current to the electromagnetic solenoid so that the magnetic driving element drives the puncture needle to move along a target direction. It also includes a position detection circuit disposed at the outlet of the electromagnetic solenoid. The driving circuit is electrically connected to both the electromagnetic solenoid and the position detection circuit. The position detection circuit is used to send a detection signal to the drive circuit when it detects that the magnetic drive has arrived at the outlet of the electromagnetic solenoid. The driving circuit is configured to stop supplying power to the electromagnetic solenoid or provide reverse current to the electromagnetic solenoid after receiving the detection signal, so that the magnetic drive unit drives the puncture needle to continue moving along the target direction.

[0006] According to the present invention, in a puncture needle driving device, the travel stroke of the magnetic drive is less than or equal to the length of the magnetic drive, and the length of the magnetic drive is less than or equal to the length of the electromagnetic solenoid.

[0007] According to the present invention, a puncture needle driving device is provided, wherein the electromagnetic solenoid includes a first electromagnetic solenoid and a second electromagnetic solenoid, and the position detection circuit is disposed at the outlet of the first electromagnetic solenoid. The position detection circuit is used to send a first detection signal to the drive circuit when it detects that the magnetic drive element has arrived at the outlet of the first electromagnetic solenoid. The driving circuit is used to provide a reverse current to the first electromagnetic solenoid after receiving the first detection signal, so that the magnetic drive unit drives the puncture needle to continue moving along the target direction.

[0008] According to a puncture needle driving device provided by the present invention, the position detection circuit is further configured to send a second detection signal to the driving circuit when the magnetic driving member is detected to have left the outlet of the first electromagnetic solenoid. The driving circuit is further configured to, upon receiving the second detection signal, stop supplying current to the first electromagnetic solenoid and supply current to the second electromagnetic solenoid, so that the magnetic drive unit drives the puncture needle to continue moving along the target direction.

[0009] According to the present invention, the winding direction, number of turns, and length of the first electromagnetic solenoid are the same as those of the second electromagnetic solenoid.

[0010] According to the present invention, a puncture needle driving device is provided, wherein the magnetic driving component includes a permanent magnet or a magnetic material component.

[0011] According to the present invention, a puncture needle driving device is provided, wherein the driving circuit includes a driving chip and a full-bridge driving circuit, the output terminal of the full-bridge driving circuit is connected to the electromagnetic solenoid, the input terminal of the full-bridge driving circuit is connected to the driving chip, and the input terminal of the driving chip is connected to the position detection circuit.

[0012] According to the present invention, a puncture needle driving device is provided, wherein the full-bridge driving circuit includes a first transistor, a second transistor, a third transistor and a fourth transistor, wherein the control terminals of the first transistor and the fourth transistor are both connected to the second control port of the driving chip, and the control terminals of the second transistor and the third transistor are both connected to the first control port of the driving chip. The driver chip is configured to control the first transistor and the fourth transistor to turn on based on the first control port, and control the second transistor and the third transistor to turn off based on the second control port; or, control the first transistor and the fourth transistor to turn off based on the first control port, and control the second transistor and the third transistor to turn on based on the second control port; or, control the first transistor and the fourth transistor to turn off based on the first control port, and control the second transistor and the third transistor to turn off based on the second control port.

[0013] The present invention also provides a puncture needle driving method for driving the puncture needle driving device described in any of the above embodiments, the method comprising: Receive detection signals; Based on the received detection signal, power supply to the electromagnetic solenoid is stopped or a reverse current is supplied to the electromagnetic solenoid, so that the magnetic drive can drive the puncture needle to continue moving along the target direction.

[0014] The present invention also provides a steam ablation device, including the puncture needle driving device described in any of the above embodiments.

[0015] The present invention provides a puncture needle driving device, method, and steam ablation equipment. The device includes a driving circuit, an electromagnetic solenoid, a magnetic driving element disposed within the electromagnetic solenoid, and a puncture needle fixed on the magnetic driving element. The driving circuit provides current to the electromagnetic solenoid, causing the magnetic driving element to drive the puncture needle to move along a target direction. It also includes a position detection circuit disposed at the outlet of the electromagnetic solenoid. The driving circuit is electrically connected to both the electromagnetic solenoid and the position detection circuit. The position detection circuit sends a detection signal to the driving circuit when it detects that the magnetic driving element has reached the outlet of the electromagnetic solenoid. Upon receiving the detection signal, the driving circuit stops supplying power to the electromagnetic solenoid or provides a reverse current to the electromagnetic solenoid, causing the magnetic driving element to continue driving the puncture needle to move along the target direction. Since the force experienced by the magnetic drive component at the center of the electromagnetic solenoid after it is exposed or detached from the solenoid is exactly opposite to the force experienced inside the electromagnetic solenoid, this invention stops supplying power or provides reverse current when the magnetic drive component reaches the outlet of the electromagnetic solenoid. This avoids the magnetic drive component being subjected to a force opposite to the target direction, allowing the magnetic drive component to continue driving the puncture needle to move along the target direction, increasing the puncture depth of the puncture needle, and solving problems such as inability to reach the lesion and steam leakage due to insufficient puncture depth. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the magnetic field lines distribution of an electromagnetic solenoid after it is energized.

[0018] Figure 2a This is a schematic diagram showing the direction of forces inside an electromagnetic solenoid. Figure 2b This is a schematic diagram showing the direction of forces acting on the outside of an electromagnetic solenoid.

[0019] Figure 3 This is one of the structural schematic diagrams of the puncture needle driving device provided by the present invention.

[0020] Figure 4 This is the second schematic diagram of the puncture needle driving device provided by the present invention.

[0021] Figure 5 This is a circuit diagram of the full-bridge drive circuit provided by the present invention.

[0022] Figure 6 This is a flowchart illustrating the puncture needle driving method provided by the present invention.

[0023] Figure 7 This is a schematic diagram of the structure of the electronic device provided by the present invention.

[0024] Figure label: 1-Drive circuit, 2-Electromagnetic solenoid, 201-First electromagnetic solenoid, 202-Second electromagnetic solenoid, 3-Magnetic drive component, 4-Punch channel, 5-Position detection circuit, 6-First blocking component, 7-Second blocking component. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0026] Figure 1 This is a schematic diagram of the magnetic field lines distribution of an electromagnetic solenoid after it is energized, such as... Figure 1As shown, an electromagnetic solenoid generates a magnetic field after being energized. The magnetic field lines on the outside of the electromagnetic solenoid are similar to those of a bar magnet, with a high density at both ends and a low density in the middle. The magnetic field lines flow from the N pole to the S pole and converge inside the electromagnetic solenoid. Inside the electromagnetic solenoid, the magnetic field lines flow from the S pole to the N pole, forming a closed loop.

[0027] Depend on Figure 1 It is known that regardless of how the magnetic field lines are distributed outside the electromagnetic solenoid, they will always converge inside the solenoid, and the magnetic field lines in the middle section of the solenoid are basically parallel. Therefore, the magnetic field is densest inside the electromagnetic solenoid, and the efficiency of the work done by the magnet placed inside is the highest.

[0028] After an electromagnetic solenoid is wound, the direction of its magnetic field depends only on the direction of the current flowing through it, and the magnitude of the magnetic field depends only on the magnitude of the current. If a permanent magnet is placed inside the solenoid, a current in a suitable direction can be passed through it, and the permanent magnet can be driven to move in the desired direction using the principle of like poles repelling and unlike poles attracting. If the solenoid contains a component made of a magnetizable material, such as iron, cobalt, nickel, or their alloys, the solenoid's magnetic field first magnetizes the magnetized material component, and then controls its movement according to the principle of like poles repelling and unlike poles attracting. A puncture needle is fixed to a permanent magnet, and the needle moves with the permanent magnet, completing the puncture and withdrawal process.

[0029] Figure 2a This is a schematic diagram showing the direction of forces inside an electromagnetic solenoid. Figure 2b This is a schematic diagram showing the direction of forces acting on the outside of an electromagnetic solenoid. Figure 2a and Figure 2b It is known that when the permanent magnet or magnetized material component at the center of the electromagnetic solenoid is exposed or detached from the solenoid, the force it experiences is exactly opposite to the force it experiences inside the electromagnetic solenoid. The puncture depth of the puncture needle is affected by the position of the permanent magnet or magnetized material component. Increasing the solenoid length will change the current in the solenoid coil under the same voltage, and the magnetic field distribution will also change, affecting the puncture force. Therefore, to obtain a greater puncture depth, either the length of the puncture needle must be increased, or the problem of changing force direction must be addressed. However, an excessively long puncture needle may reduce puncture accuracy. Therefore, this invention proposes a puncture needle driving scheme to solve the problem of insufficient puncture depth caused by changes in the force direction of the permanent magnet or magnetized material component inside and outside the electromagnetic solenoid. The technical solution of this invention will be described in detail below with reference to the accompanying drawings.

[0030] Figure 3 This is one of the structural schematic diagrams of the puncture needle driving device provided by the present invention. Figure 4 This is a second schematic diagram of the puncture needle driving device provided by the present invention, as shown below. Figure 3 and Figure 4As shown, the present invention provides a puncture needle driving device, including a driving circuit 1, an electromagnetic solenoid 2, a magnetic driving element 3 disposed within the electromagnetic solenoid 2, and a puncture needle fixed on the magnetic driving element 3. The driving circuit 1 is used to provide current to the electromagnetic solenoid 2 so that the magnetic driving element 3 drives the puncture needle to move along the target direction. It also includes a position detection circuit 5 disposed at the outlet of the electromagnetic solenoid 2. The driving circuit 1 is electrically connected to the electromagnetic solenoid 2 and the position detection circuit 5 respectively.

[0031] The position detection circuit 5 is used to send a detection signal to the drive circuit 1 when the magnetic drive 3 is detected to have arrived at the outlet of the electromagnetic solenoid 2.

[0032] Specifically, the position detection circuit 5 is used to detect whether the magnetic drive 3 has reached the outlet of the electromagnetic solenoid 2. If the magnetic drive 3 has reached the outlet of the electromagnetic solenoid 2, a detection signal is sent to the drive circuit 1. The form of the detection signal can be determined based on the circuit structure of the position detection circuit 5.

[0033] The drive circuit 1 is used to stop supplying power to the electromagnetic solenoid 2 or provide reverse current to the electromagnetic solenoid 2 after receiving the detection signal, so that the magnetic drive 3 drives the puncture needle to continue moving along the target direction.

[0034] It should be understood that the detection signal indicates that the magnetic drive 3 has reached the outlet of the electromagnetic solenoid 2, meaning that the magnetic drive 3 will be affected by a reverse force and stop moving or even move in the opposite direction. Therefore, after receiving the detection signal, the drive circuit 1 stops supplying power to the electromagnetic solenoid 2, and the electromagnetic solenoid 2 can no longer generate a magnetic field force. The magnetic drive 3 can continue to move along the target direction under inertia. In another embodiment, after receiving the detection signal, the drive circuit 1 provides a reverse current to the electromagnetic solenoid 2, so that the magnetic poles at the outlet of the electromagnetic solenoid 2 are opposite to the initial magnetic poles. The magnetic drive 3 can continue to move along the target direction, and the puncture needle fixed to the magnetic drive 3 moves with the movement of the magnetic drive 3, increasing the puncture depth.

[0035] like Figure 3 As shown, the puncture direction is from left to right and the needle withdrawal direction is from right to left. In order to increase the puncture depth, the puncture direction is set as the target direction.

[0036] When the puncture operation is performed, the drive circuit 1 supplies a positive current to the electromagnetic solenoid 2, causing it to generate a magnetic field in a fixed direction (e.g., the left end is the N pole and the right end is the S pole). In the initial state, the magnetic drive element 3 is located at the leftmost end, and its own magnetic poles interact with the magnetic field of the coil. If the right end of the magnet is the S pole, it is attracted by the S pole at the right end of the coil and repelled by the N pole at the left end, thus receiving a rightward thrust and starting to accelerate.

[0037] When performing the needle retraction operation, the drive circuit 1 switches the current direction, causing the electromagnetic solenoid 2 to generate a reverse magnetic field (left end as S pole, right end as N pole). At this time, the magnet is located at the right end of the channel, and the magnetic poles interact with the reverse magnetic field to generate a leftward thrust, causing it to begin accelerating and retracting to the left.

[0038] By switching the direction of the current flowing into the electromagnetic solenoid 2, the driving force required for needle insertion and withdrawal is generated.

[0039] Optionally, the puncture needle driving device further includes a puncture channel 4, a first blocking member 6 located at one end of the puncture channel 4, and a second blocking member 7 located at the other end of the puncture channel 4. A magnetic drive member 3 is disposed within the puncture channel 4, which provides a movement path for the magnetic drive member 3. An electromagnetic solenoid 2 is wound around the puncture channel 4. The first blocking member 6 and the second blocking member 7 limit the movement of the magnetic drive member 3, constraining its stroke and preventing it from dislodging from the puncture channel 4 during high-speed electromagnetic drive. They also serve as a positioning reference for the endpoint of the magnetic drive member 3's movement. Furthermore, the first blocking member 6 and the second blocking member 7 can be made of a material with a certain degree of elasticity or cooperate with a spring structure to absorb some of the collision energy when the magnet comes into contact, ensuring structural stability and accuracy during long-term high-frequency use.

[0040] Optionally, the position detection circuit 5 can be constructed using sensors, such as Hall effect sensors, photoelectric sensors, and capacitive sensors. Hall effect sensors typically output analog voltage or current signals proportional to the intensity of the sensed magnetic field, and can also output high / low levels after internal processing to detect changes in the magnetic field, rotational speed, or position. Photoelectric sensors generally output digital switching signals directly, and some analog optocouplers can output analog voltages corresponding to the intensity of light. Capacitive sensors mostly output analog voltage signals proportional to changes in the capacitance of the detection plates, and can also be converted into switching signals through conditioning circuits.

[0041] It is understood that when the magnetic drive 3 reaches the outlet of the electromagnetic solenoid 2, the present invention stops supplying power or provides reverse current to avoid the magnetic drive 3 being subjected to a force opposite to the target direction, so that the magnetic drive 3 can continue to drive the puncture needle to move along the target direction, thereby increasing the puncture depth of the puncture needle and solving problems such as inability to reach the lesion and steam leakage due to insufficient puncture depth.

[0042] As an optional embodiment, the magnetic drive component 3 includes a permanent magnet or a magnetic material component. The magnetic material component is made of iron, cobalt, nickel and their alloys, and can be magnetized by a magnetic field. After magnetization, it moves along the target direction under force.

[0043] It is understood that the magnetic drive component 3 proposed in this invention includes a permanent magnet or a magnetic material component. The magnetic material component is made of iron, cobalt, nickel and their alloys, which can improve flexibility and is suitable for a variety of application scenarios.

[0044] As an optional embodiment, the number of electromagnetic solenoids 2 is 1, and the driving circuit 1 is used to stop supplying power to the electromagnetic solenoid 2 after receiving the detection signal, so that the magnetic driving member 3 drives the puncture needle to continue moving along the target direction under the action of inertia.

[0045] like Figure 3 As shown, there is one electromagnetic solenoid 2, located near the first blocking member 6, with its outlet near the second blocking member 7. The magnetic drive member 3 is a permanent magnet. The permanent magnet is placed inside the electromagnetic solenoid 2, which is connected to the drive circuit 1 via two terminals. The drive circuit 1 injects a current of a specific direction and magnitude into the electromagnetic solenoid 2. Taking puncture as an example, the current flow direction in the electromagnetic solenoid 2 is controlled so that the permanent magnet experiences a rightward force inside the solenoid 2. When the permanent magnet protrudes from the electromagnetic solenoid 2, if the coil current direction continues to be maintained, the force exerted by the electromagnetic solenoid 2 on the permanent magnet will change, hindering the permanent magnet from moving forward. However, when the sensor detects that the permanent magnet has reached this position, it reports to the drive circuit 1, which then de-energizes the electromagnetic solenoid 2. Under the action of inertia, the permanent magnet continues to move to the right, completing the puncture.

[0046] It is understood that when the number of electromagnetic solenoids 2 is 1, the drive circuit 1 is used to stop supplying power to the electromagnetic solenoid 2 after receiving the detection signal, so that the magnetic drive 3 drives the puncture needle to continue moving along the target direction under the action of inertia. Since there is friction between the magnetic drive 3 and the puncture channel 4, the force at the end of the puncture will be attenuated. Therefore, the embodiment of the present invention is suitable for scenarios with a large puncture stroke and a small puncture force.

[0047] As an optional embodiment, the travel of the magnetic drive 3 is less than or equal to the length of the magnetic drive 3, and the length of the magnetic drive 3 is less than or equal to the length of the electromagnetic solenoid 2.

[0048] Specifically, the stroke x of the magnetic drive 3 should be equal to or slightly smaller than the length l of the magnetic drive 3, and the length L of the electromagnetic solenoid 2 should be equal to or greater than the length l of the magnetic drive 3, that is, satisfying the inequality x≤l≤L.

[0049] Understandably, since the length of the magnetic drive component 3 is greater than the stroke, and the length of the magnetic solenoid is greater than the length of the magnetic drive component 3, the magnetic drive component 3 can always be within the effective magnetic field coverage of the coil throughout the entire stroke, and there will be no interruption of driving force due to leaving the magnetic field, so that the output of electromagnetic force has extremely high continuity and controllability.

[0050] As an optional embodiment, the electromagnetic solenoid 2 includes a first electromagnetic solenoid 201 and a second electromagnetic solenoid 202, and the position detection circuit 5 is located at the outlet of the first electromagnetic solenoid 201.

[0051] The position detection circuit 5 is used to send a first detection signal to the drive circuit 1 when it detects that the magnetic drive 3 has arrived at the outlet of the first electromagnetic solenoid 201.

[0052] The driving circuit 1 is used to provide a reverse current to the first electromagnetic solenoid 201 after receiving the first detection signal, so that the magnetic driving element 3 drives the puncture needle to continue moving along the target direction.

[0053] Optionally, the position detection circuit 5 can be constructed using sensors, such as Hall effect sensors, photoelectric sensors, and capacitive sensors. Hall effect sensors typically output analog voltage or current signals proportional to the intensity of the sensed magnetic field, and can also output high / low levels after internal processing to detect changes in the magnetic field, rotational speed, or position. Photoelectric sensors generally output digital switching signals directly, and some analog optocouplers can output analog voltages corresponding to the intensity of light. Capacitive sensors mostly output analog voltage signals proportional to changes in the capacitance of the detection plates, and can also be converted into switching signals through conditioning circuits.

[0054] Optionally, the magnetic drive component 3 includes a permanent magnet or a magnetic material component. The magnetic material component is made of iron, cobalt, nickel and their alloys, and can be magnetized by a magnetic field. After magnetization, it moves along the target direction under force.

[0055] Optionally, the number of first electromagnetic solenoids 201 can be greater than or equal to 1. When the number of first electromagnetic solenoids 201 is greater than 1, the position detection circuit 5 is located at the outlet of the first electromagnetic solenoid 201 closest to the second electromagnetic solenoid 202, and there is a spacing between the multiple first electromagnetic solenoids 201.

[0056] The embodiments of the present invention are described in detail with the example of one first electromagnetic solenoid 201. Figure 4 As shown, the puncture direction is from left to right and the needle withdrawal direction is from right to left. In order to increase the puncture depth, the puncture direction is set as the target direction.

[0057] When the needle insertion operation is performed, the drive circuit 1 first supplies the first electromagnetic solenoid 201 and the second electromagnetic solenoid 202 with current in the same direction, so that the left end of both is the N pole and the right end is the S pole. At this time, the magnetic drive 3 is located at the leftmost end of the puncture channel 4. Since the magnetic field polarities of the left and right electromagnetic solenoids 2 are the same, the magnetic drive 3 is repelled by the first electromagnetic solenoid 201 on the left and attracted by the second electromagnetic solenoid 202 on the right. The two forces are in the same direction and act together on the magnetic drive 3, giving it a rightward acceleration and moving it in the target direction. When the magnetic drive 3 is detected to have moved to the outlet of the first electromagnetic solenoid 201, the drive circuit 1 instantly cuts off and reverses the current direction of the first electromagnetic solenoid 201, causing the polarity of the first electromagnetic solenoid 201 to flip 180 degrees, continuing to generate a repulsive force on the magnetic drive 3, while the second electromagnetic solenoid 202 generates an attractive force, controlling the magnetic drive 3 to continue moving in the target direction.

[0058] Alternatively, during the needle insertion operation, the drive circuit 1 first supplies current to the first electromagnetic solenoid 201, making the left end the N pole and the right end the S pole. At this time, the magnetic drive 3 is located at the leftmost end of the puncture channel 4. The left side of the magnetic drive 3 is repelled by the first electromagnetic solenoid 201, giving it a rightward acceleration and causing it to move in the target direction. When the magnetic drive 3 is detected to have moved to the outlet of the first electromagnetic solenoid 201, the drive circuit 1 instantly cuts off and reverses the current direction of the first electromagnetic solenoid 201, and supplies current to the second electromagnetic solenoid 202. This causes the polarity of the first electromagnetic solenoid 201 to flip 180 degrees, continuing to generate a repulsive force on the magnetic drive 3, while the second electromagnetic solenoid 202 generates an attractive force, controlling the magnetic drive 3 to continue moving in the target direction.

[0059] by Figure 4 Taking a permanent magnet as an example, the magnetic drive component 3 is controlled by controlling the current in the first electromagnetic solenoid 201, causing the permanent magnet to experience a rightward force within the solenoid. Under the influence of the magnetic field, the permanent magnet accelerates to the right. When the sensor detects that the permanent magnet has emerged from the first electromagnetic solenoid 201, the current direction is switched, and the permanent magnet continues to accelerate to the right until it strikes the second blocking component 7, completing the puncture. Due to the two-stage acceleration, the puncture stroke and puncture force are greatly improved, making it suitable for scenarios requiring a large puncture stroke and high puncture force.

[0060] It is understood that when the magnetic drive 3 reaches the outlet of the electromagnetic solenoid 2, the present invention provides a reverse current to prevent the magnetic drive 3 from being subjected to a force opposite to the target direction, so that the magnetic drive 3 can continue to drive the puncture needle to move along the target direction, thereby increasing the puncture depth of the puncture needle and solving problems such as inability to reach the lesion and steam leakage due to insufficient puncture depth.

[0061] As an optional embodiment, the position detection circuit 5 is further configured to send a second detection signal to the drive circuit 1 when it detects that the magnetic drive 3 has left the outlet of the first electromagnetic solenoid 201.

[0062] The drive circuit 1 is further configured to, upon receiving the second detection signal, stop supplying current to the first electromagnetic solenoid 201 and supply current to the second electromagnetic solenoid 202, so that the magnetic drive 3 drives the puncture needle to continue moving along the target direction.

[0063] Specifically, during the needle insertion operation, the drive circuit 1 first supplies current to the first solenoid 201, making the left end the N pole and the right end the S pole. At this time, the magnetic drive 3 is located at the leftmost end of the puncture channel 4. The left side of the magnetic drive 3 is repelled by the first solenoid 201, giving it a rightward acceleration and causing it to move in the target direction. When the magnetic drive 3 is detected to have moved to the outlet of the first solenoid 201, the drive circuit 1 stops supplying current to the first solenoid 201 and supplies current to the second solenoid 202. Under normal conditions, the magnetic drive 3 moves towards the second solenoid 202, which generates an attractive force, controlling the magnetic drive 3 to continue moving in the target direction.

[0064] It is understood that, when the magnetic drive 3 leaves the outlet of the electromagnetic solenoid 2, the present invention stops supplying current to the first electromagnetic solenoid 201 and supplies current to the second electromagnetic solenoid 202, so that the magnetic drive 3 drives the puncture needle to continue moving along the target direction, avoiding the magnetic drive 3 being subjected to a force opposite to the target direction, so that the magnetic drive 3 can continue to drive the puncture needle to move along the target direction, increasing the puncture depth of the puncture needle, and solving problems such as inability to reach the lesion and steam leakage due to insufficient puncture depth.

[0065] As an optional embodiment, the winding direction, number of turns, and length of the first electromagnetic solenoid 201 are the same as those of the second electromagnetic solenoid 202.

[0066] It is understood that, in this embodiment of the invention, the winding direction, number of turns, and length of the first electromagnetic solenoid 201 are the same as those of the second electromagnetic solenoid 202, which can reduce the manufacturing difficulty and facilitate drive control.

[0067] As an optional embodiment, the length of the magnetic drive 3 is less than or equal to the length of the first electromagnetic solenoid 201 and the length of the second electromagnetic solenoid 202, the length of the first electromagnetic solenoid 201 is less than or equal to twice the length of the magnetic drive 3, and the gap width between the first electromagnetic solenoid 201 and the second electromagnetic solenoid 202 is less than or equal to half the length of the magnetic drive 3.

[0068] Specifically, the lengths of the first electromagnetic solenoid 201 and the second electromagnetic solenoid 202 are consistent, both being L. The length of the permanent magnet, l, also needs to satisfy l≤L, but L≤2l. The gap width d between the two solenoids satisfies the inequality d≤l / 2.

[0069] Under the conditions that L≤2l and d≤l / 2, since the length l of the magnetic drive 3 is large and the gap d is small, the magnetic drive 3 will not simultaneously escape the magnetic field of the two electromagnetic solenoids 2 at any position.

[0070] It is understood that the present invention ensures that the length of the magnetic drive element 3 is less than or equal to the length of the first electromagnetic solenoid 201 and the length of the second electromagnetic solenoid 202, the length of the first electromagnetic solenoid 201 is less than or equal to twice the length of the magnetic drive element 3, and the gap width between the first electromagnetic solenoid 201 and the second electromagnetic solenoid 202 is less than or equal to half the length of the magnetic drive element 3, thereby ensuring the continuity and controllability of puncture and needle withdrawal.

[0071] As an optional embodiment, the driving circuit 1 includes a driving chip and a full-bridge driving circuit 1. The output terminal of the full-bridge driving circuit 1 is connected to the electromagnetic solenoid 2, the input terminal of the full-bridge driving circuit 1 is connected to the driving chip, and the input terminal of the driving chip is connected to the position detection circuit 5.

[0072] Optionally, the full-bridge drive circuit 1 can be composed of MOSFETs or transistors, or it can be composed of a single-pole double-throw relay, both of which operate on the same principle.

[0073] Figure 5 This is a circuit schematic diagram of the full-bridge drive circuit 1 provided by the present invention, as shown below. Figure 5 As shown, optionally, the full-bridge drive circuit 1 includes a first transistor Q1, a second transistor Q2, a third transistor Q3, and a fourth transistor Q4. The control terminals of the first transistor Q1 and the fourth transistor Q4 are both connected to the second control port of the drive chip, and the control terminals of the second transistor Q2 and the third transistor Q3 are both connected to the first control port of the drive chip.

[0074] The driver chip is configured to control the first transistor Q1 and the fourth transistor Q4 to turn on based on the first control port, and control the second transistor Q2 and the third transistor Q3 to turn off based on the second control port; or, control the first transistor Q1 and the fourth transistor Q4 to turn off based on the first control port, and control the second transistor Q2 and the third transistor Q3 to turn on based on the second control port; or, control the first transistor Q1 and the fourth transistor Q4 to turn off based on the first control port, and control the second transistor Q2 and the third transistor Q3 to turn off based on the second control port.

[0075] Transistor Q1 and transistor Q4 are simultaneously controlled by the first control port, and transistors Q2 and Q3 are simultaneously controlled by the second control port. Transistor Q1 and transistor Q4 can be turned on or off simultaneously, and transistors Q2 and Q3 can also be turned on or off simultaneously. Q1 to Q4 can be turned off simultaneously, but cannot be turned on simultaneously.

[0076] When the first control port controls the first transistor Q1 and the fourth transistor Q4 to be turned on, the second control port controls the second transistor Q2 and the third transistor Q3 to be turned off. The current flows from VCC through the first static transistor Q1, into one end of the electromagnetic solenoid 2, and into the negative terminal of the power supply from the fourth transistor Q4, completing the flow of the entire circuit.

[0077] When the first control port controls the first transistor Q1 and the fourth transistor Q4 to turn off, the second control port controls the second transistor Q2 and the third transistor Q3 to turn on. Current flows from VCC through the third transistor Q3 into the electromagnetic solenoid 2, and then from the second transistor Q2 into the negative terminal of the power supply, completing the flow of the entire circuit.

[0078] When the first control port and the second control port simultaneously control the four MOS transistors to turn off, no current flows through the electromagnetic solenoid 2, the magnetic drive 3 remains stationary, and the puncture needle remains stationary.

[0079] It is understood that this invention only requires controlling two control ports to adjust the current magnitude and direction of the electromagnetic solenoid 2, completing the puncture and needle withdrawal. Both puncture and needle withdrawal have braking sequences, requiring no manual control and possessing high reliability. When the magnetic drive component 3 is simultaneously subjected to the forces of the two electromagnetic solenoids 2, acceleration and deceleration are very rapid, resulting in a fast puncture speed and reducing patient pain.

[0080] The puncture needle driving device provided by the present invention is described below. The puncture needle driving device described below can be referred to in correspondence with the puncture needle driving method described above.

[0081] Figure 6This is a flowchart illustrating the puncture needle driving method provided by the present invention, as shown below. Figure 6 As shown, the present invention also provides a puncture needle driving method for driving a puncture needle driving device, the method including steps S610-S620.

[0082] Step S610: Receive the detection signal.

[0083] Step S620: Based on the received detection signal, stop supplying power to the electromagnetic solenoid or provide reverse current to the electromagnetic solenoid so that the magnetic drive unit drives the puncture needle to continue moving along the target direction.

[0084] The puncture needle driving device includes a driving circuit, an electromagnetic solenoid, a magnetic driving element disposed inside the electromagnetic solenoid, and a puncture needle fixed on the magnetic driving element. The driving circuit is used to provide current to the electromagnetic solenoid so that the magnetic driving element drives the puncture needle to move along the target direction. It also includes a position detection circuit disposed at the outlet of the electromagnetic solenoid. The driving circuit is electrically connected to the electromagnetic solenoid and the position detection circuit respectively. The position detection circuit is used to send a detection signal to the drive circuit when it detects that the magnetic drive has arrived at the outlet of the electromagnetic solenoid. The driving circuit is configured to stop supplying power to the electromagnetic solenoid or provide reverse current to the electromagnetic solenoid after receiving the detection signal, so that the magnetic drive unit drives the puncture needle to continue moving along the target direction.

[0085] As an optional embodiment, the travel of the magnetic drive is less than or equal to the length of the magnetic drive, and the length of the magnetic drive is less than or equal to the length of the electromagnetic solenoid.

[0086] As an optional embodiment, the electromagnetic solenoid includes a first electromagnetic solenoid and a second electromagnetic solenoid, and the position detection circuit is located at the outlet of the first electromagnetic solenoid. The position detection circuit is used to send a first detection signal to the drive circuit when it detects that the magnetic drive element has arrived at the outlet of the first electromagnetic solenoid. The driving circuit is used to provide a reverse current to the first electromagnetic solenoid after receiving the first detection signal, so that the magnetic drive unit drives the puncture needle to continue moving along the target direction.

[0087] As an optional embodiment, the position detection circuit is further configured to send a second detection signal to the drive circuit when it detects that the magnetic drive element has left the outlet of the first electromagnetic solenoid; The driving circuit is further configured to, upon receiving the second detection signal, stop supplying current to the first electromagnetic solenoid and supply current to the second electromagnetic solenoid, so that the magnetic drive unit drives the puncture needle to continue moving along the target direction.

[0088] As an optional embodiment, the winding direction, number of turns, and length of the first electromagnetic solenoid are the same as those of the second electromagnetic solenoid.

[0089] As an optional embodiment, the magnetic drive includes a permanent magnet or a magnetic material assembly.

[0090] As an optional embodiment, the driving circuit includes a driving chip and a full-bridge driving circuit. The output terminal of the full-bridge driving circuit is connected to the electromagnetic solenoid, the input terminal of the full-bridge driving circuit is connected to the driving chip, and the input terminal of the driving chip is connected to the position detection circuit.

[0091] As an optional embodiment, the full-bridge drive circuit includes a first transistor, a second transistor, a third transistor, and a fourth transistor. The control terminals of the first transistor and the fourth transistor are both connected to the second control port of the drive chip, and the control terminals of the second transistor and the third transistor are both connected to the first control port of the drive chip. The driver chip is configured to control the first transistor and the fourth transistor to turn on based on the first control port, and control the second transistor and the third transistor to turn off based on the second control port; or, control the first transistor and the fourth transistor to turn off based on the first control port, and control the second transistor and the third transistor to turn on based on the second control port; or, control the first transistor and the fourth transistor to turn off based on the first control port, and control the second transistor and the third transistor to turn off based on the second control port.

[0092] It should be noted that the puncture needle driving method provided by the present invention has the same technical effects as the above-mentioned puncture needle driving device, and will not be described in detail here.

[0093] The steam ablation device provided by the present invention is described below. The steam ablation device described below can be referred to in correspondence with the puncture needle driving device described above.

[0094] The present invention also provides a steam ablation device, including a puncture needle driving device.

[0095] The puncture needle driving device includes a driving circuit, an electromagnetic solenoid, a magnetic driving element disposed inside the electromagnetic solenoid, and a puncture needle fixed on the magnetic driving element. The driving circuit is used to provide current to the electromagnetic solenoid so that the magnetic driving element drives the puncture needle to move along the target direction. It also includes a position detection circuit disposed at the outlet of the electromagnetic solenoid. The driving circuit is electrically connected to the electromagnetic solenoid and the position detection circuit respectively. The position detection circuit is used to send a detection signal to the drive circuit when it detects that the magnetic drive has arrived at the outlet of the electromagnetic solenoid. The driving circuit is configured to stop supplying power to the electromagnetic solenoid or provide reverse current to the electromagnetic solenoid after receiving the detection signal, so that the magnetic drive unit drives the puncture needle to continue moving along the target direction.

[0096] As an optional embodiment, the travel of the magnetic drive is less than or equal to the length of the magnetic drive, and the length of the magnetic drive is less than or equal to the length of the electromagnetic solenoid.

[0097] As an optional embodiment, the electromagnetic solenoid includes a first electromagnetic solenoid and a second electromagnetic solenoid, and the position detection circuit is located at the outlet of the first electromagnetic solenoid. The position detection circuit is used to send a first detection signal to the drive circuit when it detects that the magnetic drive element has arrived at the outlet of the first electromagnetic solenoid. The driving circuit is used to provide a reverse current to the first electromagnetic solenoid after receiving the first detection signal, so that the magnetic drive unit drives the puncture needle to continue moving along the target direction.

[0098] As an optional embodiment, the position detection circuit is further configured to send a second detection signal to the drive circuit when it detects that the magnetic drive element has left the outlet of the first electromagnetic solenoid; The driving circuit is further configured to, upon receiving the second detection signal, stop supplying current to the first electromagnetic solenoid and supply current to the second electromagnetic solenoid, so that the magnetic drive unit drives the puncture needle to continue moving along the target direction.

[0099] As an optional embodiment, the winding direction, number of turns, and length of the first electromagnetic solenoid are the same as those of the second electromagnetic solenoid.

[0100] As an optional embodiment, the magnetic drive includes a permanent magnet or a magnetic material assembly.

[0101] As an optional embodiment, the driving circuit includes a driving chip and a full-bridge driving circuit. The output terminal of the full-bridge driving circuit is connected to the electromagnetic solenoid, the input terminal of the full-bridge driving circuit is connected to the driving chip, and the input terminal of the driving chip is connected to the position detection circuit.

[0102] As an optional embodiment, the full-bridge drive circuit includes a first transistor, a second transistor, a third transistor, and a fourth transistor. The control terminals of the first transistor and the fourth transistor are both connected to the second control port of the drive chip, and the control terminals of the second transistor and the third transistor are both connected to the first control port of the drive chip. The driver chip is configured to control the first transistor and the fourth transistor to turn on based on the first control port, and control the second transistor and the third transistor to turn off based on the second control port; or, control the first transistor and the fourth transistor to turn off based on the first control port, and control the second transistor and the third transistor to turn on based on the second control port; or, control the first transistor and the fourth transistor to turn off based on the first control port, and control the second transistor and the third transistor to turn off based on the second control port.

[0103] It should be noted that the steam ablation device provided by the present invention has the same technical effects as the above-mentioned puncture needle driving device, which will not be described in detail here.

[0104] Figure 7 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 7 As shown, the electronic device may include: a processor 710, a communications interface 720, a memory 730, and a communication bus 740, wherein the processor 710, the communications interface 720, and the memory 730 communicate with each other via the communication bus 740. The processor 710 can call logical instructions in the memory 730 to execute a puncture needle driving method, which includes: Receive detection signals; Based on the received detection signal, power supply to the electromagnetic solenoid is stopped or a reverse current is supplied to the electromagnetic solenoid, so that the magnetic drive can drive the puncture needle to continue moving along the target direction.

[0105] Furthermore, the logical instructions in the aforementioned memory 730 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0106] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program that can be stored on a non-transitory computer-readable storage medium, wherein when the computer program is executed by a processor, the computer is able to execute the puncture needle driving method provided by the above methods, the method comprising: Receive detection signals; Based on the received detection signal, power supply to the electromagnetic solenoid is stopped or a reverse current is supplied to the electromagnetic solenoid, so that the magnetic drive can drive the puncture needle to continue moving along the target direction.

[0107] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the puncture needle driving method provided by the methods described above, the method comprising: Receive detection signals; Based on the received detection signal, power supply to the electromagnetic solenoid is stopped or a reverse current is supplied to the electromagnetic solenoid, so that the magnetic drive can drive the puncture needle to continue moving along the target direction.

[0108] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0109] It should be noted that in the description of the embodiments of the present invention, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The terms "upper," "lower," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly, for example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0110] 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 of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A puncture needle driving device, comprising a driving circuit, an electromagnetic solenoid, a magnetic driving element disposed within the electromagnetic solenoid, and a puncture needle fixed on the magnetic driving element, wherein the driving circuit provides current to the electromagnetic solenoid, causing the magnetic driving element to drive the puncture needle to move along a target direction; characterized in that, It also includes a position detection circuit disposed at the outlet of the electromagnetic solenoid, and the drive circuit is electrically connected to the electromagnetic solenoid and the position detection circuit respectively; The position detection circuit is used to send a detection signal to the drive circuit when it detects that the magnetic drive has arrived at the outlet of the electromagnetic solenoid. The driving circuit is configured to stop supplying power to the electromagnetic solenoid or provide reverse current to the electromagnetic solenoid after receiving the detection signal, so that the magnetic drive unit drives the puncture needle to continue moving along the target direction.

2. The puncture needle driving device according to claim 1, characterized in that, The travel distance of the magnetic drive is less than or equal to the length of the magnetic drive, and the length of the magnetic drive is less than or equal to the length of the electromagnetic solenoid.

3. The puncture needle driving device according to claim 1, characterized in that, The electromagnetic solenoid includes a first electromagnetic solenoid and a second electromagnetic solenoid, and the position detection circuit is located at the outlet of the first electromagnetic solenoid. The position detection circuit is used to send a first detection signal to the drive circuit when it detects that the magnetic drive element has arrived at the outlet of the first electromagnetic solenoid. The driving circuit is used to provide a reverse current to the first electromagnetic solenoid after receiving the first detection signal, so that the magnetic drive unit drives the puncture needle to continue moving along the target direction.

4. The puncture needle driving device according to claim 3, characterized in that, The position detection circuit is further configured to send a second detection signal to the drive circuit when it detects that the magnetic drive element has left the outlet of the first electromagnetic solenoid. The driving circuit is further configured to, upon receiving the second detection signal, stop supplying current to the first electromagnetic solenoid and supply current to the second electromagnetic solenoid, so that the magnetic drive unit drives the puncture needle to continue moving along the target direction.

5. The puncture needle driving device according to claim 3, characterized in that, The winding direction, number of turns, and length of the first electromagnetic solenoid are the same as those of the second electromagnetic solenoid.

6. The puncture needle driving device according to any one of claims 1 to 5, characterized in that, The magnetic drive component includes a permanent magnet or a magnetic material assembly.

7. The puncture needle driving device according to any one of claims 1 to 5, characterized in that, The driving circuit includes a driving chip and a full-bridge driving circuit. The output terminal of the full-bridge driving circuit is connected to the electromagnetic solenoid, the input terminal of the full-bridge driving circuit is connected to the driving chip, and the input terminal of the driving chip is connected to the position detection circuit.

8. The puncture needle driving device according to claim 7, characterized in that, The full-bridge drive circuit includes a first transistor, a second transistor, a third transistor, and a fourth transistor. The control terminals of the first transistor and the fourth transistor are both connected to the second control port of the drive chip, and the control terminals of the second transistor and the third transistor are both connected to the first control port of the drive chip. The driver chip is configured to control the first transistor and the fourth transistor to turn on based on the first control port, and control the second transistor and the third transistor to turn off based on the second control port; or, control the first transistor and the fourth transistor to turn off based on the first control port, and control the second transistor and the third transistor to turn on based on the second control port; or, control the first transistor and the fourth transistor to turn off based on the first control port, and control the second transistor and the third transistor to turn off based on the second control port.

9. A method for driving a puncture needle, used to drive the puncture needle driving device according to any one of claims 1 to 8, characterized in that, The methods include: Receive detection signals; Based on the received detection signal, power supply to the electromagnetic solenoid is stopped or a reverse current is supplied to the electromagnetic solenoid, so that the magnetic drive can drive the puncture needle to continue moving along the target direction.

10. A steam ablation device, characterized in that, Includes the puncture needle driving device according to any one of claims 1 to 8.

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