Direction-variable puncture needle for lung tissue biopsy and puncture sampling system

Abstract

The utility model relates to a direction-variable puncture needle for lung tissue biopsy and a puncture sampling system, and belongs to the technical field of medical instruments. The puncture needle comprises a puncture trocar, a guide trocar and a sampling needle; a movable guide trocar is arranged in the hollow puncture trocar for percutaneous puncture in a penetrating manner; the guide trocar is provided with a bending part capable of controlling the turning direction; a movable bendable sampling needle is arranged in the hollow guide trocar in a penetrating manner; a sampling section is arranged at one end of the sampling needle away from an operator; the guide trocar is provided with a traction line for pulling the bending part of the guide trocar to change the sampling direction on a virtual plane formed by the puncture trocar and the sampling target; a mark used for marking the circumferential position of the traction line is axially arranged along the outer part of the guide trocar body; circumferential scales are arranged on the needle body circumference on the outer side of a human body along the puncture trocar. After the puncture needle is punctured into a human body, the sampling direction of the puncture needle can be changed according to the actual position of a sampling target, and the one-time puncture success rate is improved.

Description

Technical Field

[0001] The utility model relates to a variable-direction puncture needle and a puncture sampling system for lung tissue biopsy, belonging to the technical field of medical equipment. Background Art

[0002] A puncture needle is a commonly used medical device for percutaneous puncture for interventional surgery. The puncture needle can be delivered directly to the patient's affected area through the puncture surgery, which is a minimally invasive diagnosis and treatment method. In the prior art, the puncture needles commonly seen on the market are mostly slender rigid structures that cannot be bent. In the actual puncture process, it is difficult to accurately locate the puncture target for such slender rigid puncture needles. It is usually necessary to use medical imaging equipment to accurately locate the puncture target, and then use an external positioning device to assist the needle insertion for puncture. For example, Chinese patent, application number 202223307078.7, name: A laser-assisted device for puncture positioning of lung nodules under CT guidance; application number 202010171917.3, name: A 3D printed guide device based on body surface landmarks to assist percutaneous lung puncture, etc.

[0003] During routine physical examinations, patients are often diagnosed with lung nodules, which refer to focal round high-density shadows with clear or blurred edges on lung images and a diameter of less than or equal to 3 cm. The size of lung nodules in the lungs can range from 5 to 30 mm. Lung nodules usually have no obvious clinical symptoms, and their pathology is complex, with benign and malignant nodules, with benign nodules being the majority. Pathological biopsy is ultimately required to determine whether lung nodules are benign or malignant. Early diagnosis of lung cancer is crucial. The earlier the detection and treatment, the better the patient's prognosis. Therefore, biopsy detection of smaller lung nodules is of great significance for early detection and treatment of lung cancer.

[0004] Currently in actual clinical operations, even with the availability of CT and other devices that can locate lung nodules and assist in needle insertion, the position of the lesions changes in real time due to the patient's free breathing state, and the patient's inability to remain still and cooperate with the examination and operation due to other reasons. It is actually difficult for a rigid and slender puncture needle to accurately reach the lung nodule in one go. After the puncture needle is inserted into the human body, if it deviates from the target lung nodule, it is necessary to pull out the puncture needle and insert it again until the lung nodule is reached for sampling. Multiple punctures increase the pain of the subject and increase the risks of pulmonary hemorrhage, pneumothorax, etc. Therefore, this technical field urgently needs a puncture needle that can change the sampling direction of the puncture needle, eliminate repeated punctures, reduce the number of CT irradiations of the subject, and successfully obtain lung nodule tissue. Utility Model Content

[0005] The utility model aims to solve the technical problem of how to obtain a puncture needle that can change the sampling direction of the puncture needle, eliminate repeated punctures, reduce the number of CT irradiation times of the subject, and successfully obtain pulmonary nodule tissue.

[0006] In order to achieve the purpose of solving the above problems, the technical solution adopted by the utility model is to provide a variable-direction puncture needle for lung tissue biopsy, the puncture needle comprising a puncture trocar, a guide trocar and a sampling needle arranged in sequence from the outside to the inside;

[0007] A movable guide trocar is inserted into the hollow puncture trocar used for percutaneous puncture;

[0008] The guide trocar is provided with a curved portion with a controllable turning direction;

[0009] A movable and bendable sampling needle is inserted into the hollow guide sleeve needle; a sampling section is provided at the end of the sampling needle away from the operator;

[0010] The guide trocar is provided with a pulling line for pulling the curved portion of the guide trocar to change the sampling direction on a virtual plane formed by the puncture trocar and the sampling target.

[0011] Preferably, the pulling wire is inserted into a cavity along the axial direction of the guide trocar; the guide trocar is provided with a mark for marking the circumferential position of the pulling wire; and a circumferential scale is provided along the circumference of the needle body of the puncture trocar outside the human body.

[0012] Preferably, the puncture trocar is a hollow rigid needle.

[0013] Preferably, the guide trocar is provided with a hollow rigid part 1, a hollow flexible curved part and a hollow rigid part 2 in sequence from the end away from the operator to the end close to the operator; the rigid part 1 or the curved part is provided with one end of a pulling wire for pulling the curved part to guide the bending.

[0014] Preferably, a cavity for upward and downward directional movement of the pull wire is provided along the axial direction of the needle body of the second rigid part; and the pull wire portion provided at the curved part is provided at the outer side of the curved part body along the axial direction of the curved part.

[0015] Preferably, a movable push button for fixing the other end of the pulling wire is provided on the human body outer side of the second rigid part; the movable push button is provided in a slot along the axial direction of the second rigid part, and a scale is provided on the slot.

[0016] Preferably, a sampling section at one end of the sampling needle away from the operator is provided with a sampling groove; and the sampling section is provided with a developing coating.

[0017] Preferably, the sampling section is rigid; and the portion of the sampling needle disposed at the bending portion is flexible and bendable.

[0018] The utility model provides a variable-direction puncture sampling system for lung tissue biopsy, the puncture sampling system comprises the above-mentioned variable-direction puncture needle; the system comprises a software module for predicting the steering angle of the guide trocar according to the length of the pull line rising and tightening.

[0019] Preferably, the system includes a software module for simulating in vitro the steering of the guide trocar towards a sampling target within a virtual human body.

[0020] Compared with the prior art, the utility model has the following beneficial effects:

[0021] 1. The utility model realizes that after the puncture needle is inserted into the human body, the sampling direction of the puncture needle can be changed according to the actual position of the sampling target, thereby improving the puncture success rate of successful sampling in one puncture. It avoids the pain of the patient caused by the need for another puncture due to an inaccurate puncture in the prior art.

[0022] 2. The utility model can rotate 360 ​​degrees horizontally around its own central axis or select a circumferential position to insert into the puncture trocar through the guide trocar, so as to ensure that the bending direction of the guide trocar bending part is in the same plane as the sampling target, and then use the pulling wire to pull the guide trocar bending part to bend in the above plane to guide the sampling needle to align with the sampling target; thereby, the sampling needle can point to any point on a virtual hemispherical sphere at the front end with the puncture trocar needle tip as the sphere center.

[0023] 3. The utility model predicts the turning direction of the guide needle by the rising value of the pulling line, which can roughly guide the sampling needle to align with the sampling target, and finally confirm the forward direction of the sampling needle through the imaging equipment. There is no need to guide the turning under CT irradiation throughout the whole process, which reduces the number of CT irradiation times and irradiation time of the subject.

[0024] 4. The utility model can construct a variable-direction puncture sampling system for lung tissue biopsy, which includes a software module for predicting the steering angle of the guide trocar according to the length of the pull wire when it rises and tightens, and a software module for simulating the guide trocar turning to the sampling target in a virtual human body in vitro, providing a feasible hardware basis and a data information basis for machine execution for the steering of the puncture needle. Under the guidance of the above system, the surgical robot pulls the pull wire of a specific length to turn the guide trocar to the sampling target by obtaining an execution instruction calibrated by a data value. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the overall structure of the puncture needle of the utility model;

[0026] Figure 2 This is a schematic diagram of the structure of the internal part of the body after puncture by the puncture needle of the utility model;

[0027] Figure 3 It is a schematic diagram of the structure of the utility model after the puncture needle has been punctured and the guide trocar has not extended out of the puncture trocar body;

[0028] Figure 4It is a schematic diagram of the external structure of the utility model when the guide trocar extends out of the puncture trocar and bends after puncture;

[0029] Figure 5 This is a schematic diagram of the structure of the puncture needle guide sleeve of the utility model;

[0030] Figure 6 for Figure 5 Schematic diagram of the middle AA section;

[0031] Figure 7 This is a schematic diagram of the structure of the guide trocar of the puncture needle of the utility model extending out of the puncture trocar;

[0032] Figure 8 The structure diagram of the pull line pulling guide trocar changing direction of the utility model is shown as follows Figure 1 ;

[0033] Fig. 9 The structure diagram of the pull line pulling guide trocar changing direction of the utility model is shown as follows Figure 2 ;

[0034] Fig.10 The structure diagram of the pull line pulling guide trocar changing direction of the utility model is shown as follows Figure 3 ;

[0035] Figure numerals: 1. puncture trocar; 2. guide trocar; 3. sampling needle; 4. bending part; 5. rigid part 2; 6. rigid part 1; 7. sampling section; 8. pulling line; 9. action point 1; 10. action point 2; 11. cavity; 12. movable push button; 13. slot; 14. sampling slot; 15. mark 1; 16. limit point 1; 17. limit point 2; 18. adhesive pad; 19. circular scale; 20. sampling target. DETAILED DESCRIPTION

[0036] In order to make the present invention more clearly understood, a preferred embodiment is described in detail with reference to the accompanying drawings as follows:

[0037] like Figure 1-10 As shown, the utility model provides a variable-direction puncture needle for lung tissue biopsy, the puncture needle comprises a puncture trocar 1, a guide trocar 2 and a sampling needle 3 which are sequentially arranged from the outside to the inside;

[0038] A movable guide trocar 2 is inserted into a hollow puncture trocar 1 for percutaneous puncture;

[0039] The guide trocar 2 is provided with a curved portion 4 with a controllable turning direction, and a rigid portion 5 close to the operator and a rigid portion 6 far from the operator are respectively provided on both sides of the curved portion 4;

[0040] A movable and bendable sampling needle 3 is inserted into the hollow guide sleeve needle 2; the sampling needle 3 includes a sampling section 7 arranged on the rigid part 1 6;

[0041] The guide trocar 2 is provided with a pulling wire 8 for pulling the curved portion 4 of the guide trocar 2; the pulling wire 8 pulls the curved portion 4 to change the sampling direction on a virtual plane formed by the puncture trocar 1 and the sampling target 20; a mark 15 for marking the circumferential position of the pulling wire 8 is axially arranged outside the body of the guide trocar 2; and a circumferential scale 19 is arranged along the circumference of the needle body of the puncture trocar 1 outside the human body.

[0042] The pulling wire 8 is passed through a cavity 11 along the axial direction of the guide trocar 2. This cavity 11 corresponds to the mark 15;

[0043] The puncture trocar 1 is a hollow rigid needle.

[0044] The guide trocar 2 is provided with a hollow rigid part 1 6, a hollow flexible bending part 4 and a hollow rigid part 2 5 in sequence from the end away from the operator to the end close to the operator;

[0045] The rigid part 6 or the curved part 4 is provided with one end of a pulling wire 8 for pulling the curved part 4 to bend and guide; the end is located on the circumferential outer wall of the guide trocar 2; the junction point between the end and the rigid part 6 or the curved part 4 is the starting point of the pulling action of the pulling wire 8, and the starting point is the action point 9;

[0046] A pull-wire lumen 11 for the pull-wire 8 to move in an upward and downward direction is arranged along the axial direction of the needle body of the rigid part 2 5; the upper end of the pull-wire lumen 11 opens at the outer side of the rigid part 2 5, and the lower end of the pull-wire lumen 11 opens at the junction of the rigid part 2 5 and the curved part 4; this is the position where the pull-wire 8 enters the pull-wire lumen 11, and is also another limit point for the pull-wire 8 to play a pull-limiting role, and this limit point is the action point 2 10;

[0047] The part of the pull wire 8 provided in the curved portion 4 is provided outside the curved portion 4 body along the axial direction of the curved portion 4. Usually, the pull wire 8 is close to the outer wall of the curved portion 4, and when the pull wire 8 is pulled, the pull wire 8 is separated from the outer wall of the curved portion 4.

[0048] The outer part of the rigid part 25 is provided with a movable push button 12 for fixing the other end of the pull line 8; the movable push button 12 is provided in a slot 13 along the axial direction of the rigid part 25, and the slot 13 is provided with a scale for marking the rising or falling value of the pull line 8.

[0049] The sampling section 7 at the end of the sampling needle 3 away from the operator is provided with a sampling groove 14; the sampling section 7 is provided with a developing coating. The sampling section 7 is rigid; the portion of the sampling needle 3 provided at the bending portion 4 is flexible and bendable.

[0050] The utility model provides a variable direction puncture sampling system for lung tissue biopsy, the puncture sampling system includes the above-mentioned variable direction puncture needle; the system includes a software module for predicting the steering angle α of the guide trocar 2 according to the length of the pull line 8 rising and tightening. The system also includes a software module for simulating in vitro the steering of the guide trocar 2 to a sampling target in a virtual human body.

[0051] Example 1

[0052] like Figure 1-2 As shown, the utility model provides a variable-direction puncture needle for lung tissue biopsy, the puncture needle comprises a puncture trocar 1, a guide trocar 2 and a sampling needle 3 arranged in sequence from the outside to the inside; a movable guide trocar 2 can be inserted into the hollow puncture trocar 1 for percutaneous puncture; the guide trocar 2 is provided with a curved portion 4 with a controllable turning direction; a movable and bendable sampling needle 3 is inserted into the hollow guide trocar 2; a sampling section 7 is provided at the end of the sampling needle 3 away from the operator;

[0053] The puncture trocar 1 is similar to the hollow puncture needle in the prior art that needs to be first inserted into the human body; it is a hollow rigid needle, and a circumferential scale 19 is provided along the circumference of the needle body of the puncture trocar 1 outside the human body;

[0054] The function of the circumferential scale 19 is that after the puncture needle 1 is inserted, if it is found under CT that the puncture needle 1 has not reached the lung nodule and the lung nodule is not in the direction of the puncture needle 1, the spatial position relationship between the puncture needle 1 and the lung nodule can be obtained through CT scanning and three-dimensional reconstruction of in vitro computer images, the specific position of the lung nodule in the circumferential direction of the puncture needle 1 can be determined, and the position of the lung nodule can be marked by the circumferential scale 19 provided on the puncture needle 1.

[0055] After the puncture needle 1 is inserted, under CT, if it is found that the puncture needle 1 has reached the lung nodule, or the direction of the puncture needle 1 is in the same straight line as the lung nodule, a rigid sampling biopsy needle similar to that in the prior art is used, and the sampling biopsy needle is directly inserted into the puncture needle 1, and the biopsy needle enters the lung nodule to directly take samples.

[0056] After the puncture trocar 1 is inserted, if it is found under CT that the puncture trocar 1 has not reached the lung nodule and the lung nodule is not in the direction of the puncture trocar 1, the guide trocar 2 provided by the utility model is inserted;

[0057] like Figure 1 , 3As shown in Figures 4, 5, and 7, the guide trocar 2 is provided with a hollow rigid part 16, a hollow flexible curved part 4, and a hollow rigid part 25 in sequence from the end away from the operator to the end close to the operator; the outer wall of the guide trocar 2 outside the body is provided with an elastic restorable limit point 16 and an inelastic hard limit point 2 17 along the axial direction; the distance between the limit point 16 and the limit point 2 17 corresponds to the length of the curved part 4 plus the rigid part 16; when the limit point 16 reaches an identification ring on the circumference of the puncture trocar 1, it means that the end of the guide trocar 2 away from the operator is flush with the end of the puncture trocar 1 away from the operator; the guide trocar 2 can continue to be inserted into the puncture trocar 1; when the limit point 17 reaches the same identification ring on the circumference of the puncture trocar 1, it means that the end of the guide trocar 2 away from the operator has extended out of the puncture trocar 1; and the extended length is the curved part 4 plus the rigid part 16. At this time, the guide trocar 2 is stuck at this position by the limit point 2 17 and no longer moves downward.

[0058] The rigid part 16 is provided with one end of a pulling wire 8 for pulling the bending part 4 to bend and guide; the end is located on the circumferential outer wall of the guide trocar 2; the junction point between the end and the rigid part 16 is the starting point of the pulling action of the pulling wire 8, and the starting point is the action point 19;

[0059] A pull-wire lumen 11 for the pull-wire 8 to move in an upward and downward direction is arranged along the axial direction of the needle body of the rigid part 2 5; the upper end of the pull-wire lumen 11 opens at the outer side of the rigid part 2 5, and the lower end of the pull-wire lumen 11 opens at the junction of the rigid part 2 5 and the curved part 4; this is the position where the pull-wire 8 enters the pull-wire lumen 11, and is also another limit point for the pull-wire 8 to play a pull-limiting role, and this limit point is the action point 2 10;

[0060] The part of the pull wire 8 provided in the curved portion 4 is provided outside the curved portion 4 body along the axial direction of the curved portion 4. Usually, the pull wire 8 is closely attached to the outer wall of the curved portion 4, and when the pull wire 8 is pulled, the pull wire 8 is separated from the outer wall of the curved portion 4. When the guide trocar 2 is completely extended out of the puncture trocar 1, the action point 2 10 is located outside the needle body of the puncture trocar 1.

[0061] A movable push button 12 for fixing the other end of the pull line 8 is provided on the outside of the rigid part 2 5; the pull line 8 passes through the pull line cavity 11 here and is fixed on the movable push button 12;

[0062] The movable push button 12 is arranged in a slot 13 along the axial direction of the rigid part 2 5 , and a scale for marking the rising value of the pulling wire 8 is arranged on the slot 13 .

[0063] When the movable push button 12 is pushed upward along the slot 13, the pull wire 8 rises along the pull wire cavity 11, and the length of the pull wire 8 between the action point 1 9 and the action point 2 10 is shortened, driving the bending portion 4 to bend; Figure 7-10 As shown;

[0064] A mark 15 for marking the position of the pulling wire 8 is arranged along the axial direction outside the body of the rigid part 25 of the guide trocar 2;

[0065] After the puncture trocar 1 is inserted, under CT, if it is found that the puncture trocar 1 has not reached the edge of the lung nodule and the lung nodule is not in the direction of the puncture trocar 1, then the guide trocar 2 provided by the utility model is inserted into the puncture trocar 1; before inserting the guide trocar 2, it is determined that the position of the mark 15 corresponds to a scale on the circumference of the puncture trocar 1, and the scale indicates the specific position of the lung nodule sampling point in the circumferential direction of the puncture trocar 1; it is also possible that after the guide trocar 2 is inserted into the puncture trocar 1, the guide trocar 2 is horizontally rotated with the central axis of the guide trocar 2 as the rotation axis, and the mark 15 is aligned with a scale on the circumference of the puncture trocar 1 corresponding to the position of the lung nodule sampling point; this operation will ensure that when the pulling line 8 is pulled, the curved portion 4 of the guide trocar 2 is bent on the same virtual plane formed by the puncture trocar 1 and the lung nodule sampling point;

[0066] This ensuring measure also includes: a cavity 11 for the upward and downward directional movement of the pulling wire 8 is arranged along the axial direction of the needle body of the rigid part 2 5, the pulling wire 8 is arranged on the curved part 4, and the pulling wire 8 is generally straight as a whole and parallel to the central axis of the curved part 4; the above measures are to ensure that when the pulling wire 8 is pulled, the curved part 4 of the guide trocar 2 is bent to form a plane, the plane covers the central axis of the curved part 4, and the plane coincides with a virtual plane formed by the puncture trocar 1 and the pulmonary nodule sampling point;

[0067] After the puncture trocar 1 is inserted, under CT, if it is found that the puncture trocar 1 has not reached the edge of the lung nodule, and the lung nodule is not in the direction of the puncture trocar 1, then the guide trocar 2 provided by the utility model is inserted, and the sampling needle 3 can be inserted in advance in the guide trocar 2. The material of the sampling needle 3 can be metal, preferably nickel-titanium alloy; the sampling needle 3 has the characteristics of good compliance and excellent bending performance; the sampling needle 3 is provided with a sampling section 7 at the end away from the operator, and the sampling section 7 is provided with a sharp sampling groove 14 for cutting tissue; the sampling section 7 can be made of rigid material, and the surface of the sampling section 7 can be provided with a developing coating, and the sampling section 7 is rigid and not easy to bend. The part of the sampling needle 3 provided at the bending part 4 is a flexible and bendable section, which can bend with the bending part 4, and can also return to a straight state with the bending part 4 returning to a straight state.

[0068] The movable push button 12 is pushed upward in the slot 13, and the pulling wire 8 is shortened between the action point 1 9 and the action point 2 10, causing the bending portion 4 to bend and point to the sampled lung nodule;

[0069] The utility model ensures that the bending direction of the curved portion 4 of the guide trocar 2 and the sampling target are on the same plane by horizontally rotating the guide trocar 2 or selecting a circumferential position for the guide trocar 2 to be inserted into the puncture trocar 1, and then uses the pulling wire 8 to pull the curved portion 4 of the guide trocar 2 to bend in the above plane to guide the sampling needle 3 to align with the sampling target; thereby, the sampling needle 3 can point to any point on a virtual hemispherical surface at the front end with the needle tip of the puncture trocar 1 as the sphere center.

[0070] After it is finally confirmed under CT irradiation that the guide trocar 2 has pointed to the lung nodule, the sampling needle 3 is pushed out of the guide trocar 2 and inserted into the lung nodule, and the diseased tissue is cut through the sampling groove 14 on the sampling section 7. After cutting, the sampling needle 3 is retracted.

[0071] In clinical practice, the actual deviation between the puncture needle 1 and the final sampling target is relatively small. When the guide needle 2 points to the lung nodule, it is actually very close to or even close to the lung nodule. The sampling needle 3 extends out of the sampling section 7 of the guide needle 2 and can be completely inserted into the lung nodule.

[0072] like Figure 8-10 As shown, when the manufacturer produces the guide trocar 2 on a large scale, the product is finalized by determining the material for manufacturing the curved portion 4 of the guide trocar 2; the material for manufacturing the curved portion 4 can be a polymer material that is elastic, bends under external force, and can return to a straight state after the external force disappears; during manufacturing, it is necessary to fix the length between the action point 1 9 and the action point 2 10, and ensure that the pull wire 8 moves in a directional manner up and down along the pull wire cavity 11 of the needle body axial direction of the rigid part 2 5;

[0073] Then, through a large number of in vitro experiments, a curve diagram is constructed between the length value L of the distance change of the pulling wire 8 between the action point 1 9 and the action point 2 10 and the steering angle value α of the guide trocar 2; the length value L also corresponds to the scale of the movable push button 12 rising in the slot 13. That is, a curve diagram is constructed between the distance of the movable push button 12 moving upward and the steering angle α of the guide trocar 2;

[0074] The steering angle α is set as the angle between the central axis of the rigid part 1 6 or the rigid sampling section 7 and the central axis of the rigid puncture trocar 1 or the rigid part 2 5; (because the sampling section 7 is provided with a developing coating and the puncture trocar 1 is made of metal material, it can be identified under CT irradiation).

[0075] Through a large amount of actual bending measurement experimental data, a database of one-to-one correspondence between the distance of the movable push button 12 moving upward and the steering angle α of the guide trocar 2 is obtained; then the obtained large database is used to simulate the curve chart of the change between the distance of the movable push button 12 moving upward and the steering angle α of the guide trocar 2. In actual application, the steering angle α of the guide trocar 2 can be predicted by the distance of the movable push button 12 moving;

[0076] Of course, due to the influence of many factors, the present invention does not require that the data relationship between the distance moved by the movable push button 12 and the steering angle α is very accurate; after all, compared with the lung nodule target, the actual volume target occupied by the lung nodule is larger than the point-like direction of the guide trocar 2, and ultimately it is necessary to clearly point the guide trocar 2 to the lung nodule under CT irradiation; therefore, even if the estimated value of the steering angle α of the guide trocar 2 deviates from the actual value, this deviation does not affect the final accurate and successful sampling of the sampling needle.

[0077] However, this simulation curve, or a software module further constructed based on the curve, is conducive to constructing a software module for simulating in vitro the turning of the guide trocar to the sampling target in a virtual human body; and is further conducive to designing a surgical robot to turn the guide trocar 2 to the lung nodule by pulling the pulling wire 8 of a specific length;

[0078] The utility model can construct a variable-direction puncture sampling system for lung tissue biopsy, the system comprising a software module for predicting the steering angle of the guide trocar according to the length of the pull line rising and tightening; and a software module for simulating in vitro the steering of the guide trocar to a sampling target in a virtual human body.

[0079] Through the above system, a feasible hardware foundation and a machine-executable data foundation are provided for the guide trocar 2 to be turned toward the lung nodule. Under the guidance of the above system, the surgical robot pulls the traction wire 8 of a specific length to turn the guide trocar 2 toward the target; and finally CT irradiation is used to confirm that the guide trocar 2 is pointing toward the lung nodule.

[0080] Compared with the lung nodule target, the actual volume target occupied by the lung nodule is larger than the direction of the needle tip of the guide trocar 2. Therefore, even if the estimated value of the steering angle α of the guide trocar 2 deviates from the actual value, this deviation should be a small deviation, and even there is no need to move the traction wire 8 again to change the steering angle α, and the sampling needle can be ensured to be inserted into the lung nodule. Through such a design, pulling the traction wire 8 once can ensure that the sampling needle is inserted into the lung nodule, improve the steering success rate, and reduce the number of CT irradiation or irradiation time of the patient.

[0081] Use of this utility model:

[0082] Step 1: The early stage of puncture is the same as the prior art, and the puncture trocar 1 is inserted into the patient's lungs under the guidance of CT positioning;

[0083] Step 2: After inserting the puncture needle 1, under CT, if it is found that the puncture needle 1 has reached the edge of the lung nodule, or the forward direction of the puncture needle 1 is in the same straight line as the lung nodule, a rigid sampling biopsy needle similar to that in the prior art is used, and the rigid linear sampling biopsy needle is directly inserted into the puncture needle 1, and the biopsy needle enters the lung nodule to directly take samples.

[0084] Step 3: After the puncture trocar 1 is inserted, if it is found under CT that the puncture trocar 1 does not reach the edge of the lung nodule, and there is a horizontal distance difference between the puncture trocar 1 and the lung nodule along the central axis of the puncture trocar 1, first, the positional relationship between the puncture trocar 1 and the lung nodule is determined under the CT image;

[0085] Step 31: According to the CT image, ensure that the sampling target 20 is located on one side of the advancing direction of the puncture trocar 1;

[0086] If the needle tip of the puncture trocar 1 has passed the sampling target 20, the puncture trocar 1 can be slightly pulled out upward; and ensure that after the guide trocar 2 is fully extended out of the puncture trocar (when the guide trocar 2 passes through the limit point 17 and is stuck in the puncture trocar 1), the needle tip of the guide trocar 2 is located above the sampling target 20; Figure 7 As shown;

[0087] A plane is constructed along the advancing direction of the puncture trocar 1, covering 20 sampling points of the lung nodule sampling target and being perpendicular to the central axis of the puncture trocar 1;

[0088] The projection of the lung nodule sampling target 20 on the circumference of the puncture trocar 1 along the plane corresponds to a circumferential scale (the circumference of the needle body of the puncture trocar 1 outside the human body is provided with a circumferential scale 19); that is, the position of the lung nodule sampling target 20 relative to the circumference of the puncture trocar 1 is clearly defined;

[0089] (After that, align the mark 15 on the guide trocar 2 with the circumferential scale and insert it into the puncture trocar 1 to ensure that the bending direction of the guide trocar 2 and the lung nodule sampling target 20 are on the same plane;)

[0090] Step 32: At the same time, according to the CT image, by simulating the guide trocar 2 (the guide trocar 2 is inserted with the sampling needle 3, and the guide trocar 2 is completely extended out of the puncture trocar, such as Figure 7 ) Turn to the sampling target 20, determine that the sampling point of the pulmonary nodule sampling target 20 passes through the angle α between the central axis of the sampling section 7 and the central axis of the puncture trocar 1, and obtain the angle α required for the guide trocar 2 to turn;

[0091] Step 4: Align the mark 15 on the guide trocar 2 with the circumferential scale corresponding to the lung nodule and insert it into the puncture trocar 1 until the limit point 17 reaches a mark ring on the puncture trocar 1, indicating that the guide trocar 2 extends out of the puncture trocar 1; and the extended length is the bending part 4 plus the rigid part 6; the sampling needle 3 is inserted into the guide trocar 2;

[0092] Step 5: Based on the simulated curve chart or software of the relationship between the moving distance of the movable push button 12 and the steering angle α provided by the manufacturer of the guide trocar 2, and based on the angle difference α obtained in the above step 3, the distance that the movable push button 12 needs to be pushed to move is obtained;

[0093] Step 6: Push the movable push button 12 to guide the guide trocar 2 to bend and point to the lung nodule sampling target 20, and then confirm it through CT. If the guide trocar 2 is not aligned with the lung nodule sampling target 20, fine-tune it by moving the movable push button 12 up or down, and finally confirm that the guide trocar 2 points to the lung nodule sampling target 20 through CT irradiation.

[0094] Step 7: Push the sampling needle 3 out of the guide trocar 2 and insert it into the lung nodule, cut the diseased tissue through the sampling groove 14 on the sampling section 7, and retract the sampling needle 3 after cutting; move the movable push button 12 downward to restore the curved portion 4 to a straight state, retract the guide trocar 2 into the puncture trocar 1, and then pull out the puncture trocar 1.

[0095] Example 2

[0096] The outer periphery of the puncture trocar 1 is provided with an adhesive pad 18 marked with circumferential scales; the adhesive pad is adhered to the skin outside the puncture hole and is used to mark the position of the lung nodule on the circumference of the puncture trocar 1.

[0097] The other structures are the same as those in Example 1.

[0098] Example 3

[0099] The outer periphery of the puncture trocar 1 is no longer marked with circumferential scales 19, nor is an adhesive pad 18 marked with circumferential scales used; other structures are the same as those of the first embodiment.

[0100] After the puncture trocar 1 is inserted, under CT, if it is found that the puncture trocar 1 has not reached the edge of the lung nodule, and there is a horizontal distance difference between the forward direction of the puncture trocar 1 and the lung nodule sampling target 20; then under the guidance of CT, use a marker pen to mark the position of the subcutaneous lung nodule sampling target 20 with a "dot" on the patient's skin; align the mark 15 on the guide trocar 2 with the above-mentioned "dot" mark and insert it into the puncture trocar 1, so as to ensure that the bending direction of the guide trocar 2 and the lung nodule sampling target 20 are on the same plane.

[0101] The subsequent operations are the same as those in Example 1.

[0102] The above is only a preferred embodiment of the utility model, and is not any formal or substantial limitation of the utility model. It should be pointed out that ordinary technicians in this technical field can make some improvements and supplements without departing from the utility model, and these improvements and supplements should also be regarded as the protection scope of the utility model. Any technician familiar with this profession can make some changes, modifications and equivalent changes made by using the technical content disclosed above without departing from the spirit and scope of the utility model, which are all equivalent embodiments of the utility model; at the same time, any changes, modifications and evolutions of any equivalent changes made to the above embodiments based on the essential technology of the utility model are still within the scope of the technical solution of the utility model.

Claims

1. A variable-direction puncture needle for lung tissue biopsy, characterized in that: The puncture needle comprises a puncture trocar, a guide trocar and a sampling needle which are arranged in sequence from the outside to the inside; A movable guide trocar is inserted into the hollow puncture trocar used for percutaneous puncture; The guide trocar is provided with a curved portion with a controllable turning direction; A movable and bendable sampling needle is inserted into the hollow guide sleeve needle; a sampling section is provided at the end of the sampling needle away from the operator; The guide trocar is provided with a pulling line for pulling the curved portion of the guide trocar to change the sampling direction on a virtual plane formed by the puncture trocar and the sampling target.

2. A variable-direction puncture needle for lung tissue biopsy according to claim 1, characterized in that: The pulling wire is inserted into a cavity along the axial direction of the guide trocar; a mark for marking the circumferential position of the pulling wire is provided on the guide trocar; and a circumferential scale is provided along the circumference of the needle body of the puncture trocar outside the human body.

3. The variable-direction puncture needle for lung tissue biopsy according to claim 1, characterized in that: The puncture trocar is a hollow rigid needle.

4. The variable-direction puncture needle for lung tissue biopsy according to claim 1, characterized in that: The guide trocar is provided with a hollow rigid part 1, a hollow flexible bending part and a hollow rigid part 2 in sequence from the end away from the operator to the end close to the operator; the rigid part 1 or the bending part is provided with one end of a pulling wire for pulling the bending part to guide the bending.

5. The variable-direction puncture needle for lung tissue biopsy according to claim 4, characterized in that: A cavity for the upward and downward directional movement of the pull wire is provided along the axial direction of the needle body of the second rigid part; the pull wire portion provided at the curved part is provided at the outer side of the curved part body along the axial direction of the curved part.

6. The variable-direction puncture needle for lung tissue biopsy according to claim 5, characterized in that: A movable push button for fixing the other end of the pulling wire is arranged on the human body outer side of the second rigid part; the movable push button is arranged in a slot along the axial direction of the second rigid part, and a scale is arranged on the slot.

7. The variable-direction puncture needle for lung tissue biopsy according to claim 1, characterized in that: A sampling groove is provided on the sampling section of the sampling needle at one end away from the operator; and a developing coating is provided on the sampling section.

8. The variable-direction puncture needle for lung tissue biopsy according to claim 1, characterized in that: The sampling section is rigid; the portion of the sampling needle arranged at the bending portion is flexible and bendable.

9. A variable-direction puncture sampling system for lung tissue biopsy, characterized in that: The puncture sampling system comprises a variable-direction puncture needle according to any one of claims 1 to 8; the system comprises a software module for predicting the steering angle of the guide trocar according to the length of the pull line rising and tightening.

10. A variable-direction puncture sampling system for lung tissue biopsy according to claim 9, characterized in that: The system includes a software module for simulating in vitro the steering of a guide trocar toward a sampling target within a virtual human body.

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