Digital positioning puncture system

Abstract

The utility model discloses a digital positioning puncture system which comprises a positioning puncture unit which comprises a base portion, a fixing portion, a puncture positioning portion and a developing portion, the fixing portion, the puncture positioning portion and the developing portion are arranged on the base portion, the fixing portion is used for fixing the positioning puncture unit on a human body, and the puncture positioning portion is used for positioning a puncture needle to a target position; the puncture positioning part comprises a driving assembly and a needle holder, the needle holder is arranged on the driving assembly, the puncture needle is arranged on the needle holder, and the driving assembly drives the needle holder and the puncture needle to the target position; and the imaging unit is used for imaging a target tissue in the human body and the developing part so as to determine the relative position of the needle holder and the target tissue. The positioning puncture unit can be directly fixed on a human body through the fixing part, then the positioning puncture unit and the human body are imaged together through the imaging unit to determine the relative position of the needle holder and a focus, then a doctor can plan a needle insertion path, and accurate positioning of an ablation needle is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical equipment, and in particular relates to a digital positioning puncture system. Background Art

[0002] During the puncture operation, the ablation needle needs to be inserted into the lesion under the guidance of CT or B-ultrasound. In the past, when percutaneous puncture was used to treat tumors in the body cavity or to take a biopsy, the puncturist could only subjectively judge the needle insertion angle, and then correct the angle through CT or B-ultrasound for multiple times. The accuracy was poor, and repeated CT or B-ultrasound caused certain radiation to the patient, which may cause other lesions. In addition, the puncture process was affected by the change in body position during the patient's physical activities, which often caused puncture errors. Repeated punctures had to be performed, resulting in serious complications such as pneumothorax, hemothorax, and organ bleeding. Therefore, the existing puncture technology cannot accurately locate the needle insertion angle and depth, which is not conducive to the smooth progress of minimally invasive surgery.

[0003] The Chinese utility model patent with announcement number CN211271027U discloses a digital locator system, including a digital locator, a bracket, and a computer system. The digital locator is fixedly connected to the bracket, the computer system is electrically connected to the digital locator, and the bracket includes a rotating rod and a fixing seat, and the rotating rod is rotatably connected to the fixing seat. The digital locator includes an ablation needle, a first concentric guide rail, a second concentric guide rail, a needle channel component, a transmission body, a transmission gear, a first sensor, a second sensor, a third sensor, a circuit system, a communication cable, and a clamp. The utility model can accurately determine the angle and depth of ablation needle puncture in minimally invasive surgery, intuitively reflect the spatial state of the ablation needle in the patient's body, and is more conducive to the successful completion of minimally invasive surgery; the bracket is used to support the digital locator, and the spatial position of the digital locator can be adjusted at the same time, so there is no need to hold the digital locator by hand, which is very labor-saving.

[0004] The existing digital locator system includes a bracket, which is also called a robotic arm. The bracket includes a rotating rod and a fixed seat, and the rotating rod is rotatably connected to the fixed seat. The existing digital locator system needs to use a robotic arm to control the ablation needle to reach the designated surgical position. It has a complex structure, occupies a relatively large space, is inconvenient to operate, and the use of a robotic arm is expensive. Utility Model Content

[0005] In view of the problems in the background technology, the purpose of the utility model is to provide a digital positioning puncture system, comprising:

[0006] The positioning puncture unit comprises a base and a fixing part, a puncture positioning part and a developing part arranged on the base, wherein the fixing part is used to fix the positioning puncture unit on the human body, and the puncture positioning part is used to position the puncture needle to the target position; the puncture positioning part comprises a driving component and a needle holder, wherein the needle holder is arranged on the driving component, and the puncture needle is arranged on the needle holder, and the driving component drives the needle holder and the puncture needle to the target position;

[0007] The imaging unit is used to image the target tissue in the human body and the developing part to determine the relative position of the needle holder and the target tissue.

[0008] Preferably, the base comprises a covering plate, the fixing portion, the puncture positioning portion and the developing portion are all arranged on the covering plate, and the fixing portion covers the covering plate on the human body.

[0009] Preferably, the fixing portion is arranged on the first surface of the covering plate, and the puncture positioning portion and the developing portion are arranged on the second surface of the covering plate opposite to the first surface thereof;

[0010] The fixing portion is an adhesive portion, which is used to adhere the covering plate to the human body.

[0011] Preferably, the covering plate is provided with a needle insertion portion, and the puncture needle is inserted into the human body through the needle insertion portion.

[0012] Preferably, the needle insertion portion is a plurality of needle insertion holes, and the puncture needle passes through the needle insertion holes and pierces into the human body.

[0013] Preferably, the driving assembly comprises a first swing arm, a second swing arm and two drivers, and both the first swing arm and the second swing arm are arc-shaped arms;

[0014] The first swing arm and the second swing arm are arranged in an interlaced and overlapping manner, one end of the first swing arm and the second swing arm are respectively rotatably connected to the base, and the other end is respectively drivably connected to one of the drivers, and the two drivers respectively drive the first swing arm and the second swing arm to rotate;

[0015] An arc-shaped slide groove is respectively provided on the first swing arm and the second swing arm, and the two arc-shaped slide grooves are arranged in an alternating and overlapping manner. The needle holder is penetrated and slidably connected to the two arc-shaped slide grooves, and the needle holder can slide along the two arc-shaped slide grooves.

[0016] Preferably, the driving assembly includes two rotational travel limit assemblies, which are respectively used to limit the rotational travel of the first swing arm and the second swing arm.

[0017] Preferably, the rotation travel limit assembly includes a coupling and two travel switches, and the output shaft of the driver is drivingly connected to the first swing arm or the second swing arm through the coupling;

[0018] The two travel switches are respectively arranged on both sides of the coupling, and a trigger block is respectively arranged on both sides of the outer wall of the coupling. The two trigger blocks correspond to the two travel switches respectively. When the coupling rotates, the two trigger blocks are driven to contact and trigger the two travel switches respectively.

[0019] Preferably, the needle holder comprises a needle holder frame and a limiting nut, the needle holder frame comprises a limiting flange and a connecting column, and the connecting column is arranged on the limiting flange;

[0020] The connecting column is inserted into the two arc-shaped sliding grooves, the limiting flange is arranged on a side of the first swing arm away from the second swing arm, the limiting nut is arranged on a side of the second swing arm away from the first swing arm, and the limiting nut is sleeved and threadedly connected to the connecting column;

[0021] The limiting flange and the connecting column are both provided with positioning holes for inserting the puncture needle.

[0022] Preferably, two developing parts are provided, which are respectively arranged at the rotation axes of the first swing arm and the second swing arm.

[0023] Preferably, the developing part comprises a developing seat and a plurality of developing balls, and the developing balls are arranged on the developing seat.

[0024] Preferably, the imaging unit is a CT imaging machine.

[0025] Due to the adoption of the above technical solution, the utility model has the following advantages and positive effects compared with the prior art:

[0026] The utility model can directly fix the positioning puncture unit on the human body through the fixing part, and then perform imaging together with the human body through the imaging unit to determine the relative position of the needle holder and the lesion, and then the doctor can plan the needle insertion path to achieve accurate positioning of the ablation needle. Since the positioning puncture unit is fixed on the human body, the number of imaging times can be reduced (ideally, the ablation needle can be accurately positioned in one imaging), which can not only reduce the workload of the doctor, but also reduce the radiation to the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The specific implementation of the utility model is further described in detail below with reference to the accompanying drawings, wherein:

[0028] Figure 1 This is an axonometric diagram of the positioning puncture unit of the utility model;

[0029] Figure 2 This is an exploded diagram of the positioning puncture unit of the utility model;

[0030] Figure 3 For this utility model Figure 1 A partial enlarged view of

[0031] Figure 4 For this utility model Figure 2 A partial enlarged view of

[0032] Figure 5 This is a front view of the cladding board of the utility model;

[0033] Figure 6 This is a schematic diagram of the back side of the cladding board of the utility model;

[0034] Figure 7 This is a schematic diagram of the control mainboard of the utility model.

[0035] Description of reference numerals:

[0036] 1. Covering plate; 2. Mainboard mounting slot; 3. Motor mounting slot; 4. Needle hole; 5. Control mainboard; 6. Coupling avoidance slot; 7. Travel switch; 8. Developer seat; 9. Developer ball; 10. First swing arm; 11. Second swing arm; 12. Arc slide; 13. Rotating shaft; 14. Rotating bracket; 15. Motor; 16. Motor mounting bracket; 17. Output shaft; 18. Coupling; 19. Trigger block; 20. Needle support; 21. Limiting flange; 22. Connecting column; 23. Limiting nut. DETAILED DESCRIPTION

[0037] The utility model is further described in detail below in conjunction with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the utility model will become clearer. It should be noted that the accompanying drawings are all in a very simplified form and use non-precise ratios, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the utility model.

[0038] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0039] See also Figures 1 to 7 The core of the utility model is to provide a digital positioning puncture system for positioning the puncture needle so that it can pierce the target tissue in the human body.

[0040] The digital positioning puncture system of the utility model can be used for minimally invasive ablation surgery. The puncture needle can be an ablation needle. The target tissue is a tumor or other lesion. The utility model can accurately position the ablation needle so that it can be inserted into the lesion to ablate it.

[0041] The digital positioning puncture system includes a positioning puncture unit and an imaging unit. The positioning puncture unit is used to drive and position the ablation needle to the target position so that the ablation needle can directly reach the lesion.

[0042] The positioning puncture unit includes a base and a fixing part, a puncture positioning part and a developing part arranged on the base. The fixing part is used to fix the positioning puncture unit on the human body, and the puncture positioning part is used to position the ablation needle to the target position; the puncture positioning part includes a driving component and a needle holder 20, the needle holder 20 is arranged on the driving component, the ablation needle is arranged on the needle holder 20, and the driving component drives the needle holder 20 and the ablation needle to the target position;

[0043] The imaging unit is used to image the lesion and the developing part in the human body. The developing part is used as a position calibration point to determine the relative position of the needle holder 20 and the lesion in the image. Because the relative position of the developing part and the needle holder 20 is determined, when the relative position of the developing part and the lesion in the image is determined, the relative position of the needle holder 20 and the lesion can be determined.

[0044] That is to say, the utility model can directly fix the positioning puncture unit on the human body through the fixing part, and then perform imaging together with the human body through the imaging unit to determine the relative position of the needle holder 20 and the lesion, and then the doctor can plan the needle insertion path to achieve accurate positioning of the ablation needle. Since the positioning puncture unit is fixed on the human body, the number of imaging times can be reduced (ideally, the ablation needle can be accurately positioned in one imaging), which can not only reduce the workload of the doctor, but also reduce the radiation to the patient.

[0045] The imaging unit may be an imaging device such as a CT imaging machine. In this embodiment, the imaging unit is a CT imaging machine, and the developing part is made of a CT developing material.

[0046] The base includes a covering plate 1, and the fixing part, the puncture positioning part and the developing part are all arranged on the covering plate 1. The fixing part covers the covering plate 1 on the human body. Specifically, the fixing part is arranged on the first surface of the covering plate 1, and the puncture positioning part and the developing part are arranged on the second surface of the covering plate 1 opposite to the first surface. The fixing part is an adhesive part, which is used to adhere the covering plate 1 to the human body. It is more convenient to fix the covering plate 1 on the human body by adhesive.

[0047] A mainboard mounting slot 2 is provided on the second surface of the covering plate 1, and a control mainboard 5 is provided on the mainboard mounting slot 2. The control mainboard 5 is electrically connected to the driving component and is used to control the movement of the driving component. The control mainboard 5 is also provided with a wireless communication module, which can be wirelessly connected to the background system. After CT imaging, the driving path of the driving component can be automatically planned in the background system, and the driving path is sent to the control mainboard 5 through the wireless communication module, thereby realizing remote control of the driving component. The wireless communication module can specifically be a wireless communication module such as Bluetooth and WIFI. The control mainboard 5 is also provided with a battery for powering the wireless communication module and the driving component.

[0048] The covering plate 1 and the control main board 5 are both provided with corresponding needle insertion parts, and the ablation needle is inserted into the human body through the needle insertion parts. In this embodiment, the needle insertion parts are a plurality of needle insertion holes 4, and the needle insertion holes 4 on the covering plate 1 and the control main board 5 are arranged one by one. The size and shape of the needle insertion holes 4 match the ablation needle, and the ablation needle passes through the needle insertion holes 4 and inserts into the human body. In this embodiment, the needle insertion holes 4 are round holes. Of course, in the case of special needle shapes, the needle insertion holes 4 can also be other shapes that match the ablation needle.

[0049] The needle entry hole 4 has an inverted C-angle, which can increase the insertion angle of the ablation needle. When the ablation needle and the needle entry hole 4 are tilted, the ablation needle can enter the needle entry hole 4 through the guidance of the C-angle. Of course, in other embodiments, the C-angle can be replaced by a rounded corner or a chamfer of other angles, which is not limited in this embodiment.

[0050] The driving assembly includes a first swing arm 10, a second swing arm 11 and two drivers, and the driver in this embodiment is a motor 15. The first swing arm 10 and the second swing arm 11 are both arc-shaped arms; the first swing arm 10 and the second swing arm 11 are staggered and overlapped at 90 degrees, one end of the first swing arm 10 and the second swing arm 11 are respectively connected to the covering plate 1 for rotation, and the other end is respectively connected to a motor 15 for driving, and the two motors 15 drive the first swing arm 10 and the second swing arm 11 to rotate respectively.

[0051] Specifically, a motor mounting groove 3 is provided on the covering plate 1, and the motor 15 is arranged in the motor mounting groove 3. It also includes a motor mounting bracket 16. The motor mounting bracket 16 is pressed on the motor 15 and fixed to the covering plate 1 by screws. The motor mounting bracket 16 presses and fixes the motor 15 on the covering plate 1.

[0052] A rotating shaft 13 is provided at both ends of the first swing arm 10 and the second swing arm 11. The rotating shaft 13 at one end of the first swing arm 10 and the second swing arm 11 is connected to the output shaft 17 of the motor 15, and the rotating shaft 13 at the other end is rotatably connected to the covering plate 1 through a rotating bracket 14. Specifically, the rotating bracket 14 is fixed on the covering plate 1, and a rotating hole is provided on the rotating bracket 14, and the rotating shaft 13 is arranged in the rotating hole.

[0053] An arc-shaped slide groove 12 is respectively provided on the first swing arm 10 and the second swing arm 11, and the two arc-shaped slide grooves 12 are arranged in an interlaced and overlapping manner. The needle holder 20 is arranged at the intersection of the first swing arm 10 and the second swing arm 11 and penetrates and is slidably connected to the two arc-shaped slide grooves 12, and the needle holder 20 can slide along the two arc-shaped slide grooves 12. By controlling the rotation of the first swing arm 10 and the second swing arm 11, the needle holder 20 can be driven to slide in the two arc-shaped slide grooves 12 to adjust the position of the needle holder 20, thereby achieving the purpose of adjusting the insertion position and insertion angle of the ablation needle.

[0054] The needle holder 20 specifically includes a needle holder and a limiting nut 23. The needle holder includes a limiting flange 21 and a connecting column 22. The connecting column 22 is arranged on the limiting flange 21. The connecting column 22 is penetrated by two arc-shaped slide grooves 12. The limiting flange 21 is arranged on the side of the first swing arm 10 away from the second swing arm 11. The limiting nut 23 is arranged on the side of the second swing arm 11 away from the first swing arm 10, and the limiting nut 23 is sleeved and threadedly connected to the connecting column 22. The limiting flange 21 and the connecting column 22 are both provided with positioning holes for inserting the ablation needle. The ablation needle passes through the positioning holes on the limiting flange 21 and the connecting column 22 and then penetrates into the needle hole 4 to pierce the human body. The positioning holes are used to position and fix the ablation needle.

[0055] It also includes two rotational travel limit assemblies, which are used to limit the rotational travel of the first swing arm 10 and the second swing arm 11 respectively.

[0056] The rotational travel limit assembly includes a coupling 18 and two travel switches 7. The output shaft 17 of the motor 15 is connected to the rotating shaft 13 driven by the first swing arm 10 or the second swing arm 11 through the coupling 18. Specifically, the output shaft 17 of the motor 15 is a flat shaft, and a flat hole is provided on the coupling 18. The output shaft 17 of the motor 15 is driven and connected to the coupling 18 through the cooperation between the flat shaft and the flat hole. A hole is provided at the other end of the coupling 18. The rotating shaft 13 is arranged in the hole of the coupling 18 and is circumferentially limited with the coupling 18 through a key.

[0057] Two travel switches 7 are respectively arranged on both sides of the coupling 18, and a trigger block 19 is respectively arranged on both sides of the outer wall of the coupling 18. The two trigger blocks 19 correspond to the two travel switches 7 respectively. When the coupling 18 rotates, the two trigger blocks 19 are driven to contact and trigger the two travel switches 7 respectively, and the travel switch 7 is electrically connected to the control main board 5. When the travel switch 7 is triggered, the motor 15 is controlled to stop rotating through the control main board 5. In this embodiment, the two travel switches 7 are integrated on the control main board 5, and a coupling avoidance groove 6 is also arranged at the position corresponding to the coupling 18 on the control main board 5. The coupling 18 is arranged in the coupling avoidance groove 6, and the two travel switches 7 are respectively arranged on both sides of the coupling avoidance groove 6. By integrating the travel switch 7 on the control main board 5, the use of the wiring harness can be reduced, and the appearance is more concise and beautiful.

[0058] In this embodiment, the rotation angles of the first swing arm 10 and the second swing arm 11 can be controlled within ±55 degrees by two travel switches 7 (this angle range has met the requirements of the needle insertion angle of most minimally invasive ablation surgeries).

[0059] Marking scales are also provided on the first swing arm 10 and the second swing arm 11 to provide specific position information of the needle holder 20 and provide intuitive position data for puncture to facilitate real-time observation.

[0060] In this embodiment, two developing parts are provided, which are respectively provided at the rotation axis of the first swing arm 10 and the second swing arm 11, that is, the two rotation points of the developing part and the first swing arm 10 or the second swing arm 11 are located on the same straight line, so that a coordinate system can be formed on the imaging image, making it easier to plan the path. The developing part is specifically provided at the rotating bracket 14, and is arranged adjacent to the rotating bracket 14.

[0061] The developing unit is used to mark the position under CT scanning. The operator can plan the needle insertion path in the background system through the display of the marked position to ensure accurate positioning of the puncture position. The developing unit specifically includes a developing seat 8 and a plurality of developing balls 9. The developing balls 9 are sequentially arranged on the developing seat 8 along the rotation axis of the first swing arm 10 and the second swing arm 11. In this embodiment, three developing balls 9 are arranged on the developing seat 8.

[0062] The working principle of the utility model is to identify the developing ball 9 through CT scanning, so that the positioning puncture unit enters the CT coordinate system, and the relative position of the positioning puncture unit and the lesion is determined according to the lesion position identified by the CT scanning, so as to carry out surgical planning. The planned path passes through one of the needle holes 4 on the covering plate 1 and the control main board 5. Two points determine a line, and the surgical planning is completed. After the path is planned, the system automatically calculates the exact needle entry point and the position of the two swing arms, and outputs the planning results in a digital (pattern) manner, and then controls the rotation angle of the first swing arm 10 and the second swing arm 11 to form a suitable needle entry azimuth angle. Finally, the doctor inserts the ablation needle to complete the positioning of the ablation needle.

[0063] The working process of the utility model is further described below:

[0064] First, the positioning puncture unit is attached to the vicinity of the lesion of the patient's body through the covering plate 1, and then a CT scan is performed through a CT imaging machine.

[0065] The image obtained by the CT scan is then imported into the computer host of the background system, and the relative position of the lesion and the needle holder 20 is determined by the position of the lesion and the developing ball 9 in the CT scan image, the needle insertion angle is planned, and the needle insertion hole 4 is selected.

[0066] Then, the positioning puncture unit is connected to the computer host through the wireless communication module, and the computer host outputs instructions to control the motor 15. First, the first swing arm 10 and the second swing arm 11 are controlled to rotate to the limit position (touching the travel switch 7), and this position is used as the initial point, and then the first swing arm 10 and the second swing arm 11 are controlled to rotate to drive the needle holder 20 to the planned position.

[0067] Finally, the ablation needle is inserted from the needle holder 20 and directly reaches the lesion through the needle entrance hole 4.

[0068] The utility model replaces the mechanical arm, and directly covers the positioning puncture unit on the patient by pasting, and performs CT scanning together with the patient. The relative position of the positioning puncture unit and the lesion will not change, which can reduce the error caused by the displacement of the lesion due to the patient's breathing or tremor. In addition, since the positioning puncture unit is fixed on the human body, the number of imaging times can be reduced (in an ideal state, the ablation needle can be accurately located with one imaging), which can not only reduce the doctor's workload, but also reduce the radiation to the patient. The simplest and lowest cost way is used to achieve digital navigation, with fast positioning speed, compact and light, and simple operation.

[0069] A new imaging positioning scheme is adopted to calibrate the relative position of the lesion and the positioning puncture unit through CT scanning to plan the needle insertion path and achieve precise positioning. Then, the first swing arm 10 and the second swing arm 11 can be remotely controlled to rotate through the wireless communication module, so that the first swing arm 10 and the second swing arm 11 drive the needle holder 20 to reach the planned position.

[0070] The needle is inserted in the form of a needle hole 4. After the specific needle hole 4 is determined, the needle holder 20, the needle hole 4, and the lesion needle insertion point form a straight line so that the three points are collinear, and then the doctor directly inserts the needle.

[0071] The above is a detailed description of the embodiments of the present invention in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they still fall within the protection scope of the present invention.

Claims

1. A digital positioning puncture system, characterized in that: include: The positioning puncture unit comprises a base and a fixing part, a puncture positioning part and a developing part arranged on the base, wherein the fixing part is used to fix the positioning puncture unit on the human body, and the puncture positioning part is used to position the puncture needle to the target position; the puncture positioning part comprises a driving component and a needle holder, wherein the needle holder is arranged on the driving component, and the puncture needle is arranged on the needle holder, and the driving component drives the needle holder and the puncture needle to the target position; The imaging unit is used to image the target tissue in the human body and the developing part to determine the relative position of the needle holder and the target tissue.

2. The digital positioning puncture system according to claim 1, characterized in that: The base comprises a covering plate, the fixing part, the puncture positioning part and the developing part are all arranged on the covering plate, and the fixing part covers the covering plate on the human body.

3. The digital positioning puncture system according to claim 2, characterized in that: The fixing part is arranged on the first surface of the covering plate, and the puncture positioning part and the developing part are arranged on the second surface of the covering plate opposite to the first surface; The fixing portion is an adhesive portion, which is used to adhere the covering plate to the human body.

4. The digital positioning puncture system according to claim 2, characterized in that: The covering plate is provided with a needle insertion portion, and the puncture needle is inserted into the human body through the needle insertion portion.

5. The digital positioning puncture system according to claim 4, characterized in that: The needle insertion portion is a plurality of needle insertion holes, and the puncture needle passes through the needle insertion holes and pierces into the human body.

6. The digital positioning puncture system according to claim 1, characterized in that: The driving assembly comprises a first swing arm, a second swing arm and two drivers, and both the first swing arm and the second swing arm are arc-shaped arms; The first swing arm and the second swing arm are arranged in an interlaced and overlapping manner, one end of the first swing arm and the second swing arm are respectively rotatably connected to the base, and the other end is respectively drivably connected to one of the drivers, and the two drivers respectively drive the first swing arm and the second swing arm to rotate; An arc-shaped slide groove is respectively provided on the first swing arm and the second swing arm, and the two arc-shaped slide grooves are arranged in an alternating and overlapping manner. The needle holder is penetrated and slidably connected to the two arc-shaped slide grooves, and the needle holder can slide along the two arc-shaped slide grooves.

7. The digital positioning puncture system according to claim 6, characterized in that: The driving assembly includes two rotational travel limit assemblies, which are respectively used to limit the rotational travel of the first swing arm and the second swing arm.

8. The digital positioning puncture system according to claim 7, characterized in that: The rotation travel limit assembly includes a coupling and two travel switches, and the output shaft of the driver is drivingly connected to the first swing arm or the second swing arm through the coupling; The two travel switches are respectively arranged on both sides of the coupling, and a trigger block is respectively arranged on both sides of the outer wall of the coupling. The two trigger blocks correspond to the two travel switches respectively. When the coupling rotates, the two trigger blocks are driven to contact and trigger the two travel switches respectively.

9. The digital positioning puncture system according to claim 6, characterized in that: The needle holder comprises a needle holder frame and a limiting nut, the needle holder frame comprises a limiting flange and a connecting column, and the connecting column is arranged on the limiting flange; The connecting column is inserted into the two arc-shaped sliding grooves, the limiting flange is arranged on a side of the first swing arm away from the second swing arm, the limiting nut is arranged on a side of the second swing arm away from the first swing arm, and the limiting nut is sleeved and threadedly connected to the connecting column; The limiting flange and the connecting column are both provided with positioning holes for inserting the puncture needle.

10. The digital positioning puncture system according to claim 6, characterized in that: The developing parts are provided with two, which are respectively arranged at the rotation axes of the first swing arm and the second swing arm.

11. The digital positioning puncture system according to claim 1, characterized in that: The developing part comprises a developing seat and a plurality of developing balls, wherein the developing balls are arranged on the developing seat.

12. The digital positioning puncture system according to claim 1, characterized in that: The imaging unit is a CT imaging machine.

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