Biopsy handle and biopsy system
By using an axial motor, magnetic field sensor and controller in the biopsy handle, and accurately controlling the axial motor based on the detection signal, the problem of insufficient start and stop control of the existing biopsy device is solved, and a more accurate biopsy operation is achieved.
Patent Information
- Application Number
- CN202420711088.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Priority Date
- 2024-02-22
- Filing Date
- 2024-04-08
- Publication Date
- 2025-03-14
- Estimated Expiration
- 2034-04-08
AI Technical Summary
The start and stop control of existing biopsy devices is not accurate enough, resulting in insufficient operation.
Design a biopsy handle that includes an axial motor, a magnetic field sensor and a controller. The axial motor is used to control the axial motion of the inner tool tube, the magnetic field sensor is used to collect detection signals, and the controller controls the operation or stop of the axial motor based on the detection signals.
Through precise control based on detection signals, more precise control of the biopsy needle is achieved, and the accuracy of the start and stop control of the biopsy handle is improved.
Smart Images
Figure CN222604603U_ABST
Abstract
Description
[0001] This application claims priority to Chinese patent application No. 202420337227.4, filed on February 22, 2024, and entitled “Biopsy Handle and Biopsy System”, the entire contents of which are incorporated by reference into this application. Technical Field
[0002] The utility model relates to the field of medical instruments, in particular to a biopsy handle and a biopsy system. Background Art
[0003] A biopsy device is a medical instrument used to take samples of a patient's living tissue during, for example, a breast tissue biopsy. It usually includes an outer knife tube and an inner knife tube movably disposed inside the outer knife tube. The inner knife tube is used to cut living tissue. The inner knife tube is driven by the biopsy handle of the biopsy device to control the inner knife tube to move forward and backward along the axial direction of the outer knife tube, and at the same time control the inner knife tube to rotate in a fixed direction, so as to realize both rotation and axial movement of the inner knife tube in the outer knife tube.
[0004] Currently, the start and stop of the biopsy device are manually controlled by the operator, which is not precise enough.
[0005] The above contents are only used to assist in understanding the technical solution of the present utility model and do not constitute an admission that the above contents are prior art. Utility Model Content
[0006] The main purpose of the utility model is to provide a biopsy handle and a biopsy system, aiming to improve the accuracy of start and stop control of the biopsy handle.
[0007] In order to achieve the above object, the utility model provides a biopsy handle, comprising:
[0008] An axial motor, which is used to control the inner blade tube of the biopsy needle to move axially along the outer blade tube;
[0009] A plurality of magnetic field sensors, which are fixedly arranged on the axial motor or arranged beside the axial motor and are used to collect detection signals, wherein the detection signals are generated based on the periodically changing electromagnetic field of the axial motor;
[0010] A controller is electrically connected to the magnetic field sensor, and is used to obtain a detection signal from the magnetic field sensor and control the operation or stop of the axial motor based on the detection signal.
[0011] Furthermore, the axial motor has a front end and a rear end along its own axial direction, and the axial motor also has side surfaces respectively connected to the front end and the rear end;
[0012] Wherein, the magnetic field sensor is arranged on the side of the axial motor; or,
[0013] The magnetic field sensor is arranged at the front end of the axial motor; or,
[0014] The magnetic field sensor is arranged at the rear end of the axial motor.
[0015] Furthermore, a circuit board is provided at the front end or the rear end of the axial motor, and the magnetic field sensor is fixedly arranged on the circuit board.
[0016] Furthermore, the number of the magnetic field sensor is 1;
[0017] or
[0018] The number of the magnetic field sensors is 2, and the magnetic field sensors are circumferentially spaced and distributed on the periphery of the central axis of the axial motor;
[0019] or
[0020] The number of the magnetic field sensors is at least 3; the magnetic field sensors are distributed on the periphery of the central axis of the axial motor.
[0021] Furthermore, the magnetic field sensor is a Hall sensor.
[0022] Furthermore, the controller is a single chip microcomputer.
[0023] Furthermore, the biopsy handle includes two drive motors, one of which is configured as the axial motor.
[0024] Furthermore, another of the driving motors is configured as a rotary motor, and the rotary motor is used to drive the inner knife tube to rotate.
[0025] Furthermore, the biopsy handle includes a drive motor, which is simultaneously constituted as the axial motor and the rotary motor, and is used to drive the inner knife tube to move axially along the outer knife tube, and drive the inner knife tube to rotate inside the outer knife tube.
[0026] In addition, to achieve the above-mentioned purpose, the utility model also provides a biopsy system, and the biopsy system includes the aforementioned biopsy handle.
[0027] The technical solution of the utility model is to set up a plurality of magnetic field sensors, and the controller collects the detection signals of the magnetic field sensors, and controls the continuous operation or stop of the axial motor based on the detection signals. This method of controlling the operation or stop of the axial motor based on the detection signals provides a precise basis for axial motor control, which is conducive to achieving more precise control of the biopsy needle. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] Figure 1This is a structural schematic diagram of an embodiment of the biopsy handle of the utility model;
[0029] Figure 2 It is a structural schematic diagram of an embodiment of a biopsy needle in a biopsy handle of the utility model;
[0030] Figure 3 It is a structural schematic diagram of another embodiment of the biopsy handle of the utility model.
[0031] Description of Figure Numbers:
[0032] Label name Label name 10 Biopsy handle 11 Axial motor 12 Controller 13 Rotating electric machines 14 Handle cable 15 Biopsy needle 151 Inner knife tube 152 Outer knife tube 153 Tip 16 Magnetic Field Sensor 111 PCB board 112 Central axis
[0033] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION
[0034] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0035] 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.
[0036] In addition, the descriptions of "first", "second", etc. in the present utility model are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.
[0037] The utility model provides a biopsy handle.
[0038] Reference Figures 1 to 3 , Figure 1 This is a structural schematic diagram of an embodiment of the biopsy handle of the utility model; Figure 2 It is a structural schematic diagram of an embodiment of a biopsy needle in a biopsy handle of the utility model; Figure 3It is a structural schematic diagram of another embodiment of the biopsy handle of the utility model.
[0039] In the embodiment of the present utility model, in combination with Figure 1-Figure 3 The biopsy handle 10 includes an axial motor 11, a plurality of magnetic field sensors 16 and a controller 12. The axial motor 11 is used to control the inner knife tube 151 of the biopsy needle 15 to move axially along the outer knife tube 152. The magnetic field sensor 16 is fixedly arranged on the axial motor 11 or arranged beside the axial motor 12. The magnetic field sensor 16 is used to collect detection signals. The detection signals are generated based on the periodically changing electromagnetic field of the axial motor 12. The controller 12 is electrically connected to the magnetic field sensor 16. The controller 12 is used to obtain the detection signals of the magnetic field sensor 16 and control the operation or stop of the axial motor 11 based on the detection signals.
[0040] like Figure 2 As shown, the biopsy needle 15 of the biopsy handle 10 includes an outer knife tube 152, an inner knife tube 151 and a knife tip 153. The axial motor 11 controls the inner knife tube 151 to move axially along the outer knife tube 152 by transmitting power to the inner knife tube 151.
[0041] The above detection signal is a signal generated based on the change of the magnetic field around the axial motor. When the motor runs at a constant speed, the change of the magnetic field is periodic. Each rotation of the motor shaft corresponds to a cycle of the magnetic field change.
[0042] The above-mentioned control of the operation or stop of the axial motor 11 based on the detection signal, for example, can be based on the detection signal to determine whether the direction of the axial motor is correct, when the direction of the axial motor is correct, the axial motor is controlled to continue to operate, when the direction of the axial motor is incorrect, the motor is controlled to stop; it can also be based on the detection signal to determine the stroke of the inner knife tube, if the stroke of the inner knife tube reaches the target stroke, the motor is controlled to stop, if the stroke of the inner knife tube does not reach the target stroke, the motor is controlled to continue to operate; of course, other unlisted parameters can also be determined based on the detection signal, and the motor is controlled to continue to operate or stop according to the parameters. The technical solution of the utility model sets a number of magnetic field sensors, and the controller collects the detection signals of the magnetic field sensors, and controls the operation or stop of the axial motor based on the detection signals. This method of controlling the operation or stop of the axial motor based on the detection signal provides a precise basis for the control of the axial motor, which is conducive to achieving more precise control of the biopsy needle.
[0043] Figure 1 In the example shown, the axial motor 11 and the controller 12 are respectively disposed in the biopsy handle 10. It is worth mentioning that one or two drive motors can be disposed in the biopsy handle 10.
[0044] In one possible implementation, Figure 1As shown, the biopsy handle 10 includes two driving motors, one of which is configured as the axial motor 11; the other driving motor is configured as a rotary motor 13, and the rotary motor 13 is used to drive the inner knife tube to rotate, that is, the biopsy handle 10 is also provided with a rotary motor 13 for controlling the rotation of the inner knife tube 151 of the biopsy needle 15 and a handle cable 14.
[0045] In another possible implementation, the biopsy handle includes a drive motor, which is simultaneously constituted as the axial motor and the rotary motor, and is used to drive the inner knife tube to move axially along the outer knife tube and drive the inner knife tube to rotate inside the outer knife tube.
[0046] The magnetic field sensor 16 can be a Hall sensor. The axial motor 11 has a front end and a rear end along its own axial direction, and the axial motor 11 also has side surfaces respectively connected to the front end and the rear end; specifically, the magnetic field sensor 16 is arranged on the side surface of the axial motor 11; or, the magnetic field sensor 16 is arranged at the front end of the axial motor 11; or, the magnetic field sensor 16 is arranged at the rear end of the axial motor 11.
[0047] Optionally, a circuit board is provided at the front end or rear end of the axial motor 11, and the magnetic field sensor 16 is fixedly provided on the circuit board. For example, the circuit board is provided at the rear end of the axial motor 11, and the circuit board may be as follows: Figure 3 The magnetic field sensor 16 is fixedly arranged on the PCB board 111 at the tail end of the axial motor 11.
[0048] In a possible implementation, the number of the magnetic field sensor 16 is one. In this way, the stroke of the inner knife tube can be determined by the magnetic field sensor.
[0049] In another possible implementation, the number of the magnetic field sensors 16 is two. In this way, the stroke of the inner knife tube can also be determined by the magnetic field sensor and a higher accuracy can be obtained.
[0050] In another possible implementation, the number of the magnetic field sensors 16 is at least three. In this way, the travel of the inner knife tube can be determined by the magnetic field sensor with higher accuracy, and the detection signal collected by the magnetic field sensor can be used to determine whether the rotation direction of the inner knife tube is correct.
[0051] For example, Figure 3In the figure, the number of magnetic field sensors 16 is 3, and the magnetic field sensors 16 are circumferentially spaced and distributed on the periphery of the central axis 112 of the axial motor 11. The three magnetic field sensors 16 are evenly distributed on the periphery of the central axis 112 of the axial motor 11, so that the three magnetic field sensors 16 and the central axis 112 of the axial motor 11 form a star-shaped structure.
[0052] In this embodiment, the three magnetic field sensors 16 are evenly distributed around the PCB board 111, and the central axis 112 of the motor forms an angle of 120° with any two adjacent magnetic field sensors 16, forming a star structure, so that the three magnetic field sensors 16 correspond to the three-phase electricity of the axial motor 11 one by one. In this embodiment, the controller 12 can be set on the handle control board at the rear end of the biopsy handle 10, and the controller 12 can be a single-chip microcomputer.
[0053] Specifically, in a possible implementation, the controller 12 converts the detection signals of the magnetic field sensors 16 into level data respectively, and controls the continuous operation or stop of the axial motor 11 based on the level data and preset level data.
[0054] In this embodiment, when the axial motor 11 is running, the three-phase electricity of the axial motor 11 changes once for each rotation. The magnetic field sensor 16 can detect the change of the three-phase electricity through the magnetic field. The controller 12 converts the detection signals of each magnetic field sensor 16 into level data. Specifically, the controller 12 obtains the high and low level data of each magnetic field sensor 16 by filtering and shaping the detection signals of the magnetic field sensor 16, and controls the continuous operation or stop of the axial motor 11 based on the obtained level data.
[0055] For ease of understanding, possible ways of controlling the operation or stop of the axial motor 11 based on the above-mentioned level data will be listed in more detail below. It should be noted that the following ways are only possible ways of implementation, but not necessary.
[0056] In a possible implementation, whether the rotation direction of the axial motor is correct can be determined based on the level data. When the rotation direction of the axial motor is correct, the axial motor is controlled to continue running; when the rotation direction of the axial motor is incorrect, the motor is controlled to stop.
[0057] Among them, the preset level data of the two movement directions (forward and reverse) of the axial motor 11 can be pre-set, and the corresponding preset level data is obtained according to the current correct movement direction (the movement direction corresponding to the instruction received by the axial motor 11), and the level data of the magnetic field sensor 16 is compared with the preset level data to determine whether the movement direction of the axial motor 11 is correct. For example, when the magnetic field sensor 16 is 3 Hall sensors, the preset level data can be the high and low level change data of the 3 Hall sensors in a preset order, and the high and low level level data of each magnetic field sensor 16 are combined in a corresponding order to obtain the level data of the magnetic field sensor 16, and then the level data of the magnetic field sensor 16 is compared with the preset level data. If they are the same, the movement direction of the axial motor 11 is correct, otherwise the movement direction of the axial motor 11 is wrong, and the steering motor is controlled to stop running, and then the magnetic field sensor 16 can accurately detect whether the movement direction of the axial motor 11 is correct, so as to stop the axial motor 11 in time when the movement direction is wrong, so as to avoid the inner and outer knife tubes 152 of the biopsy device from getting stuck.
[0058] In another possible implementation, the controller 12 counts the number of times the high and low levels of each of the magnetic field sensors 16 change, and determines the number of rotations of the axial motor 11 based on the number of high and low level changes. The controller 12 obtains the target stroke data of the inner knife tube 151, and determines the target number of rotations of the axial motor 11 based on the target stroke data; if the number of rotations reaches a threshold value corresponding to the target number of rotations, the controller 12 controls the axial motor 11 to stop running, otherwise, the axial motor is controlled to continue running.
[0059] In another possible implementation, the controller 12 counts the actual number of high and low level changes of each magnetic field sensor 16, the controller 12 obtains the target stroke data of the inner knife tube 151, and determines the target number of rotations corresponding to the axial motor 11 based on the target stroke data, and then calculates the target number of high and low level changes corresponding to the target number of rotations. If the actual number of high and low level changes reaches the number of high and low level changes, the controller 12 controls the axial motor 11 to stop running, otherwise, the axial motor 11 is controlled to continue running.
[0060] In another possible implementation, after determining that the movement direction of the axial motor 11 is correct, the controller 12 counts the number of high and low level changes of each magnetic field sensor 16, and then determines whether the axial motor 11 stops or continues to run based on the number of high and low level changes.
[0061] In this embodiment, when the movement direction of the axial motor 11 is correct, the controller 12 counts the number of times the high and low levels of each magnetic field sensor 16 change. For example, when the magnetic field sensor 16 is three Hall sensors, the high and low levels of each magnetic field sensor 16 change once when the axial motor 11 rotates one circle. The number of rotations of the axial motor 11 can be determined by the number of high and low level changes of the three Hall sensors obtained by counting, so as to achieve precise control of the axial motor 11 according to the actual number of rotations.
[0062] In this embodiment, when the axial motor 11 is running, the controller 12 obtains the target stroke data of the inner knife tube 151, and determines the target number of rotations of the axial motor 11 corresponding to the stroke corresponding to the target stroke data based on the correspondence between the axial motor 11 rotating one circle and the actual stroke of the inner knife tube 151, and obtains the number of rotations threshold corresponding to the target number of rotations. When the number of rotations of the axial motor 11 reaches the number of rotations threshold corresponding to the target number of rotations, the axial motor 11 is controlled to stop running to achieve precise control of the stroke of the inner knife tube 151.
[0063] It should be noted that due to the inertia of the axial motor 11, the axial motor 11 is still rotating when it stops running, that is, the axial motor 11 will still rotate a certain number of times after it stops running. Therefore, the inertial rotation number of the axial motor 11 corresponding to each rotation speed (the number of rotations after the axial motor 11 stops running) can be obtained through experiments, and the number of rotations threshold is determined according to the target number of rotations and the number of rotations of inertia corresponding to the current speed. The number of rotations threshold can be the target number of rotations minus the inertial rotation number. When the actual number of rotations of the axial motor 11 reaches the number of rotations threshold, the axial motor 11 is controlled to stop running. When the axial motor 11 stops running, the axial motor 11 relies on inertia to run the inertial rotation number of times, so that the final number of rotations of the axial motor 11 reaches the target number of rotations, thereby realizing precise control of the stroke of the inner knife tube 151.
[0064] The closed-loop control method of the axial motor 11 (micromotor) of this embodiment is as follows: the system host of the biopsy system sends the movement travel distance (target travel data) of the inner knife tube 151 to the controller 12 (biopsy handle 10 MCU) on the biopsy handle 10 through serial communication, and controls the axial motor 11 to start rotating. The controller 12 collects the detection signal of the magnetic field sensor 16, and obtains the level data of the high and low levels of each magnetic field sensor 16 by filtering and shaping (RC filtering and shaping) the detection signal of the magnetic field sensor 16. The controller 12 converts the detection signal of each magnetic field sensor 16 into level data respectively, and determines whether the movement direction of the axial motor 11 is correct based on the level data and the preset level data. If the movement direction of the steering motor is wrong, the steering motor is controlled to stop running, and then the axial motor 11 can be stopped in time when the movement direction is wrong, so as to avoid the inner and outer knife tubes 152 of the biopsy device from getting stuck.
[0065] When the movement direction of the axial motor 11 is correct, the controller 12 counts the number of high and low level changes of each magnetic field sensor 16, and determines the number of rotations of the axial motor 11 by counting the number of high and low level changes of the three Hall sensors. The controller 12 determines the target number of rotations of the axial motor 11 based on the target stroke data; if the number of rotations reaches the number threshold corresponding to the target number of rotations, the axial motor 11 is controlled to stop running.
[0066] The utility model also proposes a biopsy system, which includes a biopsy handle. The specific structure of the biopsy handle refers to the above embodiment. Since the biopsy system adopts all the technical solutions of all the above embodiments, it also has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.
[0067] It should be noted that the technical solutions of the various embodiments of the present utility model can be combined with each other, but it must be based on the fact that the technical solutions can be implemented by technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.
[0068] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structural transformation made using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, is also included in the patent protection scope of the present invention.
Claims
1. A biopsy handle, characterized in that: include: An axial motor, which is used to control the inner blade tube of the biopsy needle to move axially along the outer blade tube; A plurality of magnetic field sensors, which are fixedly arranged on the axial motor or arranged beside the axial motor and are used to collect detection signals, wherein the detection signals are generated based on the periodically changing electromagnetic field of the axial motor; A controller is electrically connected to the magnetic field sensor, and is used to obtain a detection signal from the magnetic field sensor, and to control the continuous operation or stop of the axial motor based on the detection signal.
2. The biopsy handle according to claim 1, characterized in that: The axial motor has a front end and a rear end along its own axial direction, and the axial motor also has side surfaces respectively connected to the front end and the rear end; Wherein, the magnetic field sensor is arranged on the side of the axial motor; or, The magnetic field sensor is arranged at the front end of the axial motor; or, The magnetic field sensor is arranged at the rear end of the axial motor.
3. The biopsy handle according to claim 2, characterized in that: A circuit board is disposed at the front end or the rear end of the axial motor, and the magnetic field sensor is fixedly disposed on the circuit board.
4. The biopsy handle according to claim 2, characterized in that: The number of the magnetic field sensor is 1; or The number of the magnetic field sensors is 2, and the magnetic field sensors are circumferentially spaced and distributed on the periphery of the central axis of the axial motor; or The number of the magnetic field sensors is at least 3, and the magnetic field sensors are distributed at circumferential intervals on the periphery of the central axis of the axial motor.
5. The biopsy handle according to claim 2, characterized in that: The magnetic field sensor is a Hall sensor.
6. The biopsy handle according to claim 1, characterized in that: The controller is a single chip microcomputer.
7. The biopsy handle according to claim 1, characterized in that: The biopsy handle includes two drive motors, one of which is configured as the axial motor.
8. The biopsy handle according to claim 7, characterized in that: The other driving motor is configured as a rotary motor, and the rotary motor is used for driving the inner knife tube to rotate.
9. The biopsy handle according to claim 1, characterized in that: The biopsy handle includes a driving motor, which is simultaneously constituted as the axial motor and the rotary motor. The driving motor is used to drive the inner knife tube to move axially along the outer knife tube and drive the inner knife tube to rotate in the outer knife tube.
10. A biopsy system, characterized in that: The biopsy system comprises the biopsy handle according to any one of claims 1 to 9.