Full-automatic biopsy needle under electromagnetic positioning

Abstract

The utility model provides a full-automatic biopsy needle under electromagnetic positioning, which belongs to the technical field of medical instruments and particularly comprises a shell, a percussion component and a biopsy needle component. The biopsy needle assembly comprises a needle core and a needle tube, a sensor assembling channel is formed in the needle core, the thin and long type first electromagnetic navigation sensor extends into the sensor assembling channel, and under data compensation of external equipment, when the biopsy needle is inserted into the human body, the first electromagnetic navigation sensor is inserted into the needle tube. An operator can identify the spatial position of the first electromagnetic navigation sensor in a human body by using navigation equipment, and then accurately calculate the spatial position of a needle core tip sampling part in the human body by using the size relationship between the first electromagnetic navigation sensor and a needle core in the biopsy needle assembly; therefore, the position relation between the needle core of the biopsy needle assembly and the target sampling position can be determined, and the target position can be accurately sampled.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical instrument technical field, specifically, relate to a kind of full-automatic biopsy needle under electromagnetic positioning. BACKGROUND

[0002] Full-automatic biopsy needle is an advanced medical equipment for obtaining tissue samples for pathological detection. Compared with traditional manual biopsy method, full-automatic biopsy needle realizes automation in launching and sampling, improves the efficiency and accuracy of biopsy.

[0003] Currently, during clinical biopsy, full-automatic biopsy needle is usually used in combination with image navigation technology, which includes X-ray fluoroscopy, ultrasound, CT and MR, etc. During preoperative preparation stage, the operator first uses various imaging techniques (such as ultrasound, CT or MRI) to image the patient to obtain detailed information of the target lesion, including location, size, shape and other characteristics, then formulates a detailed sampling plan based on the image data, determines the puncture entry point, insertion path, angle and depth of the biopsy needle, etc., and during operation, operates the full-automatic biopsy needle for sampling operation according to the above information.

[0004] However, during specific implementation in operation, the operator can only determine the puncture entry point on the patient's body surface, and the specific position of the biopsy needle after entering the human body cannot be accurately grasped, only the approximate position can be determined for sampling, which may affect the sampling result. UTILITY MODEL CONTENT

[0005] The utility model aims at providing a kind of full-automatic biopsy needle under electromagnetic positioning, to solve the problem that the specific position of biopsy needle after entering the human body cannot be accurately grasped in related technology, which may affect the sampling result.

[0006] Additional aspects and advantages of the utility model will be in part set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the utility model.

[0007] According to the first aspect of the utility model, a kind of full-automatic biopsy needle under electromagnetic positioning is provided, comprising:

[0008] Shell, firing assembly, biopsy needle assembly;

[0009] The firing assembly and biopsy needle assembly are assembled in the shell;

[0010] The firing assembly has the energy storage state that drives the biopsy needle assembly to retract in the proximal direction of the shell, and the firing state that drives the biopsy needle assembly to extend in the distal direction of the shell, during the switching process from the energy storage state to the firing state, the biopsy needle assembly carries out biopsy sampling.

[0011] The biopsy needle assembly comprises a needle core and a needle tube slidably sleeved outside the needle core, a hollow sensor assembly channel is formed inside the needle core, the sensor assembly channel is used for the extension of an elongated first electromagnetic navigation sensor, a needle tip for biopsy sampling and a sampling groove opened on the needle tip are arranged at the distal end of the needle core;

[0012] When the firing assembly is in the energy storage state, the first electromagnetic navigation sensor extends to a target position at the distal end of the sensor assembly channel, and is used for positioning the spatial position of the needle tip and the sampling groove under a navigation device.

[0013] In an exemplary embodiment of the utility model, the first electromagnetic navigation sensor is relatively fixed with the shell after extending to the target position, so that the first electromagnetic navigation sensor is fixed when the firing assembly drives the biopsy needle assembly to switch from the energy storage state to the firing state.

[0014] In an exemplary embodiment of the utility model, a connecting through hole is arranged at the proximal end of the shell, the connecting through hole is communicated with the sensor assembly channel, a first connecting piece is arranged on the connecting through hole, the distal end of the first electromagnetic navigation sensor extends to the target position of the sensor assembly channel through the first connecting piece, the proximal end of the first electromagnetic navigation sensor is adapted to be connected to the navigation device, and the first electromagnetic navigation sensor is relatively fixed with the first connecting piece.

[0015] In an exemplary embodiment of the utility model, the first connecting piece and the connecting through hole are relatively rotatable under the torque of external force.

[0016] In an exemplary embodiment of the utility model, the distal end of the first connecting piece is provided with a connecting cap, the connecting cap is inserted into the connecting through hole, an annular protrusion or an annular groove is arranged on the side wall of the connecting cap, an annular groove or an annular protrusion is arranged on the inner wall of the connecting through hole, and the connecting cap is rotatably connected with the connecting through hole through the cooperation of the annular protrusion and the annular groove.

[0017] In an exemplary embodiment of the utility model, the proximal end of the first electromagnetic navigation sensor is sleeved with a second connecting piece, the distal end of the first electromagnetic navigation sensor is out of the distal end of the second connecting piece, the first electromagnetic navigation sensor is fixedly arranged with the second connecting piece, and the distal end of the second connecting piece is detachably connected with the proximal end of the first connecting piece.

[0018] In an exemplary embodiment of the utility model, the first connecting piece is a first connecting pipe, and the second connecting piece is a second connecting pipe.

[0019] In an exemplary embodiment of the utility model, a fixed protection pipe is arranged in the interior of the proximal end of the shell, the center of the fixed protection pipe, the connecting through hole and the sensor assembly channel is aligned, the first electromagnetic navigation sensor passes through the connecting through hole and the fixed protection pipe and extends into the sensor assembly channel.

[0020] In an exemplary embodiment of the utility model, the proximal end of the needle core extends into the interior of the fixed protection pipe, and the length of the needle core extending into the fixed protection pipe is arranged to not be out of the distal end port of the fixed protection pipe when the needle core is fired along with the firing assembly, and not to extend out of the proximal end port of the fixed protection pipe when the needle core is switched to the energy storage state along with the firing assembly.

[0021] In an exemplary embodiment of the utility model, the target position is the end of the distal end of the sensor assembly channel.

[0022] In an exemplary embodiment of the utility model, the needle core comprises a needle tip arranged at the distal end and a needle body connected with the proximal end of the needle tip and extending to the proximal end direction of the shell, the needle tip and the needle body are arranged in two parts, and the proximal end of the needle tip and the distal end of the needle body are fixedly connected.

[0023] The exemplary embodiments of the utility model can have the following partial or all beneficial effects:

[0024] 1. The full-automatic biopsy needle under electromagnetic positioning provided by the example implementation of the utility model discloses a shell, a firing assembly, a biopsy needle assembly, the shell forms the handle that the operator holds and carries out operation, the firing assembly, biopsy needle assembly are all assembled in the handle that the shell forms, wherein, the firing assembly has the energy storage state that drives the biopsy needle assembly to retract to the proximal end direction of the shell, the firing assembly still has the firing state that drives the biopsy needle assembly to stretch to the distal end direction of the shell, the biopsy needle assembly carries out biopsy sampling in the switching process of the energy storage state to the firing state that the firing assembly drives the biopsy needle assembly;The biopsy needle assembly includes the needle core and needle tube that are set up in a sleeve, the needle tube is slidably sleeved on the outside of the needle core, the inside of the needle core is shaped hollow sensor assembly channel, the sensor assembly channel is used for the first electromagnetic sensor of elongated type to stretch into, when the firing assembly is in the energy storage state, the first electromagnetic navigation sensor stretches to the target position at the distal end of sensor assembly channel, for positioning the spatial position of needle core under navigation equipment.

[0025] On the one hand, through the cooperation of the firing assembly and the biopsy needle assembly, the automatic emission and sampling of the full-automatic biopsy needle are realized, and the efficiency and accuracy are improved compared with the manual biopsy needle emission and sampling;

[0026] On the other hand, the full-automatic biopsy needle is combined with the first electromagnetic navigation sensor, a hollow sensor assembly channel is formed in the inside of the needle core of the biopsy needle assembly, so that during the biopsy operation, the first electromagnetic navigation sensor of elongated type can be stretched into the distal end target position of the sensor assembly channel from the proximal end opening of the sensor assembly channel, through the setting, the operator can identify the spatial position of the first electromagnetic navigation sensor through the navigation equipment, and then determine the distal end target position of the sensor assembly channel, and then determine the spatial position (position and attitude) of the needle tip and the sampling groove according to the mechanical size relationship between the target position and the needle tip and the sampling groove on the needle core, so that the operator can identify the spatial position of the needle tip and the sampling groove in real time according to the navigation, especially when the biopsy needle assembly pierces into the human body, whether the biopsy needle assembly is on the needle insertion path, whether the target point of the pre-puncture is on the needle insertion path, and the specific positional relationship between the needle tip and the sampling groove of the needle core and the target sampling position (target point) can be confirmed according to the navigation, so as to facilitate the accurate sampling of the operator.

[0027] 2、The full-automatic biopsy needle under electromagnetic positioning provided by the utility model example embodiment, through the first electromagnetic navigation sensor is opposite fixedly arranged after being inserted to the target position with the shell, so that when the firing assembly drives the biopsy needle assembly switches from the energy storage state to the firing state, the first electromagnetic navigation sensor is fixedly unmoved. Because the needle core has a certain firing distance when firing, if the first electromagnetic navigation sensor is fixed in the needle core and pops out with the needle core to the distal direction when firing, a fixed structure for fixing the first electromagnetic navigation sensor needs to be designed in the needle core during production, which is difficult to realize in the narrow sensor assembly channel. In addition, when the biopsy needle needs secondary sampling or multiple sampling, the needle core needs to return to the energy storage state with the firing assembly, if the first electromagnetic navigation sensor is fixed in the needle core, it will shrink to the proximal direction with the needle core, the first electromagnetic navigation sensor of the slender type will be squeezed or bent in the sensor assembly channel, which is easy to cause damage to the first electromagnetic navigation sensor, is not conducive to the service life of the first electromagnetic navigation sensor, and if the fixed structure is not fixed firmly, it will also cause the relative position between the first electromagnetic navigation sensor and the needle core to change, resulting in inaccurate positioning of the navigation equipment to the spatial position of the needle tip and the sampling groove during secondary (or multiple) sampling, thereby causing secondary (or multiple) sampling failure. Therefore, in order to facilitate the production of the needle core and the assembly of the first electromagnetic navigation sensor, and to avoid the relative position change between the first electromagnetic navigation sensor and the needle core during use causing secondary (or multiple) sampling failure, in the full-automatic biopsy needle provided by the utility model example embodiment, when the first electromagnetic navigation sensor is assembled to the sensor assembly channel of the needle body, the two have no fixed relationship, and the sensor assembly channel does not need to be designed with a fixed structure for fixing the first electromagnetic navigation sensor, in specific use, first, adjust the biopsy needle assembly to the energy storage state, then extend the first electromagnetic navigation sensor along the sensor assembly channel of the needle body to the target position at the distal end of the sensor assembly channel, after the assembly of the first electromagnetic navigation sensor is completed, finally, insert the biopsy needle assembly in the energy storage state into the human body for firing sampling, determine the spatial position (position and attitude) of the needle tip (and its sampling groove) in the biopsy needle assembly through the first electromagnetic navigation sensor, when the firing assembly drives the biopsy needle assembly switches from the energy storage state to the firing state, the first electromagnetic navigation sensor is fixedly unmoved, and the specific spatial position of the needle tip (and its sampling groove) after firing can be obtained by the spatial position of the first electromagnetic navigation sensor and the size relationship between the target position of the sensor assembly channel and the needle tip (and its sampling groove). Through the setting, not only the positioning of the spatial position of the needle tip (and its sampling groove) in the operation can be realized, but also the structure is simple, convenient for production, and the first electromagnetic navigation sensor is not easy to be damaged.

[0028] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0029] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application. It is apparent that the accompanying drawings described below are only some embodiments of the present application, and other drawings can be obtained according to these drawings without creative labor for those skilled in the art.

[0030] Figure 1 A structure schematic diagram of a full-automatic biopsy needle under electromagnetic positioning in the embodiment 1 of the present application is shown;

[0031] Figure 2 A partial exploded view of the full-automatic biopsy needle under electromagnetic positioning in the embodiment 1 of the present application is shown;

[0032] Figure 3 A disassembled schematic diagram of a needle core in the biopsy needle assembly in the embodiment 1 of the present application is shown;

[0033] Figure 4 A sectional view of the firing assembly in the embodiment 1 of the present application when in a cocked state is shown;

[0034] Figure 5 A sectional view of the firing assembly in the embodiment 1 of the present application when in a fired state is shown; Figure 4 An enlarged schematic diagram of A in the embodiment 1 of the present application is shown;

[0035] Figure 6 An exploded view of the full-automatic biopsy needle under electromagnetic positioning in the embodiment 1 of the present application is shown;

[0036] Figure 7 A connection schematic diagram of the first connecting tube, the connecting cap and the electromagnetic navigation sensor in the embodiment of the present application is shown;

[0037] Figure 8 A sectional view of the firing assembly in the embodiment 1 of the present application when in a cocked state is shown; Figure 7 An enlarged schematic diagram of B in the embodiment 1 of the present application is shown;

[0038] Figure 9 A structure schematic diagram of the firing assembly in the embodiment 1 of the present application when in a fired state is shown;

[0039] Figure 10 A sectional view of the firing assembly in the embodiment 1 of the present application when in a fired state is shown;

[0040] Figure 11 A structure schematic diagram of the firing assembly in the embodiment 1 of the present application is shown.

[0041] BRIEF DESCRIPTION OF DRAWINGS:

[0042] 1. biopsy needle assembly; 101. needle core; 1011. needle body; 1012. needle tip; 1013. sensor assembly channel; 1014. sampling groove; 102. needle tube;

[0043] 2. housing; 3. rear trigger key; 4. side trigger key; 5. trigger assembly; 51. third slider; 511. second inclined surface; 52. elastic fin;

[0044] 6. firing assembly; 61. first sub-firing assembly; 611. first slider; 6111. first elastic clamping block; 6112. first inclined surface; 612. first elastic member; 62. second sub-firing assembly; 621. second slider; 6211. second elastic clamping block; 6212. third inclined surface; 622. second elastic member;

[0045] 7. first inner housing; 8. second inner housing; 9. second pressing key; 10. first pressing key; 11. first electromagnetic navigation sensor; 12. connecting through hole; 13. connecting cap; 14. fixed protection tube; 15. trigger connecting rod; 16. first clamping groove; 17. second clamping groove; 18. fourth inclined surface; 22. first connecting tube; 23. annular protrusion. DETAILED DESCRIPTION

[0046] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations can be implemented in any number of manners, and are not limited to the embodiments described herein; rather, embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example implementations to those skilled in the art. Like reference numerals refer to like elements throughout the description of the figures, and thus a detailed description of them will not be repeated. Furthermore, the drawings are not necessarily drawn to scale.

[0047] Although relative terms such as "upper", "lower", etc. are used herein to describe one component's relationship to another component of the icon, these terms are used herein for convenience only and are not necessarily carried into the description of the icon's device for the sake of brevity. It is understood that if the icon's device is turned upside down, the component described as being "upper" will become the component described as being "lower". When a structure is "on" another structure, it can mean that the structure is formed integrally with the other structure or that the structure is "directly" on the other structure or that the structure is "indirectly" on the other structure via another structure.

[0048] The terms "one", "a", "an", and "the" are used to indicate the existence of one or more elements / components / etc.; the term "includes" and the term "including" are used to indicate an open-ended inclusion of one or more elements / components / etc. and that other elements / components / etc. can be present in addition to the listed elements / components / etc.; the terms "first", "second", etc. are used only as labels and do not imply any limitation on the number of elements / components / etc.

[0049] The term "proximal" refers to the end closer to the operator, and the term "distal" refers to the end further from the operator.

[0050] Embodiment 1

[0051] The present embodiment provides a specific implementation of a full-automatic biopsy needle under electromagnetic positioning, as shown in Figure 1 、 Figure 2 and Figure 3 , which comprises a housing, a firing assembly 6, and a biopsy needle assembly 1, the housing forms a handle for the operator to hold and operate, the firing assembly 6 and the biopsy needle assembly 1 are assembled in the handle formed by the housing, wherein the firing assembly 6 is connected with the biopsy needle assembly 1, the firing assembly 6 has a storage state of driving the biopsy needle assembly 1 to retract in the proximal direction of the housing, and the firing assembly 6 also has a firing state of driving the biopsy needle assembly 1 to extend in the distal direction of the housing, during the switching process of the biopsy needle assembly 1 from the storage state to the firing state driven by the firing assembly 6, the biopsy needle assembly 1 performs biopsy sampling; the biopsy needle assembly 1 comprises a needle core 101 and a needle tube 102 which is slidably sleeved outside the needle core 101, a hollow sensor assembly channel 1013 is formed inside the needle core 101, and the sensor assembly channel 1013 is used for the elongated first electromagnetic navigation sensor 11 to extend into, specifically, the first electromagnetic navigation sensor 11 can extend into the sensor assembly channel 1013 through the proximal opening of the needle core 101, so that during the biopsy operation, the elongated first electromagnetic navigation sensor 11 can be extended from the proximal opening of the needle core 101 to the distal target position of the needle body 1011, close to the position of the distal end of the needle core 101, so that when the biopsy needle is inserted into the human body, the operator can identify the spatial position of the first electromagnetic navigation sensor 11 in the human body by using the navigation device, and then accurately calculate the spatial position of the sampling part (i.e. the needle tip 1012 and the sampling groove 1014) on the needle core 101 in the human body by using the size relationship between the first electromagnetic navigation sensor 11 and the needle core 101 of the biopsy needle assembly 1. It should be noted that in this document, the spatial position includes position and attitude.

[0052] In the present embodiment, on the one hand, through the cooperation of the firing assembly 6 and the biopsy needle assembly 1, the automatic firing and sampling of the full-automatic biopsy needle are realized, which improves the efficiency and accuracy compared with the manual biopsy needle firing and sampling;

[0053] On the other hand, the fully automatic biopsy needle is combined with the first electromagnetic navigation sensor 11, a hollow sensor assembly channel 1013 is formed in the inside of the needle core 101, so that during the biopsy, the first electromagnetic navigation sensor 11 can be inserted into the target position at the distal end of the needle body 1011 from the proximal end opening of the needle core 101, so that when the biopsy needle is inserted into the human body, the operator can identify the spatial position (position and attitude) of the first electromagnetic navigation sensor 11 in the human body by using the navigation device, and then accurately calculate the spatial position (position and attitude) of the sampling part (i.e. the needle tip 1012 and the sampling groove 1014) on the needle core 101 in the human body by using the size relationship between the first electromagnetic navigation sensor 11 and the needle core 101 in the biopsy needle assembly 1, so as to determine the positional relationship between the needle tip 1012 and the sampling groove 1014 of the biopsy needle assembly 1 and the target sampling position.

[0054] Since the needle core 101 has a certain firing distance when firing, in some embodiments, the first electromagnetic navigation sensor 11 can be fixed inside the needle core 101 and ejected in the distal direction together with the needle core 101 when firing. A fixing structure for fixing the first electromagnetic navigation sensor 11 needs to be designed inside the needle core 101 during production, which is more difficult to achieve in the narrow sensor assembly channel 1013.

[0055] In the preferred embodiment of the utility model, when the first electromagnetic navigation sensor 11 is assembled to the sensor assembly channel 1013 of the needle body 1011, the two are not in a fixed relationship, and the sensor assembly channel 1013 does not need to be designed with a fixing structure for fixing the first electromagnetic navigation sensor 11. In specific use, first, the biopsy needle assembly 1 is adjusted to an energy storage state, then the first electromagnetic navigation sensor 11 is extended along the sensor assembly channel 1013 of the needle core 101 to the target position at the distal end of the sensor assembly channel 1013, after the assembly of the first electromagnetic navigation sensor 11 is completed, finally, the biopsy needle assembly 1 in the energy storage state is inserted into the human body for firing sampling, when the firing assembly 6 drives the biopsy needle assembly 1 to switch from the energy storage state to the firing state, the first electromagnetic navigation sensor 11 is fixed, and the specific spatial position of the needle tip 1012 and the sampling groove 1014 after firing can be obtained by calculating the spatial position of the first electromagnetic navigation sensor 11 and the size relationship between the target position of the sensor assembly channel and the needle tip 1012 and the sampling groove 1014. Through the setting, the spatial position of the needle tip 1012 and the sampling groove 1014 can be positioned in the operation, the structure is simple and convenient for production, and the first electromagnetic navigation sensor is not easy to be damaged. The first electromagnetic navigation sensor 11 is fixed in the needle core 101 and pops out in the distal direction together with the needle core 101 in the working process when firing, when the biopsy needle needs to be sampled twice or multiple times, the needle core 101 needs to return to the energy storage state together with the firing assembly 6, if the first electromagnetic navigation sensor 11 is fixed in the needle core 101, it will shrink in the proximal direction together with the needle core 101, the first electromagnetic navigation sensor 11 in the sensor assembly channel 1013 will be squeezed or bent, which is easy to cause damage to the first electromagnetic navigation sensor 11, is not conducive to the service life of the first electromagnetic navigation sensor 11, and if the fixing structure is not fixed firmly, the relative position between the first electromagnetic navigation sensor 11 and the needle core 101 will change, which will cause the spatial position of the needle tip 1012 and the sampling groove 1014 to be positioned inaccurately by the navigation device during the second (or multiple) sampling, thereby causing the second (or multiple) sampling to fail. Therefore, in order to facilitate the production of the needle core 101 and the assembly of the first electromagnetic navigation sensor 11, and to avoid the relative position between the first electromagnetic navigation sensor 11 and the needle core 101 changing and causing the second (or multiple) sampling to fail during use.

[0056] In order to accurately and conveniently assemble the first electromagnetic navigation sensor 11, in the embodiment, as shown in Figure 7 and Figure 8As shown, the proximal end of the shell is provided with a connecting through hole 12, the connecting through hole 12 is communicated with the sensor assembly channel 1013, a first connecting piece is arranged on the connecting through hole 12, and a channel suitable for the first elongated electromagnetic navigation sensor 11 to pass through is formed in the first connecting piece, the first connecting piece is arranged to pass through the first electromagnetic navigation sensor and extend to the target position at the distal end of the sensor assembly channel, the proximal end of the first electromagnetic navigation sensor 11 is suitable to be connected to the navigation device, and the first electromagnetic navigation sensor 11 is arranged to be fixed relative to the first connecting piece.

[0057] In assembly, the surgeon can hold the first electromagnetic navigation sensor 11, align the distal end of the first electromagnetic navigation sensor 11 with the channel of the first connecting piece, insert the proximal end of the first electromagnetic navigation sensor 11 into the first connecting piece, and then insert the first electromagnetic navigation sensor 11 into the sensor assembly channel 1013 until the distal end of the first electromagnetic navigation sensor 11 reaches the target position at the distal end of the sensor assembly channel 1013.

[0058] Considering that the surgeon twists the shell (also referred to as a handle) of the full-automatic biopsy needle when performing a biopsy, if the first electromagnetic navigation sensor 11 is fixed to the biopsy needle assembly 1, the first electromagnetic navigation sensor 11 will be twisted along with the shell, thereby causing the first electromagnetic navigation sensor 11 to be damaged due to the torsion. Therefore, in the embodiment, the connection of the first connecting piece to the connecting through hole 12 is arranged such that the first connecting piece can rotate relative to the connecting through hole under the external torsion. In this way, when the first electromagnetic navigation sensor 11 is subjected to the external torsion, the first electromagnetic navigation sensor 11 can rotate adaptively relative to the navigation device and the biopsy needle assembly 1 along with the first connecting piece, thereby avoiding damage to the first electromagnetic navigation sensor 11 due to the torsion or affecting the positioning accuracy.

[0059] Further specifically, in the embodiment, as shown in Figure 7 and Figure 8 the distal end of the first connecting piece is provided with a connecting cap 13, the connecting cap 13 can be inserted into the connecting through hole 12, and an annular groove is arranged on the side wall of the connecting cap 13, and correspondingly, an annular protrusion 23 is arranged on the inner wall of the connecting through hole 12, the annular protrusion 23 and the annular groove are matched, and when the first electromagnetic navigation sensor is subjected to the external torsion, the first connecting piece fixed relative to the first electromagnetic navigation sensor can rotate relative to the connecting through hole under the cooperation of the annular protrusion 23 and the annular groove. It should be noted that the position of the annular groove and the annular protrusion 23 is not limited in the utility model, and in some other embodiments, the side wall of the connecting cap 13 is formed with the annular protrusion 23, and the inner wall of the connecting through hole 12 is formed with the annular groove.

[0060] Further specifically, the proximal end of the first electromagnetic navigation sensor 11 is sleeved with a second connecting piece, the distal end of the first electromagnetic navigation sensor 11 passes through the distal end of the second connecting piece, the first electromagnetic navigation sensor 11 is fixedly arranged with the second connecting piece, and the distal end of the second connecting piece is detachably connected with the proximal end of the first connecting piece. In this way, when the first electromagnetic navigation sensor 11 needs to be assembled, the operator can hold the second connecting piece, connect the distal end of the second connecting piece with the proximal end of the first connecting piece mounted on the connecting through hole 12, and thus the assembly of the first electromagnetic navigation sensor 11 on the full-automatic biopsy needle is completed.

[0061] As a preferred embodiment of the present embodiment, the distal end of the second connecting piece and the proximal end of the first connecting piece are quick-release connected, specifically, the distal end of the second connecting piece is provided as a plug, and the proximal end of the first connecting piece is provided as a slot, and in assembly, the plug can be quickly inserted into the slot to realize connection. Of course, the positions of the plug and the slot can be interchanged. It should be further pointed out that the connection between the distal end of the second connecting piece and the proximal end of the first connecting piece can be fixed connection or rotary connection, and the present utility model does not limit this.

[0062] In order to further ensure the assembly accuracy, the connection between the second connecting piece and the first connecting piece is arranged to be that when the two are connected in place, the distal end of the first electromagnetic navigation sensor 11 just extends into the target position of the sensor assembly channel 1013.

[0063] As a preferred embodiment of the present embodiment, as shown in Figure 7 and Figure 8 The first connecting piece is a first connecting pipe 22, the second connecting piece is a second connecting pipe (not shown in the figure), and the inner diameter of the first connecting pipe 22 is greater than the outer diameter of the first electromagnetic navigation sensor 11, that is, there is a gap between the first connecting pipe 22 and the first electromagnetic navigation sensor 11, so that the first electromagnetic navigation sensor 11 is more convenient to pass in, and the second connecting pipe is fixed with the first electromagnetic navigation sensor 11.

[0064] As an example of the above preferred embodiment, the first electromagnetic navigation sensor 11 is an elongated wire, and the second connecting tube can be a split structure, which includes a first connecting sub-tube on the distal side and an insulating sheath wrapped outside the wire on the proximal side, the wire is fixed in the insulating sheath, and the first connecting sub-tube of the second connecting tube and the first connecting tube 22 are both plastic transparent tubes. When manufacturing the first electromagnetic navigation sensor 11, the wire without the insulating sheath on the distal side is inserted into the first connecting sub-tube, and then the distal end of the insulating sheath and the proximal end of the first connecting sub-tube are fixed together through a heat shrink tube (other fastening methods can also be used). When assembling the first electromagnetic navigation sensor 11, the operator inserts the wire on the distal side into the first connecting tube 22 by holding the first connecting sub-tube or the insulating sheath outside the wire until the distal wire extends to the distal end of the sensor assembly channel 1013 of the biopsy needle, and then the operator can quickly insert the distal end of the first connecting sub-tube and the proximal end of the first connecting tube 22 together, and the distal wire end extends to the target position at the distal end of the sensor assembly channel 1013, completing the assembly of the first electromagnetic navigation sensor 11.

[0065] It should be noted that in the embodiment, the sensor is preferably arranged at the distal end of the wire. However, the utility model is not limited thereto, and in some other embodiments, the sensor can also be multiple, and can be arranged at other positions along the wire in addition to being arranged at the distal end of the wire.

[0066] In addition, in the embodiment, during actual assembly, the operator first connects the first connecting tube 22 to the connecting through hole through the connecting cap 13, which provides an installation channel for the installation of the first electromagnetic navigation sensor 11, then the operator inserts the first electromagnetic navigation sensor 11 into the first connecting tube 22 by holding the second connecting tube, and then fixes and connects the distal end of the second connecting tube and the proximal end of the first connecting tube 22, at this time, the first electromagnetic navigation sensor 11 extends to the target position at the distal end of the sensor assembly channel 1013.

[0067] Further specifically, the proximal end of the first electromagnetic navigation sensor 11 is provided with a quick plug male head, and the navigation device is provided with a quick plug female head for cooperating with the quick plug male head, the quick plug male head and the quick plug female head can form a fixed mechanical connection, and the quick plug male head and the quick plug female head also realize the electrical connection between the first electromagnetic navigation sensor 11 and the navigation device. The positions of the quick plug male head and the quick plug female head can be interchanged.

[0068] The utility model does not limit the detachable fixed connection between the distal end of the second connecting tube and the proximal end of the first connecting tube 22, which can be quick plug fixed connection or threaded connection, as long as it can realize the fixed and detachable connection between the second connecting tube and the first connecting tube 22.

[0069] In actual use, the first connecting tube 22 is a set with the automatic biopsy needle, and the first electromagnetic navigation sensor 11 is a set with the second connecting tube. The automatic biopsy needle has different length specifications according to different actual situations, and the length of the first electromagnetic navigation sensor 11 is usually fixed. In order to enable the first electromagnetic navigation sensor 11 to extend into the target position of the automatic biopsy needle with different length specifications, the first connecting tube 22 is designed to have different length specifications in this embodiment to match the automatic biopsy needle with different length specifications (for example, when the automatic biopsy needle is relatively short, the first connecting tube 22 is relatively long), so as to ensure that the first electromagnetic navigation sensor 11 can extend into the target position of the automatic biopsy needle after the first connecting tube 22 and the second connecting tube are connected.

[0070] In this embodiment, as shown in Figure 4 and Figure 5 The fixed protection tube 14 is arranged at the proximal end of the shell, the proximal end of the biopsy needle assembly 1 extends into the fixed protection tube 14, and the fixed protection tube 14 is used to protect the biopsy needle assembly 1 and guide the first electromagnetic navigation sensor 11 to extend into the sensor assembly channel 1013 when the first electromagnetic navigation sensor 11 is assembled. Through the arrangement of the fixed protection tube 14, on the one hand, the first electromagnetic navigation sensor 11 is protected from being damaged by the movement of other components in the shell, and on the other hand, the assembly of the first electromagnetic navigation sensor 11 is guided, so that the operator can more easily extend the first electromagnetic navigation sensor 11 into the target position of the sensor channel 1013.

[0071] In this embodiment, the proximal end of the needle core 101 extends into the fixed protection tube 14, and the length of the needle core 101 extending into the fixed protection tube 14 is set to not be pulled out of the distal end port of the fixed protection tube 14 when the needle core 101 is fired with the firing assembly 6, and not to extend out of the proximal end port of the fixed protection tube 14 when the needle core 101 is switched to the energy storage state with the firing assembly 6, so that the needle core 101 is better assembled in the fixed protection tube 14, and the axis center of the sensor assembly channel 1013 in the fixed protection tube 14 and the needle core 101 is aligned. In some other embodiments, there is no connecting cap 13 in the connecting through hole 12 or there is a certain distance between the distal end of the connecting cap 13 and the fixed protection tube 14, and then a part of the needle core 101 can extend out of the proximal end port of the fixed protection tube 14 when the needle core 101 is switched to the energy storage state with the firing assembly, as long as the extended part does not contact the connecting cap 13.

[0072] In the embodiment, the needle core 101 includes a needle tip 1012 arranged at a distal end and a needle body 1011 connected to the proximal end of the needle tip 1012 and extending towards the proximal end of the shell, a sensor assembly channel 1013 is formed in the interior of the needle body 1011, and the sensor assembly channel 1013 extends along the length direction of the needle body 1011, and the target position for the first electromagnetic navigation sensor 11 to extend into the sensor assembly channel 1013 is the end of the distal end of the sensor assembly channel 1013, which is close to the needle tip 1012. Further, the needle tip 1012 is provided with a sampling groove 1014.

[0073] In order to accurately position the needle tip 1012 and the sampling groove 1014, in the embodiment, further, the center of the fixed protection tube 14 is connected with the center of the through hole 12 and the center of the sensor assembly channel 1013, so that on the one hand, the center of the first electromagnetic navigation sensor 11 can be aligned with the center of the sensor assembly channel 1013 during assembly, thereby facilitating the navigation device to obtain the spatial position of the needle tip 1014 and the sampling groove 1014 according to the specific spatial position of the first electromagnetic navigation sensor 11 and the specific size and relative position relationship between the first electromagnetic navigation sensor 11 and the needle tip 1012 and the sampling groove 1014; on the other hand, after the center of the fixed protection tube 14 is aligned with the center of the sensor assembly channel 1013, the first electromagnetic navigation sensor 11 can extend to the distal end of the needle body 1011 along a straight line, so that the pulling force generated by the needle body 1011 in the instant of ejection can be avoided to pull the first electromagnetic navigation sensor 11.

[0074] In the embodiment, the needle tube 102 is used to cooperate with the sampling groove 1014 on the needle tip 1012 to complete sampling.

[0075] Further, the end of the needle tube 102 is provided with a ring blade, and when the needle tube 102 slides relative to the needle body 1011, the ring blade can separate the tissue sample in the sampling groove 1014 from the tissue cutting to obtain the tissue sample.

[0076] In the embodiment, the needle tip 1012 and the needle body 1011 are separately arranged on the needle body 1011, so as to facilitate machining of the needle tip 1012 and the needle body 1011 respectively. The needle tip 1012 is a solid structure, and the sampling groove 1014 is arranged on the needle tip 1012. Further, the end of the needle body 1011 is provided with a plug-in connector, and the end of the needle tip 1012 is provided with a plug-in hole matched with the plug-in connector. The needle tip 1012 is installed on the needle body 1011 by inserting the plug-in connector into the plug-in hole. Specifically, the plug-in connector can be a cylinder integrally formed with the needle body 1011, and the plug-in hole is a blind hole arranged on the needle tip 1012 and matched with the diameter of the cylinder. The needle tip 1012 is connected with the needle body 1011 by inserting the cylinder into the blind hole. The cylinder and the blind hole can be coated with glue or adhesive or welded, so as to make the connection of the needle tip 1012 and the needle body 1011 more firm.

[0077] In the embodiment, the needle core 101 and the needle tube 102 are slidingly arranged. The needle tube 102 is slidingly sleeved outside the needle core 101. The needle core 101 and the needle tube 102 are sequentially slid. The needle core 101 moves to a target position first. The tissue at the target position is filled into the sampling groove 1014. Then, the needle tube 102 slides relative to the needle core 101. During the sliding process of the needle tube 102, the ring blade at the end of the needle tube 102 cuts and separates the tissue in the sampling groove 1014 from other tissues, so as to complete the sampling work.

[0078] In the embodiment, a rubber sleeve can be sleeved on the end of the needle core 101 and the needle tube 102. When the fully-automatic biopsy needle is not used, the rubber sleeve is sleeved on the end of the needle core 101 and the needle tube 102, so as to protect the end of the needle core 101 and the needle tube 102 and avoid damaging the needle tip 1012.

[0079] In the embodiment, as shown in Figure 6 , Figure 9 and Figure 10 , the fully-automatic biopsy needle further includes a firing assembly 6 and a trigger assembly 5 arranged in the housing 2. The firing assembly 6 is connected with the biopsy needle assembly 1. The firing assembly 6 has an energy storage state in which the biopsy needle assembly 1 is retracted into the housing 2. The firing assembly 6 also has a firing state in which the needle core 101 and the needle tube 102 in the biopsy needle assembly 1 are sequentially ejected. The firing assembly 6 sequentially drives the needle core 101 and the needle tube 102 to extend outward in the direction of the distal end of the housing 2. The needle core 101 and the needle tube 102 exist in a time difference during the extension, so as to complete the biopsy sampling. The trigger assembly 5 can drive the firing assembly 6 to switch from the energy storage state to the firing state.

[0080] Further, the embodiment further comprises a trigger assembly 5, the trigger assembly 5 comprises a trigger key and a trigger link 15, the trigger key is pressingly mounted on the proximal end face of the shell, the trigger link 15 is mounted in the shell and located on the distal side of the trigger key, when the trigger key is pressed by the operator, the trigger key drives the trigger link 15 to move from the initial position to the trigger position, when the trigger link 15 moves to the trigger position, the trigger firing assembly 6 is triggered, the firing assembly 6 is switched from the energy storage state to the firing state, and the biopsy needle assembly 1 is driven to extend outwardly to the distal end of the shell to perform biopsy sampling.

[0081] In the embodiment, the trigger link 15 has elastic fins 52 extending on the opposite sides, the trigger assembly mounting cavity is formed with a blocking wall for resisting the elastic fins 52, when the trigger link 15 moves from the initial position to the trigger position, the blocking wall resists the elastic fins 52 to deform and store energy, after the trigger key is released from driving the trigger link 15, the trigger link 15 drives the rear trigger key 3 to automatically move from the trigger position to the initial position under the action of the elastic fins 52 deforming and recovering, so that the trigger link 15 can automatically reset.

[0082] Further, the trigger link 15 is formed with a third sliding block 51, the elastic fins 52 extend from the two sides of the third sliding block 51, when the third sliding block 51 moves to the trigger position, the end of the third sliding block 51 can drive the firing assembly 6 to switch from the energy storage state to the firing state.

[0083] In the embodiment, the shell comprises an outer shell 2 and an inner shell, the inner shell is formed by a first inner shell 7 and a second inner shell 8, the outer shell 2 is sleeved on the outer side of the inner shell, the inner shell comprises a firing assembly mounting cavity on the distal side and a trigger assembly mounting cavity on the proximal side, and a biopsy needle assembly mounting cavity penetrating through the inner shell and the outer shell 2 on one side of the firing assembly mounting cavity and the trigger assembly mounting cavity, the firing assembly 6, the trigger assembly 5 and the biopsy needle assembly 1 are respectively assembled in the firing assembly mounting cavity, the trigger assembly mounting cavity and the biopsy needle assembly mounting cavity.

[0084] In the embodiment, the firing assembly 6 comprises a first sub-firing assembly 61 and a second sub-firing assembly 62, the firing assembly mounting cavity has a first cavity and a second cavity, the first sub-firing assembly 61 is mounted in the first cavity, the second sub-firing assembly 62 is mounted in the second cavity, the needle core 101 is connected to the first sub-firing assembly 61, and the needle tube 102 is connected to the second sub-firing assembly 62, the first sub-firing assembly 61 and the second sub-firing assembly 62 enter the firing state in sequence, so that the needle core 101 and the needle tube 102 are ejected in a predetermined order.

[0085] Further, the first sub-firing assembly 61 comprises a first slider 611 and a first elastic member 612, and the second sub-firing assembly 62 comprises a second slider 621 and a second elastic member 622; the needle core 101 is fixed on the first slider 611, the first slider 611 has an energy storage state in the first cavity in which the first elastic member 612 is compressed to make the needle core 101 retract, and the first slider 611 also has a firing state in the first cavity in which the needle core 101 is ejected under the elastic force of the first elastic member 612; the needle tube 102 is fixed on the second slider 621, the second slider 621 is slidingly installed in the second cavity, the second slider 621 has an energy storage state in the second cavity in which the second elastic member 622 is compressed to make the needle tube 102 retract, and the second slider 621 also has a firing state in the second cavity in which the needle tube 102 is ejected under the elastic force of the second elastic member 622.

[0086] Specifically, the first end of the first slider 611 has a first clamping portion, the first cavity has a first clamping groove 16 matched with the first clamping portion, when the first clamping portion is clamped into the first clamping groove 16, the first slider 611 enters the energy storage state, when the first clamping portion is separated from the first clamping groove 16, the first slider 611 enters the firing state, the trigger assembly 5 can drive the first clamping portion to separate from the first clamping groove 16, so that the first slider 611 enters the firing state from the energy storage state and drives the needle core 101 to eject; the first end of the second slider 621 has a second clamping portion, the second cavity has a second clamping groove 17 matched with the second clamping portion, when the second clamping portion is clamped into the second clamping groove 17, the second slider 621 enters the energy storage state, when the second clamping portion is separated from the second clamping groove 17, the second slider 621 enters the firing state, when the first slider 611 slides to the distal end of the first cavity, the second clamping portion can be pushed out of the second clamping groove 17, so that the second clamping portion is separated from the second clamping groove 17, the second slider 621 enters the firing state and drives the needle tube 102 to eject.

[0087] In the embodiment, the first end of the first slider 611 is shaped with a first elastic clamping block 6111, the first elastic clamping block 6111 passes through the first clamping groove 16 and is clamped on the side of the first clamping groove 16, so that the first slider 611 remains in the energy storage state, when the third slider 51 slides to the trigger position, the first elastic clamping block 6111 is separated from the first clamping groove 16, the first slider 611 enters the firing state, and drives the needle core 101 to extend outward away from the shell 2; the first end of the second slider 621 is shaped with a second elastic clamping block 6211, the second elastic clamping block 6211 passes through the second clamping groove 17 and is clamped on the side of the second clamping groove 17, so that the second slider 621 remains in the energy storage state, when the first slider 611 slides to the tail end of the first cavity, the end of the first slider 611 extrudes the second elastic clamping block 6211, so that the second elastic clamping block 6211 is separated from the second clamping groove 17, the second slider 621 enters the firing state, and drives the needle tube 102 to extend outward away from the shell 2, when the needle core 101 and the needle tube 102 extend outward away from the shell 2, the biopsy sampling of the target position is completed.

[0088] In the embodiment, the outer diameter of the first elastic clamping block 6111 away from the trigger assembly 5 is greater than the outer diameter of the first elastic clamping block 6111 close to the trigger assembly 5, so that when the first slider 611 is in energy storage, the first elastic clamping block 6111 is offset radially inward under the extrusion of the side wall of the first clamping groove 16, so that the first elastic clamping block 6111 can enter the first clamping groove 16 and pass through the first clamping groove 16, after the first elastic clamping block 6111 passes through the first clamping groove 16, the extrusion of the side wall of the first clamping groove 16 is eliminated, the first elastic clamping block 6111 is offset radially outward to expand, so that the first elastic clamping block 6111 is clamped on the side of the first clamping groove 16, and the first elastic clamping block 6111 is blocked from sliding out of the first clamping groove 16, so that the first slider 611 remains in the energy storage state.

[0089] Similarly, the outer diameter of the second elastic clamping block 6211 away from the first slider 611 is greater than the outer diameter of the second elastic clamping block 6211 close to the first slider 611, so that when the second slider 621 is in energy storage, the second elastic clamping block 6211 is offset radially inward under the extrusion of the side wall of the second clamping groove 17, so that the second elastic clamping block 6211 can enter the second clamping groove 17 and pass through the second clamping groove 17, after the second elastic clamping block 6211 passes through the second clamping groove 17, the extrusion of the side wall of the second clamping groove 17 is eliminated, the second elastic clamping block 6211 is offset radially outward to expand, so that the second elastic clamping block 6211 is clamped on the side of the second clamping groove 17, and the second elastic clamping block 6211 is blocked from sliding out of the second clamping groove 17, so that the second slider 621 remains in the energy storage state.

[0090] In the embodiment, the first cavity and the second cavity are through, and the first cavity and the second cavity are arranged in the moving direction of the needle core 101 and the needle body 1011, so that the first slider 611 and the second slider 621 can drive the needle core 101 and the needle body 1011 to move when sliding in the first cavity and the second cavity. At the same time, when the first slider 611 slides to the tail end of the first cavity, the second elastic clamping block 6211 can be pressed, so that the second slider 621 is switched from the energy storage state to the firing state, so that the second slider 621 drives the needle tube 102 to extend outward from the distal end of the shell 2.

[0091] In other embodiments, the first cavity and the second cavity can also be arranged separately, and the first slider 611 and the second slider 621 are triggered separately, as long as the first slider 611 and the second slider 621 are triggered in sequence.

[0092] In the embodiment, the inner shell includes a first inner shell 7 and a second inner shell 8, and the first inner shell 7 and the second inner shell 8 are snap-fitted. The first inner shell 7 and the second inner shell 8 are both installed in the shell 2, and the first cavity and the second cavity are formed in the internal space of the first inner shell 7 and the second inner shell 8, which facilitates the rational use of the space in the shell 2. The first cavity and the second cavity are assembled by the first inner shell 7 and the second inner shell 8, which reduces the processing cost of the shell 2, increases the applicability of the shell 2, and can assemble other models of the first inner shell 7 and the second inner shell 8 to install biopsy needle assemblies 1 of different specifications.

[0093] In the embodiment, as shown in Figure 10 and Figure 11 The end of the first elastic clamping block 6111 towards the third slider 51 has a first inclined surface 6112, and the inclination direction of the first inclined surface 6112 is inclined upward from the direction close to the third slider 51 to the direction away from the third slider 51. The radial dimension of the first inclined surface 6112 is smaller than the inner diameter of the first clamping groove 16, so that when the first slider 611 slides, the first inclined surface 6112 first enters the first clamping groove 16. As the first inclined surface 6112 gradually enters, the inner wall of the first clamping groove 16 begins to press the first inclined surface 6112, so that the first elastic clamping block 6111 contracts radially inward, and finally completely enters the first clamping groove 16. After passing through the first clamping groove 16, the first elastic clamping block 6111 expands radially outward under the action of its own elastic force and recovers deformation. At this time, the radial dimension of the end of the first elastic clamping block 6111 towards the first clamping groove 16 is greater than the inner diameter of the first clamping groove 16, which prevents the first elastic clamping block 6111 from separating from the first clamping groove 16, so that the first slider 611 remains in the energy storage state.

[0094] Further, the third slider 51 has a second inclined surface 511 matching the first inclined surface 6112 at the end thereof facing the first slider 611, and during the process of sliding the third slider 51 to the trigger position, the first elastic clamping block 6111 moves radially inward under the extrusion of the second inclined surface 511, so that the radial dimension of the first elastic clamping block 6111 is less than or equal to the inner diameter dimension of the first clamping groove 16, so that the first elastic clamping block 6111 can escape from the restriction of the first clamping groove 16 and enter the first clamping groove 16, and the first slider 611 switches from the energy storage state to the firing state under the elastic force of the first elastic member 612, and drives the needle core 101 to pop out to the distal end of the outer shell 2.

[0095] In the embodiment, the second elastic clamping block 6211 has a third inclined surface 6212 at the end thereof facing the first slider 611, and the third inclined surface 6212 is inclined upward from the direction close to the first slider 611 to the direction away from the first slider 611, and the radial dimension of the third inclined surface 6212 is partially less than the inner diameter of the second clamping groove 17, so that when the second slider 621 slides, the third inclined surface 6212 first enters the second clamping groove 17, and as the third inclined surface 6212 gradually enters, the inner wall of the second clamping groove 17 begins to extrude the third inclined surface 6212, so that the second elastic clamping block 6211 shrinks radially inward, and finally completely enters the second clamping groove 17. After passing through the second clamping groove 17, the second elastic clamping block 6211 expands radially outward under the action of its own elastic force and recovers deformation, and at this time, the radial dimension of the end of the second elastic clamping block 6211 facing the second clamping groove 17 is greater than the inner diameter dimension of the second clamping groove 17, thereby preventing the second elastic clamping block 6211 from escaping from the second clamping groove 17, so that the second slider 621 remains in the energy storage state.

[0096] Further, the first slider 611 has a fourth inclined surface 18 matching the third inclined surface 6212 at the end thereof facing the second slider 621, and during the process of sliding the first slider 611 to the tail end of the first cavity, the second elastic clamping block 6211 moves radially inward under the extrusion of the fourth inclined surface 18, so that the radial dimension of the second elastic clamping block 6211 is less than or equal to the inner diameter dimension of the second clamping groove 17, so that the second elastic clamping block 6211 can escape from the restriction of the second clamping groove 17 and enter the second clamping groove 17, and the second slider 621 switches from the energy storage state to the firing state under the elastic force of the second elastic member 622, and drives the needle tube 102 to pop out to the distal end of the outer shell 2.

[0097] Further, the elastic fins 52 are elastic plates extending outward from the third slider 51, such as plate-shaped components formed of rubber material, and the elastic plates are two, respectively located on both sides of the third slider 51, one end of the elastic plate is connected with the third slider 51, and the other end is abutted or connected to the inner wall of the inner shell.

[0098] In the embodiment, the elastic fin 52 is formed with an escape hole through which the fixed protection tube 14 penetrates and which avoids interference with the fixed protection tube 14 when the trigger link 15 moves. The fixed protection tube 14 is arranged corresponding to the needle body 1011 from the escape hole. The diameter of the escape hole is slightly larger than the outer diameter of the fixed protection tube 14, so that when the trigger link 15 drives the elastic fin 52 to deform during sliding, the escape hole can move slightly on the fixed protection tube 14, avoiding the escape hole of the elastic fin 52 being tightly sleeved on the fixed protection tube 14 and unable to move, which affects the sliding of the trigger link 15.

[0099] In the embodiment, the trigger keys include a side trigger key 4 and a rear trigger key 3 arranged on the side and tail end of the handle formed by the shell 2, respectively. The side trigger key 4 and the rear trigger key 3 are connected by the trigger link 15, and the side trigger key 4 and the rear trigger key 3 move synchronously. No matter which trigger key is pressed by the operator, the other trigger key moves synchronously. The trigger link 15 is connected with the third sliding block 51, and the side trigger key 4 and the rear trigger key 3 are connected with the third sliding block 51 through the trigger link 15. The trigger link 15 is slidingly arranged in the shell 2, so that the operator can drive the third sliding block 51 to move from the initial position to the trigger position through the trigger link 15 no matter whether the side trigger key 4 or the rear trigger key 3 is operated.

[0100] In the embodiment, the first pressing key 10 and the second pressing key 9 are further included. The first pressing key 10 and the second pressing key 9 are slidingly installed in the shell 2 and at least partially exposed outside the shell 2. The first pressing key 10 is fixedly connected with the first sliding block 611, and the second pressing key 9 is fixedly connected with the second sliding block 621. The operator can control the first sliding block 611 to move inwardly to the shell 2 to the energy storage state by pressing the first pressing key 10, and can control the second sliding block 621 to move inwardly to the shell 2 to the energy storage state by pressing the second pressing key 9.

[0101] In the biopsy performed by using the full-automatic biopsy needle of the embodiment, the operator first needs to assemble the first electromagnetic navigation sensor 11 to the biopsy needle assembly 1. Specifically, the operator can first adjust the biopsy needle assembly 1 to the energy storage state, i.e. by pressing the key to drive the firing assembly 6 and the biopsy needle assembly 1 to retract to the energy storage state in the proximal direction of the shell, then extend the distal end of the first electromagnetic navigation sensor 11 to the target position at the distal end of the sensor assembly channel 1013, and connect the proximal end of the first electromagnetic navigation sensor 11 to the navigation device. At this time, after being powered on, the navigation device can identify the spatial position (position and attitude) of the first electromagnetic navigation sensor 11, and then determine the spatial position (position and attitude) of the needle tip 1012 and the sampling groove 1014 according to the specific size relationship between the target position at the distal end of the sensor assembly channel 1013 and the needle tip 1012 and the sampling groove 1014 of the biopsy needle assembly 1. Then the operator can select a body surface needle entry point, adjust the needle entry path according to the navigation, confirm that the pre-puncture target point is on the needle entry path, and then the biopsy needle assembly 1 is inserted into the target point of the human body.

[0102] It should be noted that in some embodiments, the navigation device reserves the firing distance of the biopsy needle assembly 1, i.e. when the crosshair of the biopsy needle assembly 1 is located at the pre-puncture target point according to the navigation, the position of the needle tip 1012 of the biopsy needle assembly 1 still has a firing distance from the target point. At this time, the operator controls the firing assembly 6 to drive the biopsy needle assembly 1 to switch from the energy storage state to the firing state, and the needle tip 1012 of the biopsy needle assembly 1 will be inserted into the target sampling position (target point).

[0103] It should be further noted that before firing, the locking assembly is always in the locked position, which is to prevent the operator from triggering by mistake. When the crosshair of the biopsy needle assembly 1 is aimed at the pre-puncture target point, the locking assembly is switched from the locked position to the unlocked position, the trigger assembly 5 is operated to trigger the firing assembly 6, the firing assembly 6 is switched from the energy storage state to the firing state, and the target tissue sampling is completed.

[0104] Embodiment 2

[0105] The embodiment provides a specific implementation of an electromagnetic positioning-based biopsy system, which includes the full-automatic biopsy needle under electromagnetic positioning in embodiment 1, a second electromagnetic navigation sensor and a navigation device. In use, the second electromagnetic navigation sensor is fixedly connected to the ultrasonic probe. The navigation device is configured to extract the electromagnetic signals received by the first electromagnetic navigation sensor 11 and the second electromagnetic navigation sensor, and determine the spatial position relationship between the full-automatic biopsy needle and the ultrasonic probe based on the electromagnetic signals.

[0106] Further, in the embodiment, the ultrasonic probe is an intraoperative ultrasonic probe, and the second electromagnetic navigation sensor is clamped to the emission sound window at the distal end of the ultrasonic probe through the buckle assembly.

[0107] When the ultrasonic probe is an intraoperative ultrasonic probe, the navigation device can realize positioning of the needle tip and the sampling groove of the full-automatic biopsy needle and positioning of the intraoperative ultrasonic probe through positioning of the first electromagnetic navigation sensor 11 and the second electromagnetic navigation sensor, and can further obtain the relative positional relationship between the needle tip of the full-automatic biopsy needle and the intraoperative ultrasonic probe, and display the relative positional relationship on the display device, so that the operator can perform biopsy sampling on the patient under the display of the display device and the real-time imaging of the intraoperative ultrasonic probe on the internal organs, and the biopsy efficiency and the biopsy accuracy can be greatly improved.

[0108] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the present application cover any and all variations of the application that come within the scope of the general inventive concepts described herein and including all technical equivalents and homeopathic variations thereof. It is intended that the specification and examples be considered exemplary only, with the true scope and spirit of the application being indicated by the following claims.

Claims

1. A fully automated biopsy needle under electromagnetic positioning, characterized in that, include: Housing, firing assembly, biopsy needle assembly; The firing assembly and biopsy needle assembly are assembled into the housing; The firing assembly has an energy storage state that drives the biopsy needle assembly to retract inward toward the proximal end of the housing, and a firing state that drives the biopsy needle assembly to extend outward toward the distal end of the housing. During the switching between the energy storage state and the firing state, the biopsy needle assembly performs biopsy sampling. The biopsy needle assembly includes a needle core and a needle tube that can be slidably sleeved on the outside of the needle core. A hollow sensor assembly channel is formed inside the needle core for a slender first electromagnetic navigation sensor to be inserted. The distal end of the needle core has a needle tip for biopsy sampling and a sampling groove formed on the needle tip. When the firing assembly is in the energy storage state, the first electromagnetic navigation sensor extends to the target position at the far end of the sensor assembly channel to locate the spatial position of the needle tip and sampling slot under the navigation device.

2. The fully automated biopsy needle under electromagnetic positioning according to claim 1, characterized in that, After the first electromagnetic navigation sensor is inserted into the target position, it is fixed relative to the housing so that when the firing assembly drives the biopsy needle assembly to switch from the energy storage state to the firing state, the first electromagnetic navigation sensor remains stationary.

3. The fully automated biopsy needle under electromagnetic positioning according to claim 1, characterized in that, The housing has a connection through hole at its near end, which communicates with the sensor assembly channel. A first connector is installed on the connection through hole. The distal end of the first electromagnetic navigation sensor extends through the first connector to the target position of the sensor assembly channel. The proximal end of the first electromagnetic navigation sensor is adapted to be connected to the navigation device. The first electromagnetic navigation sensor and the first connector are fixedly arranged relative to each other.

4. The fully automated biopsy needle under electromagnetic positioning according to claim 3, characterized in that, The connection between the first connector and the connecting through hole is configured such that the first connector can rotate relative to the connecting through hole under external torque.

5. The fully automated biopsy needle under electromagnetic positioning according to claim 4, characterized in that, The distal end of the first connector is provided with a connector cap, which is inserted into the connecting through hole. The side wall of the connector cap is provided with an annular protrusion or an annular groove, and the inner wall of the connecting through hole is provided with an annular groove or an annular protrusion. The connector cap is rotatably connected to the connecting through hole through the cooperation of the annular protrusion and the annular groove.

6. The fully automated biopsy needle under electromagnetic positioning according to claim 5, characterized in that, The first electromagnetic navigation sensor has a second connector sleeved on its proximal end, and the distal end of the first electromagnetic navigation sensor extends through the distal end of the second connector. The first electromagnetic navigation sensor and the second connector are fixedly installed, and the distal end of the second connector is detachably connected to the proximal end of the first connector. When the distal end of the second connector is connected to the proximal end of the first connector, the distal end of the first electromagnetic navigation sensor extends into the target position of the sensor assembly channel.

7. The fully automated biopsy needle under electromagnetic positioning according to claim 6, characterized in that, The first connector is a first connecting pipe, and the second connector is a second connecting pipe.

8. The fully automated biopsy needle under electromagnetic positioning according to any one of claims 3-7, characterized in that, A fixed protective tube is provided inside the near end of the housing. The fixed protective tube, the connecting through hole, and the sensor assembly channel are aligned at their centers. The first electromagnetic navigation sensor extends into the sensor assembly channel through the connecting through hole and the fixed protective tube.

9. The fully automated biopsy needle under electromagnetic positioning according to claim 8, characterized in that, The proximal end of the needle core extends into the fixed protective tube. The length of the needle core extending into the fixed protective tube is set such that the needle core will not come out from the distal end of the fixed protective tube when the needle core is fired with the firing assembly, and will not extend out from the proximal end of the fixed protective tube when the needle core switches to the energy storage state with the firing assembly.

10. The fully automated biopsy needle under electromagnetic positioning according to any one of claims 1-7, characterized in that, The target location is the far end of the sensor assembly channel.

11. The fully automated biopsy needle under electromagnetic positioning according to any one of claims 1-7, characterized in that, The needle core includes a needle tip disposed at the distal end and a needle body connected to the proximal end of the needle tip and extending towards the proximal end of the housing. The needle tip and the needle body are separately disposed, and the proximal end of the needle tip and the distal end of the needle body are fixedly connected.

Images