Method for controlling device for taking biopsy sample and device for taking biopsy sample

Abstract

FIELD: medicine.SUBSTANCE: method for controlling a device for taking a biopsy sample and a device for taking a biopsy sample. The device contains first and second motors, a controller connected to them, and outer and inner cutting tubes. The outer cutting tube is placed on the inner cutting tube. A sampling window is located on the side of the front end of the outer cutting tube. In this case, a sample taking command is received to control the operating states of the first and second motors to set the inner cutting tube in motion relative to the outer cutting tube to perform sample taking. The first motor is controlled to drive the inner cutting tube in the axial direction to the sample taking position. The first and second motors are controlled to cause the inner cutting tube to move forward and rotate until the inner cutting tube reaches a position where it covers the sampling window. The first motor drives the inner cutting tube into movement in the axial direction, and the second motor drives it into rotation around the axis of the inner cutting tube. The directions of rotation of the inner cutting tube around the axis are opposite during two consecutive sample takings.EFFECT: internal cutting tube is prevented from becoming entangled in the tissue during sample collection, which reduces the frequency of system failures and improves work efficiency.14 cl, 13 dwg

Description

FIELD OF TECHNOLOGY TO WHICH THE INVENTION RELATES

[0001] The present application relates to the field of medical device technology, and in particular to a method for controlling a device for taking a biopsy sample and to a device for taking a biopsy sample.BACKGROUND

[0002] Biopsy is a technology for removing diseased tissue from a patient's body by cutting, clamping, puncturing, etc. for pathological examination in accordance with the requirements of diagnosis, treatment, etc. Biopsy specimen collection devices are capable of collecting a living tissue sample from the human body. A commonly used biopsy specimen collection device is one that collects a sample by rotary cutting, which typically comprises a cutting element and a handle. The cutting element comprises an inner cutting tube and an outer cutting tube inserted onto the inner cutting tube. The front end of the outer cutting tube is a piercing tip, and the side of the outer cutting tube near the front end is provided with a slit for collecting a sample. A cutting edge is located at the front end of the inner cutting tube.The inner cutting tube is positioned in its forwardmost position to block the sampling slot during puncturing. Once the tip reaches a certain position, the inner cutting tube moves backward to open the sampling slot. The tissue is drawn into the sampling slot under negative pressure. At this point, the inner cutting tube moves forward, performing a rotational cut. The tissue entering the sampling slot is cut and deposited at the forward end of the inner cutting tube.

[0003] At present, most biopsy needles contain outer cutting tubes and inner cutting tubes movably located in the outer cutting tubes. With the system, the inner cutting tubes are controlled to move back and forth along the axes of the outer cutting tubes and at the same time are controlled to rotate in a fixed direction. Typically, multiple samples can be collected at a time. Since the inner cutting tube rotates in one direction during multiple sampling, and the front side of the inner cutting tube is provided with a negative pressure air inlet, the collected tissue tends to entangle the inner cutting tube through the air inlet, the twisting of the inner cutting tube increases, the system causes motor overload, and tissue sampling cannot be completed. SUMMARY OF THE INVENTION

[0004] In view of the above-mentioned disadvantages of the prior art, the object of the present application is to provide a method for controlling a device for taking a biopsy sample that prevents the internal cutting tube from becoming entangled in the tissue during sample taking.

[0005] In order to achieve the above objective and other related objectives, the technical solution of the present application is as follows.

[0006] A method for controlling a device for taking a biopsy sample is disclosed, wherein the device for taking a biopsy sample comprises an outer cutting tube and an inner cutting tube, the outer cutting tube is put on the inner cutting tube, the sample taking window is located on the side of the front end of the outer cutting tube, and the control method includes: receiving a sample taking command, wherein the sample taking command is configured to control the operating states of a first motor and a second motor for driving the inner cutting tube in motion relative to the outer cutting tube to perform two or more sample takings; controlling the first motor to rotate in accordance with the sample taking command to drive the inner cutting tube in motion in the axial direction to a specified sample taking position;and controlling the first motor and the second motor to simultaneously rotate in accordance with a sample taking command to drive the inner cutting tube into forward movement and rotation until the inner cutting tube reaches a position in which the inner cutting tube closes the sample taking window; wherein the first motor is configured to drive the inner cutting tube into movement in the axial direction, and the second motor is configured to drive the inner cutting tube into rotation around the axis of the inner cutting tube. The directions of rotation of the inner cutting tube around the axis of the inner cutting tube are opposite during two consecutive sample takings.

[0007] In some embodiments, the method for controlling the device for taking a biopsy sample further includes: during two successive sample takings, during the previous sample taking, controlling the first motor to rotate to drive the inner cutting tube backward from the position in which the inner cutting tube closes the sample taking window to the first sample taking position, and after the inner cutting tube reaches the first sample taking position, controlling the first motor and the second motor to rotate to drive the inner cutting tube forward and simultaneously rotating in the first direction until the inner cutting tube reaches the position in which the inner cutting tube closes the sample taking window;during the next sampling, controlling the first motor to rotate with the inner cutting tube moving backward to said second sampling position, and after the inner cutting tube reaches the second sampling position, controlling the first motor and the second motor to rotate with the inner cutting tube moving forward and rotating in a second direction until the inner cutting tube reaches a position in which the inner cutting tube closes the sampling window; where the first direction is opposite to the second direction, and the directions of rotation of the second motor during two consecutive samplings are opposite.

[0008] In some embodiments, one sample collection is performed each time a sample collection command is received; or two or more consecutive sample collections are performed each time a sample collection command is received.

[0009] In some embodiments, during each sampling, when the first sampling command is received, the first motor is controlled to rotate with the inner cutting tube moving backward to the said first sampling position; and after the inner cutting tube reaches the first sampling position and the second sampling command is received, the first motor and the second motor are controlled to simultaneously rotate with the inner cutting tube moving forward and rotating in the second direction until the inner cutting tube reaches the position in which the inner cutting tube closes the sampling window.

[0010] The present invention further provides a device for taking a biopsy sample, comprising an outer cutting tube and an inner cutting tube, the outer cutting tube is put on the inner cutting tube, the sample taking window is located on the side of the front end of the outer cutting tube, and the device for taking a biopsy sample further comprises: a first motor, wherein the first motor is connected to the inner cutting tube through a first transmission mechanism for driving the inner cutting tube into movement along the axial direction; a second motor, wherein the second motor is connected to the inner cutting tube through a second transmission mechanism for driving the inner cutting tube into rotation around its axis;and a controller, respectively connected to the first motor and the second motor and configured to receive a sample-taking command and control the operating states of the first motor and the second motor in accordance with the sample-taking command to drive the inner cutting tube in motion relative to the outer cutting tube to perform two or more sample-takings; wherein the controller is further configured to: control the first motor to rotate in accordance with the sample-taking command to drive the inner cutting tube in motion in the axial direction to a specified sample-taking position; and control the first motor and the second motor to simultaneously rotate in accordance with the sample-taking command to drive the inner cutting tube in motion forward and rotate until the inner cutting tube reaches a position in which the inner cutting tube closes the sample-taking window, thereby completing the sample-taking;where the first motor is configured to drive the inner cutting tube into movement in the axial direction, and the second motor is configured to drive the inner cutting tube into rotation around the axis of the inner cutting tube; during two successive sample takings, the directions of rotation of the inner cutting tube around the axis of the inner cutting tube are opposite.

[0011] In some embodiments, the first transmission mechanism comprises a driving gear for reciprocating motion and a driven gear for reciprocating motion, which are engaged with each other, the first transmission mechanism further comprises a first transmission component and a second transmission component connected by a thread, wherein the driving gear for reciprocating motion is connected to the output end of the first motor, the driven gear for reciprocating motion is mounted on the first transmission component and drives the first transmission component into synchronous rotation, and the second transmission component and the inner cutting tube are connected with the possibility of relative axial fixation and with the possibility of relative circumferential rotation.

[0012] In some embodiments, the device for taking a biopsy sample further comprises a handle body, a first limiting structure for limiting the axial movement of the first transmission component and a second limiting structure for limiting the circumferential rotation of the second transmission component, located on the handle body.

[0013] In some embodiments, the fourth transmission component is placed on the inner cutting tube, the fourth transmission component is axially and relatively fixedly connected to the inner cutting tube, an engagement groove is formed on the outer wall of the fourth transmission component along the circumferential direction, the second transmission component is placed on the fourth transmission component, an engagement portion is formed in the second transmission component that extends into the engagement groove, and the second transmission component drives the fourth transmission component and the inner cutting tube into movement in the axial direction by means of the engagement portion and the engagement groove.

[0014] In some embodiments, the second transmission mechanism comprises a third transmission component, as well as a driving gear for rotational cutting and a driven gear for rotational cutting, which are engaged with each other, wherein the driving gear for rotational cutting is connected to the output end of the second motor, the driven gear for rotational cutting is mounted on the third transmission component and drives the third transmission component into synchronous rotation, the third transmission component is placed on the inner cutting tube, and the third transmission component and the inner cutting tube are mounted with the possibility of relative axial movement and circumferential relative fixation.

[0015] In some embodiments, the third transmission component is placed on the inner cutting tube, a groove is formed in the inner wall of the third transmission component along the axial direction, a protruding portion entering the groove is fixedly located on the outer cutting tube, and the protruding portion and the groove are capable of moving relative to each other in the axial direction.

[0016] In some embodiments, the device for taking a biopsy sample further comprises an intermediate shaft, as well as a rotating cutting intermediate gear and an intermediate gear for reciprocating motion, which are mounted on the intermediate shaft, wherein the first motor and the second motor are arranged side by side, the intermediate shaft is arranged in parallel between the first motor and the second motor, the rotating cutting intermediate gear is engaged with the rotating cutting driving gear and the rotating cutting driven gear at the same time, and the intermediate gear for reciprocating motion is engaged with the driving gear for reciprocating motion and the driven gear for reciprocating motion at the same time.

[0017] As described above, the present application has the following advantageous effects: two motors are disposed in the biopsy handle of the biopsy specimen collection device, wherein one motor is configured to drive the inner cutting tube to move back and forth along the axial direction of the outer cutting tube, and the other motor is configured to drive the inner cutting tube to rotate around its axis during the forward movement. Since the inner cutting tube does not rotate during the backward movement, the inner cutting tube rotates in different directions during two consecutive specimen collections during the forward movement. Thus, the tissue entangled during the previous specimen collection can be released through reverse rotation during the next specimen collection, thereby effectively eliminating tissue entanglement, reducing the system failure rate and improving the work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Fig. 1 is a schematic structural diagram of a device for taking a biopsy sample according to an embodiment of the present application.

[0019] Fig. 2 is a schematic structural diagram of an outer cutting tube and an inner cutting tube in an embodiment of the present application.

[0020] Fig. 3 is a schematic structural diagram in which a part of the sampling window is opened / closed by the inner cutting tube in the embodiment of the present application.

[0021] Fig. 4 is a partial sectional view (front view) of a biopsy sample collection device according to an embodiment of the present application.

[0022] Fig. 5 shows an enlarged schematic view of the transmission section of Fig. 4.

[0023] Fig. 6 is a partial sectional view (top view) of a biopsy sample collection device according to an embodiment of the present application.

[0024] Fig. 7 is a partially enlarged view of Fig. 6.

[0025] Fig. 8 is a schematic structural diagram of a third transmission component in an embodiment of the present application.

[0026] Fig. 9 is a sectional view of a third transmission component in an embodiment of the present application.

[0027] Fig. 10 is a schematic structural diagram of a fourth transmission component in an embodiment of the present application.

[0028] Fig. 11 is a flow chart of a method for controlling a device for taking a biopsy sample according to an embodiment of the present application.

[0029] Fig. 12 is a block diagram of a sample collection control unit for a biopsy sample collection device in an embodiment of the present application.

[0030] Fig. 13 is a block diagram of the control of sample collection by the device for taking a biopsy sample in an embodiment of the present application.DETAILED DESCRIPTION

[0031] To facilitate understanding of the present application, the present application is described more comprehensively below with reference to the accompanying drawings. Embodiments of the present application are shown in the drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments set forth herein. Instead, these embodiments are provided to make the disclosure of the present application more thorough and complete.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art. The terms used herein in the description of this application serve to describe only specific embodiments and are not intended to be limiting of this application.

[0033] The embodiments of the present application are described below with reference to specific embodiments, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure of the specification.

[0034] The front and back orientation described in this specification refer to the state of use of the biopsy specimen collection device, with the side facing the patient being the front side and the side facing away from the patient being the back side when in use.

[0035] As shown in Fig. 1-6, embodiments of the present application provide a device for taking a biopsy sample, comprising a handle 1 and a cutting unit 2 connected to each other. The cutting unit 2 comprises an outer cutting tube 21 and an inner cutting tube 22, which are arranged coaxially. The front end of the outer cutting tube 21 is provided with a piercing tip, and the side of the outer cutting tube 21 close to the front end is provided with a sample taking window 21a. The front end of the inner cutting tube 22 is provided with a cutting edge. The inner cutting tube 22 is connected to the outer cutting tube 21, and the inner cutting tube 22 can move in the axial direction relative to the outer cutting tube 21.

[0036] A first motor 11 and a second motor 12 for supplying power are located in the handle 1. The first motor 11 is connected to the inner cutting tube 22 through the first transmission mechanism and drives the inner cutting tube 22 in an axial direction (forward and backward), so that the inner cutting tube 22 can move between a position in which the inner cutting tube closes the sampling window and a position in which the opening length of the sampling window is maximum.

[0037] The second motor 12 is connected to the inner cutting tube 22 through the second transmission mechanism to drive the inner cutting tube 22 to rotate around its axis through the second transmission mechanism, so that when the inner cutting tube 22 performs forward rotational cutting for taking a sample, the inner cutting tube moves forward under the action of the first motor 11 and at the same time rotates under the action of the second motor 12.

[0038] In one embodiment, the device for taking a biopsy sample further comprises a controller, wherein the controller is electrically connected to the first motor 11 and the second motor 12, respectively, and is configured to receive a sample taking command and control the operating states of the first motor 11 and the second motor 12 in accordance with the sample taking command to drive the inner cutting tube 22 for taking a sample, and taking a sample includes two or more sequential sample takings. The operating state includes start, stop, direction of rotation, etc.

[0039] The process of driving the inner cutting tube 22 to perform each / individual sampling is specifically as follows: first, the first motor 11 is controlled to rotate to drive the inner cutting tube 22 to move in the axial direction to a specified sampling position (the initial position of the inner cutting tube 22 is usually at a position in which it covers the sampling window, and other positions are also possible), and in this process, the inner cutting tube 22 moves only in the axial direction and does not rotate; the specified sampling position corresponds to a predetermined opening length of the sampling window, and the sampling length can be adjusted as needed;after the inner cutting tube 22 moves to the said sampling position, the first motor 11 and the second motor 12 are controlled to rotate simultaneously, and the first motor 11 drives the inner cutting tube 22 forward by means of the first transmission mechanism (the rotation direction of the first motor 11 during the forward movement of the inner cutting tube 22 is opposite to the rotation direction of the first motor 11 during the backward movement of the inner cutting tube 22); and meanwhile, the second motor 12 drives the inner cutting tube 22 to rotate around its axis by means of the second transmission mechanism until the inner cutting tube 22 moves forward to a position in which it closes the sampling window, thereby completing one sampling.

[0040] Sampling operations include two or more consecutive sampling operations. During two consecutive sampling operations, the rotation directions of the inner cutting tube 22 around its axis are opposite. That is, during two sampling operations, the rotation directions of the inner cutting tube 22 around its axis during forward movement are opposite; for example, the previous sampling operation rotates counterclockwise, while the subsequent sampling operation rotates clockwise.

[0041] Two motors are housed in the biopsy handle of the biopsy specimen collection device. One motor drives the inner cutting tube 22 to move back and forth along the axial direction of the outer cutting tube 21, while the other motor drives the inner cutting tube 22 to rotate around the axis of the inner cutting tube. Since the inner cutting tube 22 does not rotate during the backward movement and rotates in different directions during two consecutive specimen collections during the forward movement, tissue entangled during the previous specimen collection can be released through reverse rotation during the next specimen collection, thereby effectively eliminating tissue entanglement, reducing the system failure rate, and improving work efficiency.

[0042] When piercing, the inner cutting tube 22 is in the most forward position to close the sampling window 21a. After reaching the specified position, the inner cutting tube 22 moves backward to open the sampling window 21a, and the tissue is drawn into the sampling window 21a under negative pressure. At this time, the inner cutting tube 22 moves forward and rotates simultaneously, cutting the tissue entering the sampling window 21a. Then, the cut tissue is conveyed into the sample collection box through the inner cutting tube 22 by the negative pressure device to complete one sampling operation.

[0043] The sampling command at least includes a sampling signal, such as pressing a button on the handle to initiate the sampling command, or inputting a sampling command through the host. Upon receiving the sampling command by the controller, the controller controls the motors to start sampling. One sampling action is performed each time a sampling signal is received. It can also be understood that multiple consecutive sampling actions can be performed each time a sampling signal is received. The specified sampling position can be preset according to the sampling length. For example, the initial position of the inner cutting tube 22 is typically at the closing position of the sampling window, and the inner cutting tube 22 reaches the specified position after moving back a preset distance from the initial position.

[0044] Individual sampling process: when the biopsy sampling device operates, the inner cutting tube 22 moves to the most forward position to close the sampling window 21a before and during puncturing, and after puncturing is completed, the inner cutting tube 22 is driven backward by the first motor 11 according to the sampling size requirements until the actual opening length of the sampling window 21 matches a predetermined value, then the tissue is drawn into the sampling window 21 by the negative pressure device that performs retraction from the rear end of the inner cutting tube 22, and after the action is completed, the inner cutting tube 22 is driven forward and rotates at high speed to cut the tissue and hold the tissue on the front end of the inner cutting tube 22, thereby completing the sampling.

[0045] The above controller may be a general-purpose processor, including a central processing unit (CPU), network processor (NP), or the like. The controller may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, and discrete hardware components. The controller may be installed on the handle or a host connected to the handle.

[0046] In some embodiments, during two or more adjacent / consecutive samplings during the previous sampling, the first motor 11 is controlled to rotate to cause the inner cutting tube 22 to move back from the position in which it closes the sampling window to the first sampling position, and the inner cutting tube 22 moves only in the axial direction and does not rotate around its axis in this process.After the inner cutting tube 22 reaches the first sampling position, the first motor 11 and the second motor 12 are controlled to rotate to make the inner cutting tube 22 move forward and simultaneously rotate in the first direction until the inner cutting tube 22 reaches a position in which it closes the sampling window (that is, returns to the original position), the tissue entering the sampling window 21a is cut by the inner cutting tube 22, and then the cut tissue is transported into the sample collection box through the inner cutting tube 22 by a retracting force, thereby completing a separate sampling operation.

[0047] During the next sampling, the first motor 11 is controlled to rotate the inner cutting tube 22 back to the said second sampling position, and after the inner cutting tube 22 reaches the second sampling position, the first motor 11 and the second motor 12 are controlled to rotate the inner cutting tube 22 forward and rotate in the second direction until the inner cutting tube reaches a position in which it closes the sampling window. The first direction is opposite to the second direction. That is, the direction of rotation of the forward movement of the inner cutting tube 22 during the previous sampling is opposite to the direction of rotation of the forward movement of the inner cutting tube 22 during the next sampling.

[0048] The first sampling position and the second sampling position may be the same or different. For example, when the number of samplings is three, the rotational direction of the inner cutting tube 22 in the first sampling is opposite to the rotational direction in the second sampling, and the rotational direction of the inner cutting tube 22 in the third sampling is opposite to the rotational direction in the second sampling. The rotational directions in three samplings are the first direction, the second direction, and the first direction in the sequence. Similarly, when the number of samplings is four, the rotational directions in four samplings are the first direction, the second direction, the first direction, and the second direction in the sequence. A similar approach can be adopted under the condition that the rotational directions in two consecutive samplings are guaranteed to be opposite.

[0049] This embodiment illustrates a transmission method, and as shown in Fig. 5-6, the first transmission mechanism includes a driving gear 31 for reciprocating motion, a driven gear 33 for reciprocating motion, a first transmission component 34 and a second transmission component 35. The driving gear 31 for reciprocating motion is coaxially connected to the output end of the first motor 11 and is configured to receive power from the first motor 11. The driven gear 33 for reciprocating motion is put on the first transmission component 34 and rotates synchronously with the first transmission component 34, and the driven gear 33 for reciprocating motion is in mesh with the driving gear 31 for reciprocating motion. The first transmission component 34 is placed on the second transmission component 35 and has a threaded connection with the second transmission component 35.The first transmission component 34 only rotates and cannot move along the axial direction of the inner cutting tube 22. The second transmission component 35 and the inner cutting tube 22 are connected in such a way that they are relatively fixed in the axial direction and are configured to relative rotate in the circumferential direction, that is, the inner cutting tube 22 can rotate around its axis relative to the second transmission component 35, and the second transmission component 35 moves only in the axial direction and does not rotate.When the first motor 11 rotates, the first transmission component 34 is driven to rotate around its axis by the driving gear 31 for reciprocating motion and the driven gear 33 for reciprocating motion, and since the first transmission component 34 is in a threaded connection with the second transmission component 35, the first transmission component 34 does not move in the axial direction, and the second transmission component 35 does not rotate circumferentially, the second transmission component 35 can move only in the axial direction to drive the inner cutting tube 22 in the axial direction. The inner cutting tube 22 can be driven forward or backward by changing the direction of rotation of the first motor 11.

[0050] In some embodiments, as shown in Fig. 5, the device for taking a biopsy sample may further comprise a housing. The housing is provided with a first limiting structure for limiting the axial movement of the first transmission component 34 along the inner cutting tube 22 and a second limiting structure for limiting the circumferential rotation of the second transmission component 35. The housing may be a handle housing, a cutting device housing, or a common housing of both. The first limiting structure may be a limiting step located outside the two axial ends of the first transmission component 34, and the limiting step is located outside the two ends of the first transmission component 34 for locking.In this embodiment, the first transmission component 34 is a first threaded sleeve with an internal thread, the second transmission component 35 is a second threaded sleeve with an external thread, wherein the first threaded sleeve is located outside the second threaded sleeve and is coaxial with the internal cutting tube 22. The rear end of the first threaded sleeve has a small diameter section without threads, and the driven gear 33 for reciprocating motion is placed on the small diameter section, driving the first threaded sleeve into rotation. The driven gear 33 for reciprocating motion and the first threaded sleeve can be connected via a keyway or rigidly. The circumferential rotation of the second transmission component 35 can be limited by a limiting element located on the housing, for example, the second transmission component 35 is mounted in the housing by means of a concave-convex structure.

[0051] The inner cutting tube 22 is connected to the fourth transmission component 45, and the fourth transmission component 45 is axially and relatively fixedly connected to the inner cutting tube 22 and can rotate synchronously with the inner cutting tube 22 or may not rotate with the inner cutting tube 22. In this embodiment, the fourth transmission component 45 is rigidly connected to the inner cutting tube 22 and moves in the axial direction and rotates circumferentially synchronously with the inner cutting tube. On the outer wall of the fourth transmission component 45, an engagement groove 45a is formed along the circumferential direction. The second transmission component 35 is placed on the fourth transmission component 45, the engagement portion 35a extending into the engagement groove 45a is located at the front end of the second transmission component 35, and the second transmission component 35 and the fourth transmission component 45 can rotate relative to each other.When the second transmission component 35 moves back and forth, the fourth transmission component 45 and the inner cutting tube 22 are driven in the axial direction by the engagement portion 35a and the engagement groove 44a.

[0052] In some embodiments, as shown in Fig. 5-7, the second transmission mechanism comprises a third transmission component 44, a driving gear 41 for rotary cutting and a driven gear 43 for rotary cutting, wherein the driving gear 41 for rotary cutting and the driven gear 43 for rotary cutting are in mesh with each other. The driving gear 41 for rotary cutting is coaxially connected to the output end of the second motor 12. The driven gear 43 for rotary cutting is mounted on the third transmission component 44 and drives the third transmission component 44 into synchronous rotation. The third transmission component 44 is placed on the inner cutting tube 22, and the third transmission component 44 and the inner cutting tube 22 are installed in such a way that they can move in the axial direction and be relatively movable, as well as relatively fixed along the circumference.

[0053] In one embodiment, the third transmission component 44 may be a transmission sleeve, wherein the transmission sleeve is placed on the inner cutting tube 22, and the inner wall of the transmission sleeve is provided with a groove along the axial direction. The outer cutting tube 21 is provided with a fixed protruding portion that fits into the groove, wherein the protruding portion and the groove can move relative to each other in the axial direction, and the entry of the protruding portion into the groove can cause the inner cutting tube 22 to rotate.

[0054] In one embodiment, as shown in Fig. 8-10, the third transmission component 44 is a transmission sleeve. The transmission sleeve is connected to the driven gear 43 for rotary cutting and rotates synchronously with the driven gear 43 for rotary cutting, but the transmission sleeve is mounted without a load on the inner cutting tube 22, and the transmission sleeve can move in the axial and circumferential direction relative to the inner cutting tube 22. The fourth transmission component 45 is a coupling sleeve. The coupling sleeve is fixedly mounted on the inner cutting tube 22, the rear part of the coupling sleeve passes into the front part of the transmission sleeve. The inner wall of the transmission sleeve is provided with a groove 44a extending in the axial direction.The outer wall of the rear end of the coupling sleeve is provided with a corresponding protruding portion 45a, and the transmission sleeve and the coupling sleeve can be relatively movable in the axial direction and are relatively fixed along the circumference. Thus, during the process of the coupling sleeve moving back and forth with the inner cutting tube 22, the coupling sleeve and the transmission sleeve transmit torsion by engaging the protruding portion 45a in the groove 44a, so as to cause the inner cutting tube 22 to rotate during the forward movement. The rotational direction of the inner cutting tube 22 can be adjusted by changing the rotational direction of the second motor 12. The rear part of the coupling sleeve and the front part of the transmission sleeve rest against each other, which further improves the coaxiality and transmission stability of the coupling sleeve and the transmission sleeve.

[0055] The rear portion of the third transmission component 44 is connected by a sleeve to the first transmission component 34, and the axial movement of the third transmission component 44 can be limited by a shoulder between the third transmission component and the first transmission component 34. The first transmission component 34, the second transmission component 35, the third transmission component 44 and the fourth transmission component 45 can be metal members or members obtained by injection molding.

[0056] The first and second transmission mechanisms can also be implemented in other existing ways.

[0057] In one embodiment, as shown in Fig. 7, the device for taking a biopsy sample may further comprise an intermediate shaft 14, as well as an intermediate gear 42 for rotary cutting and an intermediate gear 32 for reciprocating motion mounted on the intermediate shaft 14. The first motor 11 and the second motor 12 are located next to each other on one bracket 13, the intermediate shaft 14 is mounted on the bracket 13, and the intermediate shaft 14 is parallel to the axes of the first motor 11 and the second motor 12 and is located between the first motor 11 and the second motor 12. The intermediate gear 42 for rotary cutting is in engagement with both the driving gear 41 for rotary cutting and the driven gear 43 for rotary cutting, and the intermediate gear 32 for reciprocating motion is in engagement with both the driving gear 31 for reciprocating motion and driven gear 33 for reciprocating motion.This design ensures a compact arrangement of the transmission mechanism, thereby reducing the volume of the device for taking a biopsy sample.

[0058] An embodiment of the present invention further provides a method for controlling a device for taking a biopsy sample. The control method is applicable to the device for taking a biopsy sample according to any of the above embodiments, and the control method includes: controlling the operating states (start, stop, and rotation directions) of the first motor 11 and the second motor 12 according to an input command for taking a sample to drive the inner cutting tube 22 in motion relative to the outer cutting tube 21 so as to perform at least two sample takings, where in two successive sample takings, the directions of rotation of the inner cutting tube 22 around the axis of the inner cutting tube 22 during the forward movement are opposite, and the inner cutting tube 22 does not rotate during the backward movement.

[0059] In one embodiment, as shown in Fig. 11, the control method may include the following steps.

[0060] In step S10, a sample taking command is received, wherein the sample taking command is configured to control the operating states of the first motor and the second motor to drive the inner cutting tube relative to the outer cutting tube to perform two or more sample takings.

[0061] In step S20, the first motor is controlled to rotate in accordance with the sample-taking command to drive the inner cutting tube to move in the axial direction to the specified sample-taking position.

[0062] In step S30, the first motor and the second motor are controlled to simultaneously rotate in accordance with the sampling command to drive the inner cutting tube to move forward and rotate until the inner cutting tube reaches a position where it covers the sampling window.

[0063] The first motor is configured to drive the inner cutting tube in an axial direction, and the second motor is configured to drive the inner cutting tube in rotation around the inner cutting tube's axis. The inner cutting tube rotates in opposite directions around its axis during two consecutive sample collections.

[0064] For ease of understanding, the steps of the above control method, including different sampling times, are described in detail below with specific examples.

[0065] In one embodiment, as shown as an example in Fig. 12, for three consecutive samplings, the specific process of the control method includes the following steps.

[0066] In step S101, a sampling command is received for the first time or the first sampling command is received, and the first sampling is started.

[0067] In step S102, the first motor 11 is controlled to rotate, causing the inner cutting tube 22 to move back to the first sampling position.

[0068] Specifically, the first motor 11 is controlled to rotate, causing the inner cutting tube 22 to move backward by a specified length or distance to said first sampling position. Said first sampling position can be set or input by the host or the like before step S101. The inner cutting tube 22 does not rotate during the backward movement, that is, the second motor 12 does not rotate.

[0069] In step S103, the first motor 11 is controlled to rotate, causing the inner cutting tube 22 to move forward, and at this time, the second motor 12 is controlled to rotate, causing the inner cutting tube 22 to rotate in a first direction (for example, forward or clockwise) until the inner cutting tube 22 reaches a position in which it closes the sampling window, thereby completing the first sampling.

[0070] In step S104, a sampling command is received for the second time or a second sampling command is received, and the second sampling is started.

[0071] In step S105, the first motor 11 is controlled to rotate, causing the inner cutting tube 22 to move back to the second sampling position.

[0072] In step S106, the first motor 11 is controlled to rotate, causing the inner cutting tube 22 to move forward, and at this time, the second motor 12 is controlled to rotate, causing the inner cutting tube 22 to rotate in a second direction (for example, backward or counterclockwise) until the inner cutting tube 22 reaches a position in which it closes the sampling window, thereby completing the second sampling, and the rotation direction of the second motor 12 in this step is opposite to the rotation direction of the second motor 12 in step S103.

[0073] In step S107, a sampling command is received for the third time or a third sampling command is received, and the third sampling is started.

[0074] In step S108, the first motor 11 is controlled to rotate, causing the inner cutting tube 22 to move back to the specified third sampling position.

[0075] In step S109, the first motor 11 is controlled to rotate, causing the inner cutting tube 22 to move forward, and at this time, the second motor 12 is controlled to rotate, causing the inner cutting tube 22 to rotate in a first direction (for example, forward or clockwise) until the inner cutting tube 22 reaches a position in which it closes the sampling window, thereby completing the third sampling, and the rotation direction of the second motor 12 in this step is opposite to the rotation direction of the second motor 12 in step S106.

[0076] In step S110, after several samplings are completed, all samples are delivered by negative pressure retraction to complete the sample delivery.

[0077] The sample collection command can be initiated by pressing a key on the handle or entered through the host. For example, the sample collection command is entered once each time the key on the handle is pressed.

[0078] Thus, two or more samplings are performed sequentially, wherein the first sampling position, the second sampling position, and the third sampling position may be the same or different. For example, when the number of samplings is three, the rotational direction of the inner cutting tube 22 in the first sampling is opposite to the rotational direction in the second sampling, and the rotational direction of the inner cutting tube 22 in the third sampling is opposite to the rotational direction in the second sampling: the rotational directions of the inner cutting tube 22 in three samplings are the first direction, the second direction, and the first direction in the sequence. Similarly, when the number of samplings is four, the rotational directions of the inner cutting tube 22 in four samplings are the first direction, the second direction, the first direction, and the second direction in the sequence.Such an approach can be adopted provided that the directions of rotation of the inner cutting tube 22 in two successive samples are guaranteed to be opposite.

[0079] Before starting the first sampling, you can perform self-checking of the biopsy sampling device, set the sampling length, and set the inner cutting tube 22 to the home position (the position where the inner cutting tube covers the sampling window), or the like.

[0080] In the above embodiment, when the first sampling command is input (the sampling key is pressed once), the entire action of moving the inner cutting tube 22 back to the specified sampling position and rotating and moving the inner cutting tube forward to the position where it covers the sampling window are performed.

[0081] In another embodiment, the backward movement of the inner cutting tube 22 requires a corresponding sampling command, and the forward rotation and movement of the inner cutting tube 22 require another sampling command. In other words, during each sampling, when the first sampling command is input / received, the inner cutting tube 22 moves backward to the specified position, and when the second sampling command is input / received, the inner cutting tube 22 rotates and simultaneously moves forward to a position in which it closes the sampling window. Each sampling command input can be implemented by pressing the sampling key, and the distinction can be realized by long pressing and short pressing.Alternatively, the distinction can be implemented through a sequence of pressings, such as the inner cutting tube 22 moving backward during the first pressing, rotating and moving forward during the second pressing, moving backward again during the third pressing, and rotating and moving forward during the fourth pressing. It should be noted that one complete sampling process can be performed by entering / receiving a sampling command once, for example, by long-pressing a key. Alternatively, multiple sequential samplings can be performed by entering / receiving a sampling command once.

[0082] In one embodiment, as shown as an example in Fig. 13, for two consecutive samplings, the specific process of the control method includes the following steps.

[0083] In step S201, a sampling command is received for the first time, or the first sampling command is received and the first sampling is started. For example, the sampling command is entered by pressing a key on the handle.

[0084] In step S202, the first motor 11 is controlled to rotate, causing the inner cutting tube 22 to move backward to the first sampling position, and at the same time, the inner cutting tube 22 is controlled not to rotate during the backward movement, that is, the second motor 12 is controlled not to rotate.

[0085] In step S203, a sampling command is received for the second time or a second sampling command is received. The second sampling command input may be a second press of the handle key.

[0086] In step S204, the first motor 11 is controlled to rotate, causing the inner cutting tube 22 to move forward, and at this time, the second motor 12 is controlled to rotate, causing the inner cutting tube 22 to rotate in a first direction (for example, forward or clockwise) until the inner cutting tube 22 reaches a position in which it closes the sampling window, thereby completing the first sampling.

[0087] In step S205, a sampling command is received for the third time, or a third sampling command is received and a second sampling operation begins. The third sampling command can be entered by pressing the key on the handle for the third time.

[0088] In step S206, the first motor 11 is controlled to rotate, causing the inner cutting tube 22 to move back to the second sampling position.

[0089] In step S207, the sampling command is received for the fourth time or the fourth sampling command is received. The sampling command can be entered by pressing the key on the handle for the fourth time.

[0090] In step S208, the first motor 11 is controlled to rotate, causing the inner cutting tube 22 to move forward, and at this time, the second motor 12 is controlled to rotate, causing the inner cutting tube 22 to rotate in a second direction (for example, backward or counterclockwise) until the inner cutting tube 22 reaches a position in which it closes the sampling window, thereby completing the second sampling.

[0091] In step S209, after two samplings are completed, all samples are delivered by negative pressure retraction to complete sample delivery.

[0092] In another embodiment, the sample may be delivered after the completion of each sample collection, rather than delivered collectively at the end.

[0093] The implementation of the above control method is not dependent on the biopsy specimen taking device according to this embodiment, and the control method can also be applied to other dual-motor driven biopsy specimen taking devices, provided that one motor drives the inner cutting tube to move back and forth, and the other motor drives the inner cutting tube to rotate around the axis of the inner cutting tube.

[0094] In the present application, two motors are disposed in the biopsy handle of the biopsy specimen collection device, wherein one motor is configured to control the inner cutting tube 22 to move forward and backward along the axial direction of the outer cutting tube 21, the other motor is configured to control the inner cutting tube 22 to rotate during the forward movement, wherein the inner cutting tube 22 does not rotate during the backward movement, and the inner cutting tube rotates in the other direction during the forward movement during each specimen collection. Thus, the tissue entangled during the previous specimen collection can be released by reverse rotation during the next specimen collection, thereby effectively eliminating tissue entanglement, reducing the frequency of system failures and improving the work efficiency.

[0095] The technical features in the above-mentioned embodiments can be combined arbitrarily. To ensure brevity, not all possible combinations of technical features are described in the embodiments. However, provided there is no contradiction in the combination of these technical features, such combinations shall be considered as falling within the scope of this technical description.

[0096] The embodiments described above represent only a few embodiments of the present application, and the description embodiments are specific and detailed, but they should not be construed as limiting the scope of the present application. Those skilled in the art will understand that various modifications and improvements can be made without departing from the spirit of the present application, and all of them fall within the scope of protection of the present application. Therefore, the scope of protection of the present application should be determined by the appended claims.

Claims

1. A method for controlling a device for taking a biopsy sample, wherein the device for taking a biopsy sample comprises an outer cutting tube and an inner cutting tube, the outer cutting tube is placed on the inner cutting tube, the sample taking window is located on the side of the front end of the outer cutting tube, and the control method includes: receiving a sample taking command, wherein the sample taking command is configured to control the operating states of the first motor and the second motor for driving the inner cutting tube relative to the outer cutting tube to perform two or more sample takings; controlling the first motor to rotate in accordance with the control command to drive the inner cutting tube to move in the axial direction to the specified sample-taking position; and controlling the first motor and the second motor to simultaneously rotate in accordance with the control command to drive the inner cutting tube to move forward and rotate until the inner cutting tube reaches a position in which the inner cutting tube covers the sampling window; wherein the first motor is configured to drive the inner cutting tube into movement in the axial direction, and the second motor is configured to drive the inner cutting tube into rotation around the axis of the inner cutting tube; the directions of rotation of the inner cutting tube around the axis of the inner cutting tube are opposite during two successive sample takings.

2. A method for controlling a device for taking a biopsy sample according to claim 1, characterized in that it further comprises: during two consecutive sample collections, during the previous sampling, controlling the first motor to rotate to drive the inner cutting tube backward from the position in which the inner cutting tube closes the sampling window to the first sampling position, and after the inner cutting tube reaches the first sampling position, controlling the first motor and the second motor to rotate to drive the inner cutting tube forward and simultaneously rotating in the first direction until the inner cutting tube reaches the position in which the inner cutting tube closes the sampling window; during the next sampling, controlling the first motor to rotate and drive the inner cutting tube back to said second sampling position, and after the inner cutting tube reaches the second sampling position, controlling the first motor and the second motor to rotate and drive the inner cutting tube forward and rotate in the second direction until the inner cutting tube reaches the closed position of the sampling window; wherein the first direction is opposite to the second direction, and the directions of rotation of the second motor during two consecutive sample takings are opposite.

3. A method for controlling a device for taking a biopsy sample according to claim 1 or 2, characterized in that: one sample taking is performed each time a sample taking command is received; or two or more consecutive sample takings are performed each time a sample taking command is received.

4. A method for controlling a device for taking a biopsy sample according to claim 1 or 2, characterized in that, during each sample taking, when a first sample taking command is received, the first motor is controlled to rotate with the inner cutting tube moving backward to said first sample taking position; and after the inner cutting tube reaches the first sample taking position and a second sample taking command is received, the first motor and the second motor are controlled to simultaneously rotate with the inner cutting tube moving forward and rotating in a second direction until the inner cutting tube reaches a position in which the inner cutting tube covers the sample taking window.

5. A device for taking a biopsy sample, comprising an outer cutting tube and an inner cutting tube, wherein the outer cutting tube is placed on the inner cutting tube, the sample taking window is located on the side of the front end of the outer cutting tube, and the device for taking a biopsy sample further comprises: a first motor, wherein the first motor is connected to the inner cutting tube via a first transmission mechanism for driving the inner cutting tube in motion along an axial direction; a second motor, wherein the second motor is connected to the inner cutting tube through a second transmission mechanism for causing the inner cutting tube to rotate about the axis of the inner cutting tube; and a controller, respectively connected to the first motor and the second motor and configured to receive a sample-taking command and control the operating states of the first motor and the second motor in accordance with the sample-taking command to drive the inner cutting tube relative to the outer cutting tube to perform two or more sample-takings; wherein the controller is additionally configured with the ability to: controlling the first motor to rotate in accordance with the sampling command to drive the inner cutting tube in the axial direction to the specified sampling position; and controlling the first motor and the second motor to simultaneously rotate in accordance with the sampling command to drive the inner cutting tube to move forward and rotate until the inner cutting tube reaches a position in which the inner cutting tube closes the sampling window, thereby completing the sampling; wherein the first motor is configured to drive the inner cutting tube into movement in the axial direction, and the second motor is configured to drive the inner cutting tube into rotation around the axis of the inner cutting tube; during two successive samplings, the directions of rotation of the inner cutting tube around the axis of the inner cutting tube are opposite.

6. The device for taking a biopsy sample according to claim 5, characterized in that the first transmission mechanism comprises a driving gear for reciprocating motion and a driven gear for reciprocating motion, which are engaged with each other, the first transmission mechanism further comprises a first transmission component and a second transmission component connected by a thread, wherein the driving gear for reciprocating motion is connected to the output end of the first motor, the driven gear for reciprocating motion is mounted on the first transmission component and drives the first transmission component into synchronous rotation, and the second transmission component and the inner cutting tube are connected with the possibility of relative axial fixation and with the possibility of relative circumferential rotation.

7. A device for taking a biopsy sample according to claim 6, characterized in that the device for taking a biopsy sample further comprises a handle body, a first limiting structure for limiting the axial movement of the first transmission component, and a second limiting structure for limiting the circumferential rotation of the second transmission component, located on the handle body.

8. The device for taking a biopsy sample according to claim 6, characterized in that the fourth transmission component is placed on the inner cutting tube, the fourth transmission component is axially and relatively immovably connected to the inner cutting tube, an engagement groove is formed on the outer wall of the fourth transmission component along the circumferential direction, the second transmission component is placed on the fourth transmission component, an engagement portion is formed in the second transmission component that extends into the engagement groove, and the second transmission component drives the fourth transmission component and the inner cutting tube into movement in the axial direction by means of the engagement portion and the engagement groove.

9. A device for taking a biopsy sample according to any one of paragraphs. 5-8, characterized in that the second transmission mechanism comprises a third transmission component, a driving gear for rotational cutting and a driven gear for rotational cutting, wherein the driving gear for rotational cutting and the driven gear for rotational cutting are engaged with each other, wherein the driving gear for rotational cutting is connected to the output end of the second motor, the driven gear for rotational cutting is mounted on the third transmission component and drives the third transmission component into synchronous rotation, the third transmission component is placed on the inner cutting tube, and the third transmission component and the inner cutting tube are mounted with the possibility of axial relative movement and circumferential relative fixation.

10. A device for taking a biopsy sample according to claim 9, characterized in that the third transfer component is placed on the inner cutting tube, a groove is formed in the inner wall of the third transfer component along the axial direction, a protruding part entering the groove is fixedly located on the outer cutting tube, and the protruding part and the groove are capable of moving relative to each other in the axial direction.

11. The biopsy specimen taking device according to claim 9, characterized in that it further comprises an intermediate shaft, an intermediate gear for rotary cutting and an intermediate gear for reciprocating motion, wherein the intermediate gear for rotary cutting and the intermediate gear for reciprocating motion are mounted on the intermediate shaft, wherein the first motor and the second motor are arranged side by side, the intermediate shaft is arranged in parallel between the first motor and the second motor, the intermediate gear for rotary cutting is in engagement with the driving gear for rotary cutting and the driven gear for rotary cutting simultaneously, and the intermediate gear for reciprocating motion is in engagement with the driving gear for reciprocating motion and the driven gear for reciprocating motion simultaneously.

12. A device for taking a biopsy sample according to paragraph 5, characterized in that during two consecutive sample takings the controller is additionally configured to: during the previous sampling, controlling the first motor to rotate and drive the inner cutting tube backward from the position in which the inner cutting tube closes the sampling window to the first sampling position, and after the inner cutting tube reaches the first sampling position, controlling the first motor and the second motor to rotate and drive the inner cutting tube forward and simultaneously rotate in the first direction until the inner cutting tube reaches the position in which the inner cutting tube closes the sampling window; during the next sampling, controlling the first motor to rotate and drive the inner cutting tube back to said second sampling position, and after the inner cutting tube reaches the second sampling position, controlling the first motor and the second motor to rotate and drive the inner cutting tube forward and rotate in the second direction until the inner cutting tube reaches the closed position of the sampling window; wherein the first direction is opposite to the second direction, and the directions of rotation of the second motor during two consecutive sample takings are opposite.

13. A device for taking a biopsy sample according to claim 5 or 12, characterized in that: one sample taking is performed each time a sample taking command is received; or two or more consecutive sample takings are performed each time a sample taking command is received.

14. The biopsy specimen collection device according to claim 5 or 12, characterized in that, during each specimen collection, when a first specimen collection command is received, controlling the first motor to rotate with the inner cutting tube moving backward to said first specimen collection position; and after the inner cutting tube reaches the first specimen collection position and a second specimen collection command is received, controlling the first motor and the second motor to simultaneously rotate with the inner cutting tube moving forward and rotating in a second direction until the inner cutting tube reaches a position in which the inner cutting tube covers the specimen collection window.

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