Biopsy needle and control method therefor

Abstract

The present application relates to a biopsy needle and a control method therefor. The biopsy needle comprises a main unit and a remote controller. The main unit comprises a wireless module receiving end, a microcontroller, a biopsy needle cocking mechanism, a biopsy needle ejection mechanism, and a biopsy needle trigger mechanism. The biopsy needle cocking mechanism comprises a cocking slider. The biopsy needle ejection mechanism comprises a cutting needle seat and a compression spring. In the present application, the arrangement of a wireless transmission connection between the main unit and the remote controller can achieve remote control of cocking and firing operations of the biopsy needle, remote control of cocking and firing state processes of the biopsy needle, and remote completion of tissue biopsy surgery, eliminating the need for a doctor to manually fire the biopsy needle, enabling doctors to stay away from radiation environments, and thus protecting doctors' health.

Description

A biopsy needle and its control method Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a biopsy needle and a method for controlling the same. Background Technology

[0002] Existing fully and semi-automatic biopsy needles require manual insertion and activation by the physician to obtain biopsy tissue. Currently, biopsy robots have emerged, employing robotic arms in conjunction with magnetic navigation or MR (Mixed Reality) technologies to perform biopsies under ultrasound or CT guidance. This technology replaces the physician's manual operation with robotic arms, offering advantages such as precise positioning and high efficiency. Furthermore, since the puncture is performed by the robotic arm, it enables remote surgery, allowing physicians to operate away from radiation environments and protecting their health. However, even with robotic biopsy technology and the robot's intelligent assistance in the puncture station, the final activation of the biopsy needle still requires manual intervention by the physician, meaning that robotic biopsy technology cannot perform the procedure independently. Summary of the Invention

[0003] Based on this, a biopsy needle and its control method are provided to solve the technical problem that biopsy puncture robots cannot wind and fire the biopsy needle, and the biopsy needle can be controlled to wind and fire automatically.

[0004] On the one hand, a biopsy needle is provided, including: a main unit and a remote control;

[0005] The host includes a wireless module receiver, a microcontroller, a biopsy needle winding mechanism, a biopsy needle ejection mechanism, and a biopsy needle triggering mechanism. The wireless module receiver is connected to the microcontroller. The remote controller includes a wireless module transmitter, which is wirelessly connected to the wireless module receiver. The wireless module transmitter is used to send winding or triggering commands to the wireless module receiver. The biopsy needle winding mechanism includes a winding slider, and the biopsy needle ejection mechanism includes a cutting needle seat and a compression spring.

[0006] When the wireless module receiver receives a winding command, the microcontroller controls the winding slider to engage with the cutting needle seat, and the cutting needle seat presses against the compression spring; when the wireless module receiver receives an excitation command, the microcontroller controls the biopsy needle triggering mechanism to separate the winding slider and the cutting needle seat so that the compression spring resets and ejects the cutting needle seat.

[0007] Furthermore, the biopsy needle winding mechanism includes a first limit switch, a second limit switch, a third limit switch, a motor, and a lead screw. The microcontroller is connected to the motor, and the motor drives the lead screw to rotate forward or backward, thereby moving the winding slider along the lead screw.

[0008] When the wireless module receiver receives the winding command, the microcontroller controls the motor to drive the lead screw to rotate, causing the winding slider to move forward first so that it engages with the cutting needle seat. When the winding slider touches the first limit switch, it stops moving forward. At the same time, the motor drives the lead screw to rotate, causing the winding slider to move backward. When the second limit switch detects the winding slider, it controls the motor to turn off.

[0009] When the wireless module receiver receives an excitation command, the microcontroller controls the motor to drive the lead screw to rotate, causing the upper winding slider to move from the second limit switch toward the third limit switch. The cutting needle seat moves backward under the push of the upper winding slider until it contacts the biopsy needle triggering mechanism. The microcontroller controls the biopsy needle triggering mechanism to separate the upper winding slider and the cutting needle seat so that the compression spring resets and ejects the cutting needle seat and the outer needle seat. When the third limit switch detects that the upper winding slider has touched the sensor, it controls the motor to turn off.

[0010] Furthermore, the biopsy needle winding mechanism also includes a nut, a buffer spring, and a nut limiting bracket. The nut limiting bracket is connected to the winding slider, and a receiving groove is provided in the nut limiting bracket. The nut is threadedly connected to the lead screw. The nut is located in the receiving groove, and the buffer spring is provided between the nut and the inner wall of the receiving groove on the side facing the motor. The length of the receiving groove along the extension direction of the lead screw is greater than the thickness of the nut. A retaining groove is provided on the outer surface of the nut on the side facing the motor, and the buffer spring is retained in the retaining groove. The outer surface of the nut abuts against the inner wall of the receiving groove.

[0011] Furthermore, the upper winding slider is provided with a guide engagement portion, and the cutting needle seat is provided with an engagement groove and a release slope. The engagement groove is located on the side away from the third limit switch, and the release slope is located on the side facing the third limit switch. The biopsy needle triggering mechanism is provided corresponding to the release slope. When the wireless module receiver receives the upper winding command, the guide engagement portion engages with the engagement groove. When the wireless module receiver receives the trigger command, the biopsy needle triggering mechanism slides against the release slope of the cutting needle seat, causing the guide engagement portion of the upper winding slider to separate from the engagement groove of the cutting needle seat.

[0012] Furthermore, the biopsy needle triggering mechanism includes a push rod, the motor and the lead screw are arranged in a straight line, and the push rod is located between the motor and the upper chord slider.

[0013] Furthermore, the biopsy needle ejection mechanism also includes an inner needle seat and an outer needle seat, the compression spring is disposed between the inner needle seat and the outer needle seat, the cutting needle seat is connected to the outer needle seat, and the cutting needle seat has a cutting tongue on the side opposite to the inner needle seat.

[0014] Furthermore, the host also includes a battery, a power switch, a light, and a status indicator light. The battery is connected to the microcontroller via the power switch, and the light and the status indicator light are connected to the microcontroller.

[0015] Furthermore, the remote control also includes a controller, which has a winding button, a winding indicator light, a trigger button, and a trigger indicator light. The winding button is connected to the winding indicator light and the wireless module transmitter, and the trigger button is connected to the trigger indicator light and the wireless module transmitter. When the winding button is pressed, the wireless module transmitter sends a winding command to the wireless module receiver, and the winding indicator light illuminates. When the trigger button is pressed, the wireless module transmitter sends a trigger command to the wireless module receiver, and the trigger indicator light illuminates.

[0016] On the other hand, a method for controlling the biopsy needle described above is also provided, including:

[0017] When the host is powered on, the biopsy needle is controlled to reset and initialize, and a self-test is performed to determine whether the biopsy needle is faulty;

[0018] If the biopsy needle is found to be fault-free, the biopsy needle is controlled to be in standby mode, and it is determined whether the wireless module receiver has received a cocking command.

[0019] In response to the wireless module receiving a winding command, the microcontroller controls the motor to drive the lead screw to rotate, causing the winding slider to move forward and engage with the cutting needle seat. When the winding slider contacts the first limit switch, the motor starts to reverse, controlling the winding slider to move backward, causing the cutting needle seat and the outer needle seat to press the compression spring. When the second limit switch detects the winding slider, the motor is controlled to shut off, completing the winding action.

[0020] Determine whether the winding was successful; if the winding was successful, control the biopsy needle to be in a waiting-to-be-activated state.

[0021] When the wireless module receiver receives an excitation command, the microcontroller controls the motor to drive the lead screw to rotate, causing the upper winding slider to continue to move backward. The biopsy needle triggering mechanism separates the upper winding slider and the cutting needle seat so that the compression spring resets and ejects the cutting needle seat. When the third limit switch detects the upper winding slider, it controls the motor to turn off.

[0022] Furthermore, the method for controlling the biopsy needle also includes:

[0023] In response to the biopsy needle reset initialization, the illumination lamp is kept constantly on;

[0024] In response to a malfunction in the biopsy needle, the red light of the control status indicator remains constantly on;

[0025] In response to the wireless module receiver not receiving a cocking command, the biopsy needle is controlled to remain in standby mode;

[0026] In response to the biopsy needle being in a waiting-to-be-activated state, the green light of the control status indicator remains constantly on;

[0027] In response to the wireless module receiver not receiving an excitation command, the biopsy needle is controlled to remain in a waiting-to-excite state.

[0028] The aforementioned biopsy needle and its control method, through the wireless transmission connection between the host and remote control, enable remote control of the winding and activation operations of the biopsy needle. This allows for remote control of the winding and activation process of the biopsy needle, enabling the remote completion of biopsy tissue acquisition surgery without the need for manual activation by the doctor, thus avoiding the radiation environment and protecting the doctor's health. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 is a structural block diagram of a biopsy needle in one embodiment of this application;

[0031] Figure 2 is a schematic diagram of the structure of a biopsy needle in one embodiment of this application;

[0032] Figure 3 is a schematic diagram of the internal structure of a biopsy needle in one embodiment of this application;

[0033] Figure 4 is a cross-sectional view of the biopsy needle in a strung state in one embodiment of this application;

[0034] Figure 5 is a cross-sectional view of the biopsy needle after excitation in one embodiment of this application;

[0035] Figure 6 is a partial structural schematic diagram of a biopsy needle in one embodiment of this application;

[0036] Figure 7 is a flowchart of a biopsy needle control method in one embodiment of this application.

[0037] The markings in the diagram are as follows: Biopsy needle winding mechanism 1, second limit switch 11, third limit switch 12, motor 13, lead screw 14, winding slider 15, guide locking part 151, nut 16, locking groove 161, buffer spring 17, nut limit bracket 18, first limit switch 19, biopsy needle ejection mechanism 2, cutting needle seat 21, locking groove 211, hooking ramp 212, compression spring 22, inner needle seat 23, outer needle seat 24, biopsy needle triggering mechanism 3, push rod 31, rear push button 32, side push button 33, biopsy needle 4, outer needle tube 41, sampling needle tube 42, inner needle rod 43, position switch 5, circuit board 6, power switch 61, lighting lamp 62, status indicator light 63, start button 64, protective cover 7, battery 8. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0039] As shown in Figure 1, this embodiment provides a biopsy needle, including a main unit and a remote control.

[0040] As shown in Figures 1, 2, 3, 4, and 5, the main unit includes a wireless module receiver, a microcontroller, a biopsy needle winding mechanism 1, a biopsy needle ejection mechanism 2, and a biopsy needle triggering mechanism 3. The wireless module receiver is connected to the microcontroller. The remote controller includes a wireless module transmitter, which is wirelessly connected to the wireless module receiver. The wireless module transmitter is used to send winding or triggering commands to the wireless module receiver. The biopsy needle ejection mechanism 2 of the main unit is equipped with a biopsy needle, the tip of which is the front end of the main unit, and the handle end for easy gripping is the rear end.

[0041] As shown in Figures 2, 3, 4, 5, and 6, the biopsy needle winding mechanism 1 includes a winding slider 15; the biopsy needle ejection mechanism 2 includes a cutting needle seat 21 and a compression spring 22. When the wireless module receiver receives a winding command, the microcontroller controls the winding slider 15 to move forward first, engaging with the cutting needle seat 21. The microcontroller then controls the winding slider 15 to move backward, causing the cutting needle seat 21 and the outer needle seat 24 to press against the compression spring 22. When manually activated, the biopsy needle triggering mechanism 3 is manually pushed, and the microcontroller controls the biopsy needle triggering mechanism 3 to separate the winding slider 15 and the cutting needle seat 21, causing the compression spring 22 to reset and eject the cutting needle seat 21.

[0042] As shown in Figures 2, 3, 4, 5, and 6, the biopsy needle winding mechanism 1 also includes a first limit switch 19, a second limit switch 11, a third limit switch 12, a motor 13, and a lead screw 14. The microcontroller is connected to the motor 13, and the motor 13 drives the lead screw 14 to rotate forward or backward, thereby moving the winding slider 15 along the lead screw 14.

[0043] When the wireless module receiver receives the winding command, the microcontroller controls the motor 13 to drive the lead screw 14 to rotate, causing the winding slider 15 to move forward and engage with the cutting needle seat 21. When the winding slider 15 touches the first limit switch 19, it stops moving forward. At the same time, the motor 13 drives the lead screw 14 to rotate, causing the winding slider 15 to move backward. At this time, the winding slider 15 synchronously drives the cutting needle seat 21 and the outer needle seat 24 to move backward. The outer needle seat 24 presses the compression spring 22 to store energy. When the second limit switch 11 detects that the winding slider 15 has touched the spring, it controls the motor 13 to turn off.

[0044] When the wireless module receiver receives an excitation command, the microcontroller controls the motor 13 to drive the lead screw 14 to rotate, causing the upper winding slider 15 to move from the second limit switch 11 toward the third limit switch 12. The cutting needle seat 21 moves backward under the push of the upper winding slider 15 until it contacts the biopsy needle triggering mechanism 3. The biopsy needle triggering mechanism 3 separates the upper winding slider 15 and the cutting needle seat 21 so that the compression spring 22 resets and ejects the cutting needle seat 21 and the outer needle seat 24. When the third limit switch 12 detects that the upper winding slider 15 has touched the needle, it controls the motor 13 to turn off.

[0045] In use, the biopsy needle 4 is placed on the side of the biopsy needle triggering mechanism 3 away from the compression spring 22, and when the upper slider 15 and the cutting needle seat 21 are separated, the biopsy needle 4 is ejected under the elastic force of the compression spring 22 resetting and ejecting the cutting needle seat 21. The biopsy needle 4 is then inserted into the organism to achieve live sampling.

[0046] A position switch 5 is provided on one side corresponding to the biopsy needle 4. After the outer needle seat 24 is excited, it is blocked by the position switch 5. Therefore, adjusting the position of the position switch 5 can adjust the outer needle seat 24 and the excitation distance, thereby adjusting the length of the sampled tissue.

[0047] Preferably, as shown in Figures 2, 3, 4, and 5, a protective sleeve 7 is provided on the outer side of the biopsy needle 4, and the biopsy needle 4 is ejected along the extension direction of the protective sleeve 7 under the action of elastic force. As shown in Figure 2, the biopsy needle 4 includes an outer needle tube 41, a sampling needle tube 42, and an inner needle rod 43, wherein the inner needle rod 43 has a needle tip structure.

[0048] It is understood that the wireless module receiver and the microcontroller can be configured on the circuit board 6.

[0049] As shown in Figures 3, 4, 5, and 6, the biopsy needle winding mechanism 1 further includes a nut 16, a buffer spring 17, and a nut limiting bracket 18. The nut limiting bracket 18 is connected to the winding slider 15. The nut limiting bracket 18 has a receiving groove. The nut 16 is threadedly connected to the lead screw 14. The nut 16 is located in the receiving groove, and the buffer spring 17 is provided between the nut 16 and the inner wall of the receiving groove on the side facing the motor 13. The length of the receiving groove along the extension direction of the lead screw 14 is greater than the thickness of the nut 16.

[0050] As shown in Figure 6, the outer surface of the nut 16 facing the motor 13 has a groove 161, the buffer spring 17 is engaged in the groove 161, and the outer surface of the nut 16 abuts against the inner wall of the receiving groove.

[0051] As shown in Figures 4 and 5, the upper winding slider 15 is provided with a guide engagement part 151, and the cutting needle seat 21 is provided with an engagement groove 211 and a disengagement slope 212. The engagement groove 211 is located on the side away from the third limit switch 12, and the disengagement slope 212 is located on the side facing the third limit switch 12. The biopsy needle triggering mechanism 3 is provided corresponding to the disengagement slope 212. When the wireless module receiver receives the upper winding command, the guide engagement part 151 engages with the engagement groove 211. When the wireless module receiver receives the triggering command, the upper winding slider 15 drives the cutting needle seat 21 to move backward, so that the disengagement slope 212 of the cutting needle seat 21 abuts against the biopsy needle triggering mechanism 3, thereby separating the guide engagement part 151 of the upper winding slider 15 from the engagement groove 211 of the cutting needle seat 21. The cutting needle seat 21 and the outer needle seat 24 are triggered forward under the elastic force of the compression spring 22. Simultaneously with activation, as the upper chord slider 15 disengages from the cutting needle seat 21, the nut limiting bracket 18 is pushed to the right by the buffer spring 17 and contacts the third limiting switch 12. Once the third limiting switch 12 is contacted, it can be determined that the biopsy needle has been activated.

[0052] As shown in Figures 3, 4, and 5, the biopsy needle triggering mechanism 3 includes a push rod 31, the motor 13 and the lead screw 14 are arranged in a straight line, and the push rod 31 is located between the motor 13 and the upper winding slider 15.

[0053] Preferably, the biopsy needle triggering mechanism 3 further includes a rear push button 32 and a side push button 33 connected to the push rod 31. The rear push button 32 is located at the end of the push rod 31 facing away from the disengagement ramp 212, and the side push button 33 is connected to one side of the push rod 31. In the wound state, the push rod 31 can be manually pressed to slide against the disengagement ramp 212 of the cutting needle seat 21, causing the guide locking part 151 of the wound slider 15 to separate from the locking groove 211 of the cutting needle seat 21, thus triggering the biopsy needle 4 to eject. Alternatively, in the wound state, the push rod 31 can be manually pushed to slide against the disengagement ramp 212 of the cutting needle seat 21, causing the guide locking part 151 of the wound slider 15 to separate from the locking groove 211 of the cutting needle seat 21, thus triggering the biopsy needle 4 to eject.

[0054] As shown in Figures 4 and 5, the biopsy needle triggering mechanism 3 further includes an inner needle seat 23 and an outer needle seat 24. The compression spring 22 is disposed between the inner needle seat 23 and the outer needle seat 24. The cutting needle seat 21 is connected to the outer needle seat 24. The cutting needle seat 21 has a cutting tongue on the side away from the inner needle seat 23.

[0055] As shown in Figures 2, 3, 4, 5, and 6, the host also includes a battery 8, a power switch 61, a light 62, and a status indicator light 63. The battery 8 is connected to the microcontroller via the power switch 61, and the light 62 and the status indicator light 63 are connected to the microcontroller. Preferably, the light 62 is an LED light that remains constantly lit when the host is powered on. The status indicator light 63 is dual-color, having both red and green lights.

[0056] As shown in Figures 2, 3, 4, 5, and 6, the second limit switch 11, the third limit switch 12, the first limit switch 19, the power switch 61, the illumination lamp 62, and the status indicator light 63 are fixed on the circuit board 6. A start button 64 can also be provided on the circuit board 6, which simultaneously functions as a manual control for winding and firing the biopsy needle.

[0057] Furthermore, the remote control also includes a controller, which has a winding button, a winding indicator light, a trigger button, and a trigger indicator light. The winding button is connected to the winding indicator light and the wireless module transmitter, and the trigger button is connected to the trigger indicator light and the wireless module transmitter. When the winding button is pressed, the wireless module transmitter sends a winding command to the wireless module receiver, and the winding indicator light illuminates. When the trigger button is pressed, the wireless module transmitter sends a trigger command to the wireless module receiver, and the trigger indicator light illuminates.

[0058] The remote control can be a mobile phone, computer, or other device, and can control the activation and winding of the biopsy needle via Bluetooth connection through an app. The controller is a display interface within the remote control, and can be used to press the winding and activation buttons via touch to send winding and activation commands to the biopsy needle.

[0059] As shown in Figure 7, this application embodiment also provides a method for controlling the biopsy needle described above, including:

[0060] When the host is powered on, the biopsy needle is controlled to reset and initialize, and a self-test is performed to determine whether the biopsy needle is faulty;

[0061] If the biopsy needle is found to be fault-free, the biopsy needle is controlled to be in standby mode, and it is determined whether the wireless module receiver has received a cocking command.

[0062] In response to the wireless module receiving a winding command, the microcontroller controls the motor 13 to drive the lead screw 14 to rotate, causing the winding slider 15 to move forward and engage with the cutting needle seat 21. When the winding slider 15 contacts the first limit switch 19, the motor starts to reverse, controlling the winding slider 15 to move backward, causing the cutting needle seat 21 and the outer needle seat 24 to press the compression spring 22. When the second limit switch 11 detects the winding slider 15, it controls the motor 13 to turn off, completing the winding action.

[0063] Determine whether the winding was successful; if the winding was successful, control the biopsy needle to be in a waiting-to-be-activated state.

[0064] When the wireless module receiver receives an excitation command, the microcontroller controls the motor 13 to drive the lead screw 14 to rotate, causing the upper winding slider 15 to continue to move backward. The biopsy needle triggering mechanism 3 separates the upper winding slider 15 and the cutting needle seat 21 so that the compression spring 22 resets and ejects the cutting needle seat 21. When the third limit switch 12 detects the upper winding slider 15, it controls the motor 13 to turn off.

[0065] Furthermore, the method for controlling the biopsy needle also includes:

[0066] In response to the biopsy needle reset initialization, control the illumination lamp 62 to remain constantly lit;

[0067] In response to a malfunction of the biopsy needle, the red light on the control status indicator 63 remains constantly on;

[0068] In response to the wireless module receiver not receiving a cocking command, the biopsy needle is controlled to remain in standby mode;

[0069] In response to the biopsy needle being in a waiting-to-be-activated state, the green light of the control status indicator 63 remains constantly lit;

[0070] In response to the wireless module receiver not receiving an excitation command, the biopsy needle is controlled to remain in a waiting-to-excite state.

[0071] As shown in Figure 7, the steps for using the biopsy needle are as follows:

[0072] Step 1: Power on the device;

[0073] Step 2: The indicator light remains constantly on;

[0074] Step 3: The system starts a self-test. The self-test includes: a) self-test of the forward and backward movement of motor 13; b) determination of position by limit switch; c) during the movement, the CPU detects the current of motor 13 to identify whether there is a stall and whether the limit switch is detected; d) during the self-test, the status indicator light 63 is turned off.

[0075] Step 4: Self-test complete, the system is in standby mode, and status indicator 63 is solid yellow.

[0076] Step 5: Receive the upper chord signal;

[0077] Step 6: When the winding signal is received, the microprocessor drives the motor 13 to start winding; if winding is successful, the status indicator 63 will be solid green, waiting for activation; if winding fails, the status indicator 63 will be solid red.

[0078] Step 7: Wait for the excitation signal;

[0079] Step 8: When the excitation signal is received, the microprocessor drives motor 13 to retract and excite biopsy needle 4; if the excitation fails, the status indicator 63 will remain solid red; if the excitation is successful, it will return to standby mode.

[0080] Step 9: If there is no fault, repeat steps 4-8.

[0081] The aforementioned biopsy needle and its control method, through the wireless transmission connection between the host and the remote controller, enable remote control of the winding and activation operations of the biopsy needle 4. Moreover, the biopsy needle winding mechanism 1 of the host includes a first limit switch 19, a second limit switch 11, and a third limit switch 12, which can accurately determine whether the winding and activation operations are completed. It can realize remote control of the winding and activation process of the biopsy needle 4, and can remotely complete the biopsy tissue acquisition surgery without the need for the doctor to manually perform the activation, thus avoiding the radiation environment and protecting the doctor's health.

[0082] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0083] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A biopsy needle, characterized in that, Includes: main unit and remote control; The host includes a wireless module receiver, a microcontroller, a biopsy needle winding mechanism, a biopsy needle ejection mechanism, and a biopsy needle triggering mechanism, and the wireless module receiver is connected to the microcontroller; The remote controller includes a wireless module transmitter, which is connected to the wireless module receiver via wireless transmission. The wireless module transmitter is used to send a winding command or an activation command to the wireless module receiver. The biopsy needle winding mechanism includes a winding slider, and the biopsy needle ejection mechanism includes a cutting needle seat and a compression spring.

2. The biopsy needle according to claim 1, characterized in that, The biopsy needle winding mechanism also includes a first limit switch, a second limit switch, a third limit switch, a motor, and a lead screw. The microcontroller is connected to the motor, and the motor drives the lead screw to rotate forward or backward, thereby moving the winding slider along the lead screw. When the wireless module receiver receives the winding command, the microcontroller controls the motor to drive the lead screw to rotate, causing the winding slider to move forward first so that it engages with the cutting needle seat. When the winding slider touches the first limit switch, it stops moving forward. At the same time, the motor drives the lead screw to rotate, causing the winding slider to move backward. When the second limit switch detects the winding slider, it controls the motor to turn off. When the wireless module receiver receives an excitation command, the microcontroller controls the motor to drive the lead screw to rotate, causing the upper winding slider to move from the second limit switch toward the third limit switch. The cutting needle seat moves backward under the push of the upper winding slider until it contacts the biopsy needle triggering mechanism. The microcontroller controls the biopsy needle triggering mechanism to separate the upper winding slider and the cutting needle seat so that the compression spring resets and ejects the cutting needle seat and the outer needle seat. When the third limit switch detects that the upper winding slider has touched the sensor, it controls the motor to turn off.

3. The biopsy needle according to claim 2, characterized in that, The biopsy needle winding mechanism further includes a nut, a buffer spring, and a nut limiting bracket. The nut limiting bracket is connected to the winding slider. The nut limiting bracket has a receiving groove. The nut is threaded to the lead screw. The nut is located in the receiving groove, and the buffer spring is disposed between the nut and the inner wall of the receiving groove on the side facing the motor. The length of the receiving groove along the extension direction of the lead screw is greater than the thickness of the nut. The outer surface of the nut on the side facing the motor has a retaining groove, and the buffer spring is retained in the retaining groove. The outer surface of the nut abuts against the inner wall of the receiving groove.

4. The biopsy needle according to claim 2, characterized in that, The upper winding slider is provided with a guide engagement part, and the cutting needle seat is provided with an engagement groove and a release slope. The engagement groove is located on the side away from the third limit switch, and the release slope is located on the side facing the third limit switch. The biopsy needle triggering mechanism is provided corresponding to the release slope. When the wireless module receiver receives the upper winding command, the guide engagement part engages with the engagement groove. When the wireless module receiver receives the trigger command, the biopsy needle triggering mechanism slides against the release slope of the cutting needle seat, so that the guide engagement part of the upper winding slider separates from the engagement groove of the cutting needle seat.

5. The biopsy needle according to claim 4, characterized in that, The biopsy needle triggering mechanism includes a push rod, the motor and the lead screw are arranged in a straight line, and the push rod is located between the motor and the upper chord slider.

6. The biopsy needle according to claim 1, characterized in that, The biopsy needle ejection mechanism further includes an inner needle seat and an outer needle seat, the compression spring is disposed between the inner needle seat and the outer needle seat, the cutting needle seat is connected to the outer needle seat, and the cutting needle seat has a cutting tongue on the side opposite to the inner needle seat.

7. The biopsy needle according to claim 1, characterized in that, The host also includes a battery, a power switch, a light, and a status indicator. The battery is connected to the microcontroller via the power switch, and the light and the status indicator are connected to the microcontroller.

8. The biopsy needle according to claim 1, characterized in that, The remote control also includes a controller, which has a winding button, a winding indicator light, a trigger button, and a trigger indicator light. The winding button is connected to the winding indicator light and the wireless module transmitter, and the trigger button is connected to the trigger indicator light and the wireless module transmitter. When the winding button is pressed, the wireless module transmitter sends a winding command to the wireless module receiver, and the winding indicator light illuminates. When the trigger button is pressed, the wireless module transmitter sends a trigger command to the wireless module receiver, and the trigger indicator light illuminates.

9. A method for controlling a biopsy needle according to any one of claims 1 to 8, characterized in that, include: When the host is powered on, the biopsy needle is controlled to reset and initialize, and a self-test is performed to determine whether the biopsy needle is faulty; If the biopsy needle is found to be fault-free, the biopsy needle is controlled to be in standby mode, and it is determined whether the wireless module receiver has received a cocking command. In response to the wireless module receiving a winding command, the microcontroller controls the motor to drive the lead screw to rotate, causing the winding slider to move forward and engage with the cutting needle seat. When the winding slider contacts the first limit switch, the motor starts to reverse, controlling the winding slider to move backward, causing the cutting needle seat and the outer needle seat to press the compression spring. When the second limit switch detects the winding slider, the motor is controlled to shut off, completing the winding action. Determine whether the winding was successful; if the winding was successful, control the biopsy needle to be in a waiting-to-be-activated state. When the wireless module receiver receives an excitation command, the microcontroller controls the motor to drive the lead screw to rotate, causing the upper winding slider to continue to move backward. The biopsy needle triggering mechanism separates the upper winding slider and the cutting needle seat so that the compression spring resets and ejects the cutting needle seat. When the third limit switch detects the upper winding slider, it controls the motor to turn off.

10. The method for controlling a biopsy needle according to claim 9, characterized in that, Also includes: In response to the biopsy needle reset initialization, the illumination lamp is kept constantly on; In response to a malfunction in the biopsy needle, the red light of the control status indicator remains constantly on; In response to the wireless module receiver not receiving a cocking command, the biopsy needle is controlled to remain in standby mode; In response to the biopsy needle being in a waiting-to-be-activated state, the green light of the control status indicator remains constantly on; In response to the wireless module receiver not receiving an excitation command, the biopsy needle is controlled to remain in a waiting-to-excite state.

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