232 results about "Biopsy needles" patented technology

The utility model provides a full-automatic biopsy needle based on electromagnetic navigation positioning, which belongs to the technical field of medical instruments and particularly comprises a shell, a percussion component, a biopsy needle component and a fixed protection tube. The shell is provided with a connecting through hole, the connecting through hole is used for installing the first connecting piece, and the fixing protection pipe is aligned with the center of the connecting through hole and the center of the sensor assembling channel; the first electromagnetic navigation sensor extends linearly after extending into the sensor assembling channel, the triggering assembly drives the biopsy needle to extend outwards towards the far end of the shell when triggering the triggering assembly to enter a triggering state, and the sensor assembling channel moves along with the biopsy needle assembly in the outward extending process of the biopsy needle assembly. And the first electromagnetic navigation sensor is kept linearly extending at the central position of the sensor assembly channel, so that the sensor state channel does not affect and damage the first electromagnetic navigation sensor when moving along with the biopsy needle assembly.

The utility model provides a full-automatic biopsy needle convenient to operate, belongs to the technical field of medical instruments, and particularly comprises a shell, a biopsy needle assembly, a percussion assembly and a trigger assembly. The trigger assembly comprises a rear trigger key, the trigger assembly has an initial position and a trigger position, the rear trigger key is arranged at the tail end of the shell, an opening is formed in the near end of the shell, the rear trigger key is movably assembled at the opening, and the pressing face of the rear trigger key is arranged to be an inclined face. The rear trigger key can be switched between an initial position and a trigger position in the process of moving at the opening, and the pressing surface of the rear trigger key is arranged to be an inclined surface, so that an operator can conveniently touch the rear trigger key and press the rear trigger key when holding the full-automatic biopsy needle for biopsy sampling, and the operation is convenient. And the rear trigger key moves from the initial position to the trigger position, so that the stability of holding the full-automatic biopsy needle by an operator and the accuracy of biopsy sampling are ensured.

One or more example embodiments relates to a medical imaging device for examination of a body part of a patient, in particular a mammography device for examination of the female breast, comprising an imaging unit configured to perform an X-ray-based imaging concerning the body part positioned in a positioning area of the medical imaging device; and a biopsy device comprising a biopsy needle configured to obtain a tissue sample from the body part positioned in the positioning area and a light generating device configured to generate light to reach the positioning area.

The utility model provides a full-automatic biopsy needle, which belongs to the technical field of biopsy needles, and particularly comprises a shell, a biopsy needle assembly, a percussion assembly, a triggering assembly and a locking assembly, the locking assembly comprises a locking piece, and at a locking position, the locking piece prevents the triggering assembly from moving towards a triggering position; a fixed supporting disc is formed in the shell, when the locking key moves to the locking position, the far-end side of the locking piece abuts against the fixed supporting disc, the locking assembly is arranged between the triggering assembly and the percussion assembly, the triggering assembly is prevented from moving to the triggering position, the situation that the locking assembly is arranged on a percussion path of the percussion assembly can be avoided, and the percussion effect is improved. When the percussion assembly conducts percussion, the percussion assembly is switched from the energy storage state to the percussion state, the locking assembly stops the percussion assembly from conducting percussion on the path of the percussion assembly, the percussion assembly can keep the percussion state all the time, the elastic force of the spring is large, and the locking assembly is prone to failure under long-time extrusion of the elastic force.

The invention relates to a particle pusher, and relates to the technical field of medical instruments, the particle pusher comprises a main body handle and a biopsy needle joint coaxially connected with the main body handle, and an axial mounting through hole is formed in the biopsy needle joint and used for inserting a particle needle. The pusher comprises a first limiting mechanism and a second limiting mechanism, the first limiting mechanism comprises a pressing piece, a first limiting piece and an elastic rubber part, the pressing piece is connected to the outer wall of the biopsy needle connector in a swinging mode through the elastic rubber part, and the dislocation and abutting state of the first limiting piece relative to the installation through hole is controlled by pressing and resetting of the pressing piece. The second limiting mechanism is arranged in the biopsy needle connector and is in transmission fit with the first limiting mechanism, and when the first limiting piece abuts against the particle needle in the first direction, the second limiting mechanism automatically abuts against the particle needle in the second direction which is not parallel to the second limiting mechanism, so that bidirectional limiting is formed. The structure has automatic unlocking and resetting functions in the inserting and positioning process of the particle needle, and is beneficial to stabilizing the position of the needle body and improving the operation precision.

The invention discloses an angle-adjustable interventional biopsy needle suitable for deep tumors and a sampling method of the angle-adjustable interventional biopsy needle, and relates to the field of tumor interventional biopsy sampling, the angle-adjustable interventional biopsy needle comprises a guide sheathing canal, the guide sheathing canal is composed of an outer sheath layer on the outermost layer, a braid layer in the middle and a first lining layer on the inner layer, and a bending mechanism is arranged at the bottom of the guide sheathing canal; the bending mechanism comprises an active bending tube, the active bending tube is fixedly connected with the bottom of the guiding sheath tube, a protection pad is arranged at the bottom of the active bending tube, and a second lining layer is arranged on the inner side of the active bending tube. On the premise of single puncture, multi-point and multi-angle sampling of different quadrants and different depths in a tumor can be easily achieved, representative tissue samples can be obtained to the maximum extent through the design, sampling errors caused by tumor heterogeneity are effectively avoided, the occurrence rate of false negative results is remarkably reduced, and the sampling efficiency is improved. And a more reliable pathological basis is provided for clinical diagnosis.

The invention discloses an extraction device for tumor puncture, and relates to the technical field of medical instruments, the extraction device comprises a handle, a needle tube is arranged in the handle, a fixed sleeve head is arranged at the front end of the handle, a trocar is fixedly connected to the end, away from the handle, of the fixed sleeve head, the trocar is connected to the outer ring of the needle tube in a sleeving manner, and a sampling length adjusting mechanism is arranged in the handle; a quick dismounting mechanism is arranged at one end, close to the trocar, of the sampling length adjusting mechanism; through the arrangement of the sampling length adjusting mechanism, the pushing body is controlled to move the conveying body, then the clamping head is driven to be opened and closed, flexible control over the needle tube is achieved, the accuracy and convenience of the handle during tumor puncture sampling are improved, the exposed length of the needle tube can be accurately adjusted and controlled according to the specific sampling depth requirement of tumors in the body of a patient, and the working efficiency is improved. By means of the precise adjusting function, the sampling depth control problem of a traditional biopsy needle is solved, the sampling accuracy is remarkably improved, and a high-quality sample is provided for subsequent pathological analysis.

The utility model provides a full-automatic biopsy needle capable of being used in cooperation with a coaxial needle and a full-automatic biopsy needle suite, and belongs to the technical field of medical instruments, and the full-automatic biopsy needle suite comprises a shell, a percussion assembly, a trigger assembly and a biopsy needle assembly; the far end of the shell is provided with a connecting part connected with a coaxial needle, the far end of the biopsy needle assembly extends out of the connecting part, and when the connecting part is connected to the coaxial needle, the relative position of the shell and the coaxial needle is kept unchanged. According to the full-automatic biopsy needle capable of being used in cooperation with the coaxial needle, the connecting part is arranged at the end of the shell, the connecting part and the coaxial needle can be installed in a matched mode, and after the full-automatic biopsy needle is guided by the coaxial needle to enter a target position, the full-automatic biopsy needle can be used in cooperation with the coaxial needle through matched connection of the connecting part and the coaxial needle; the relative positions of the full-automatic biopsy needle and the coaxial needle are fixed, it is guaranteed that the full-automatic biopsy needle does not deviate relative to the coaxial needle in the sampling process, and the accuracy of the sampling result is guaranteed.

The utility model discloses a bone marrow biopsy needle with a dragging handle, and relates to the technical field of medical instruments. The puncture needle comprises a needle handle and a puncture tail column, a biopsy needle core is arranged at one end of the needle handle, a puncture needle is connected to the end face, away from the needle handle, of the puncture tail column, and a supporting handle is arranged on the periphery of the puncture needle in a sleeved mode. The peripheral side of the biopsy needle core is sleeved with a middle connecting column and a movable connecting column, a transmission gear ring and four driven gear rings are arranged in the middle connecting column in a rotating fit mode, and the driven gear rings are meshed with the side portion of the inner wall of the transmission gear ring. By rotating the rotating piece, the transmission gear ring drives the driven gear ring to rotate, so that the screw rod is driven to slide in the middle connecting column, the distance between the middle connecting column and the movable connecting column is conveniently adjusted according to the condition of a patient, and the overall length adjusting precision of the middle connecting column and the movable connecting column is improved; the requirement for preparing a plurality of middle connecting columns with different lengths is reduced, and the use cost is reduced.

The application discloses a tube cutting needle exciting structure and an operating method, and belongs to the field of medical equipment. The tube cutting needle exciting structure is used for exciting a tube cutting needle, and the tube cutting needle comprises a tube cutting needle assembly and a shell. The tube cutting needle assembly comprises an inner needle, an outer needle and a cutting needle, and the inner needle, the outer needle and the cutting needle are connected with an inner needle seat, an outer needle seat and a cutting needle seat arranged in the shell respectively. The tube cutting needle exciting structure further comprises an upper string sliding block. A second track parallel to a needle insertion direction is arranged on an inner wall of the shell, and the cutting needle seat, the outer needle seat and the inner needle seat are arranged on the second track. The upper string sliding block can drive the cutting needle seat, the outer needle seat or the inner needle seat to move reversely to the needle insertion direction to an upper string position, so that the tube cutting needle is excited. The tube cutting needle exciting structure has good structural stability. The upper string sliding block can be driven by power, so that the operation is labor-saving, and the doctor's physical strength is saved. In addition, the problem of poor biopsy needle structural stability caused by another power-saving structure is avoided.

A biopsy system includes a biopsy probe configured to sever tissue to acquire a tissue sample. The biopsy probe has biopsy needle portion having a proximal end, a distal end, and a lumen. A vacuum source is coupled to the lumen. The vacuum source is configured to generate a vacuum to transport the tissue sample through the lumen and expel the tissue sample from the lumen at the proximal end of the biopsy needle portion. An arrangement of compression plates is configured to receive the tissue sample from the proximal end of the biopsy probe and is operable to compress the tissue sample. The arrangement of compression plates has a plurality of impedance measurement electrodes. An impedance measurement circuit is connected to the plurality of impedance measurement electrodes.

This invention relates to the field of medical device technology, specifically to a firing control mechanism for a biopsy needle and the biopsy needle itself. The firing control mechanism includes at least a blocking part, a clearance groove, and an elastic arm. The blocking part is located on the front side of the inner needle slider, near the outer needle slider. The clearance groove is located near the proximal end of the blocking part, with a height difference between the clearance groove and the blocking part. One end of the elastic arm is fixedly mounted, and the free end of the elastic arm has a protrusion facing the blocking part. In the wound state, the protrusion is located between the first button and the blocking part. After the inner puncture needle is fired, until it stops moving or is about to stop moving, the protrusion enters the clearance groove. With this firing control mechanism, the firing interval between the inner and outer puncture needles is no longer affected by human operation, ensuring that the outer puncture needle is fired only after the inner puncture needle stops moving or is about to stop moving, thereby guaranteeing a high sampling success rate.

The utility model relates to a matching structure of an inner knife and an outer knife of a biopsy needle. The matching structure comprises an inner knife tube and an outer needle tube sleeved outside the inner knife tube, an expansion pipe section capable of containing more collected tissues is arranged on the front side of the inner knife pipe, and the lower peripheral side pipe wall, corresponding to the pipe section, of the tissue suction inlet expands outwards to form an expansion groove structure; a fluid conveying channel is formed between the expansion groove structure and the outer wall of the expansion pipe section; the rear section of the inner knife tube is in clearance fit with the rear section of the outer needle tube to form an annular conveying cavity communicated with the fluid conveying channel. According to the utility model, the expansion tube section of the inner knife tube is matched with the expansion groove structure of the outer needle tube, so that the sample collection space of the inner knife tube is maximized, and the sampling effect is improved; while the outer wall surface of the expansion tube section is tightly attached to the inner wall surface of the outer needle tube, the gap is minimized, meanwhile, the expansion groove structure of the outer needle tube can be communicated with the annular conveying cavity, fluid communication is ensured, and cutter blockage caused by the fact that fluid cannot be communicated after tissue cutting is completed is avoided.

The utility model discloses a biopsy sampling power handle and a biopsy device, and relates to the technical field of medical instruments.The biopsy sampling power handle is matched with a biopsy needle, and the biopsy sampling power handle comprises a handle body assembly provided with a containing cavity and an assembly hole communicating the interior and the exterior of the containing cavity; the first electrode penetrates through the assembly hole in a sliding mode, the first electrode is provided with a first end and a second end which are oppositely arranged, the first end faces the interior of the containing cavity, and the second end faces the exterior of the containing cavity and is used for being connected with a first butt joint electrode of the biopsy needle; and the elastic piece is arranged between the first end of the first electrode and the handle body assembly so as to provide elastic force towards the outside of the accommodating cavity for the first electrode. According to the technical scheme, the stability of electric connection between the biopsy sampling power handle and the biopsy needle is improved.

The biopsy catheter comprises a deep part and a pushing part, the deep part is arranged on the front section of the catheter and deep into the myocardium, the deep part comprises a connecting sleeve, a biopsy needle and a shearing sleeve, the biopsy needle and the shearing sleeve are coaxially matched in a sliding mode, and the connecting sleeve and the biopsy needle are matched in a sliding mode; the pushing part is arranged at the tail end of the guide pipe, the pushing part comprises a butt joint pipe, a push rod and a sliding sleeve, the butt joint pipe is in coaxial sliding fit with the push rod, and the push rod is in coaxial sliding fit with the sliding sleeve. The device has the beneficial effects that a springback sampling mode is adopted, so that the phenomenon that the device is not broken in the sampling process is avoided, the pain of a patient is reduced, the problems of limited sampling depth and high complication risk of a traditional biopsy technology are solved, the sampling efficiency and the operation convenience are improved through rotary shearing, and the labor intensity of the patient is reduced. And reliable technical support is provided for accurate diagnosis of myocardial diseases.

The efficient anti-blocking biopsy needle comprises a needle head, the needle head is provided with a hollow needle core, a spiral groove is formed in the inner wall of the needle core in the length direction of the needle core, the depth of the spiral groove ranges from 50 micrometers to 200 micrometers, and the screw pitch of the spiral groove ranges from 0.5 mm to 1.2 mm. According to the efficient anti-blocking biopsy needle, the spiral groove is formed in the inner wall of the needle core, a tissue directional conveying channel is formed to relieve and guide local turbulence, and the adhesive strength of a fluid boundary layer is reduced, so that the adhesive force of tissue fragments to the inner wall of the needle core is greatly reduced, and the needle core is effectively prevented from being blocked; and the single puncture sample acquisition rate of the biopsy needle is greatly improved (up to more than 40%).

The utility model belongs to the technical field of medical equipment, and particularly relates to a vacuum suction system and biopsy sampling equipment, the vacuum suction system comprises a vacuum container, a first main pipeline is connected between the vacuum container and a negative pressure pump, and the vacuum container is further connected with a second main pipeline used for being communicated with a biopsy needle; each branch pressure relief pipeline is connected to the corresponding branch position of the first main pipeline and / or the second main pipeline, each branch pressure relief pipeline is provided with a branch pipeline valve, and the branch pipeline valves can be communicated with or cut off the corresponding branch pressure relief pipelines; and the main pipeline valve is arranged on the first main pipeline or the second main pipeline, and the main pipeline valve is arranged between the two adjacent branch positions, so that the first main pipeline and the second main pipeline are communicated in the suction mode, and the corresponding branch pressure relief pipelines are separated in the pressure relief mode. According to the utility model, the residual pressure in the vacuum container passage and the biopsy needle passage can be quickly and effectively removed, the explosion risk of sampling operation is effectively eliminated, and the phenomenon that the residual pressure drags focus tissues is avoided.

The application discloses a biopsy needle body assembly, which comprises a left body, a right body and a trigger mechanism, the left body and the right body are matched with each other, the trigger mechanism is slidably arranged in a cavity formed by matching the left body and the right body, and the body assembly further comprises a fastening device which is slidably matched on the left body and the right body. The application can improve the structural stability and the connecting strength of the biopsy needle body assembly.

The invention relates to a core biopsy needle (1) for obtaining a tissue sample comprising a hollow outer needle (10) extending along a longitudinal axis (L), and an inner needle (20), which is at least partially arranged or arrangeable within said outer needle along said longitudinal axis (L), wherein said inner needle (20) comprises at least one tissue-holding surface (21), wherein said tissue-holding surface (21) is adapted such that a tissue (3) adheres to the at least one tissue-holding surface (21), when the core biopsy needle (1) is inserted into the tissue (3).

A biopsy needle positioning system, a biopsy needle positioning method, and a medical device system is described. The biopsy needle positioning system includes a marker assembly including a marker and a cannula that is fixed relative to the marker and carries a biopsy needle, an image acquisition apparatus being mounted at a position at which the marker can be photographed, and configured to acquire an RGB image of the marker and a depth image corresponding to the RGB image, and a positioning apparatus, which extracts an RGB feature and a point cloud feature of the marker based on the RGB image and the depth image of the marker by using a trained network model, and estimates an estimated position and attitude of the marker based on the RGB feature and the point cloud feature, to obtain an insertion point and an insertion angle of the biopsy needle.

The invention discloses an angle locator for ablation biopsy needle puncture under CT guidance, which belongs to the technical field of ablation biopsy needle angle locators. During the movement, the main gear at the outer end of the rotating rod drives the slave gear one and the slave gear two to be linked, and drives the positive screw and the reverse screw to rotate. During the rotation, the positive screw and the reverse screw push the abutment pad to extend outward for fixation, so as to realize the function of fixation during the movement and the function of double linkage. The abutment pad can also be moved outward and inward by manual rotation. The internal angle scanning part and the angle identification groove are used in combination to realize the measurement of the rotation angle of the biopsy needle angle adjustment part during the rotation, so as to improve the rotation accuracy and quickly focus. The alignment laser is used in combination with the biopsy needle placement groove, and the alignment laser is connected with the focusing points of the fixed laser and the rotating laser accordingly, so as to realize the function of the biopsy needle being able to be adjusted separately.

The application discloses an electric tube cutting needle, which comprises a tube cutting needle assembly and a shell, the tube cutting needle assembly comprises an inner needle, an outer needle and a cutting needle, the inner needle, the outer needle and the cutting needle are connected with an inner needle seat, an outer needle seat and a cutting needle seat arranged in the shell respectively, the electric tube cutting needle further comprises an upper string sliding block and an electric driving mechanism, wherein the upper string sliding block is used for driving the tube cutting needle assembly to realize upper string; the electric driving mechanism is connected with the upper string sliding block and is used for driving the upper string sliding block to make linear reciprocating motion. The electric tube cutting needle can drive the upper string by the motor, is more labor-saving, saves the physical strength of doctors and guarantees normal operation of surgery; and the problem of poor structural stability of the biopsy needle caused by another labor-saving structure is avoided.

The invention discloses a puncture surgery blood coagulation needle which comprises a circuit board module, a T-shaped thermocouple, an electric heating wire, a stainless steel needle, a first stainless steel tube, a second stainless steel tube, a handle and a power switch. The circuit board module is integrated with a temperature control circuit, the signal input end of the circuit board module is connected with the T-shaped thermocouple, and the temperature measuring end of the T-shaped thermocouple is embedded into the stainless steel needle; the power output end of the circuit board module is electrically connected with one end of the electric heating wire, and the other end of the electric heating wire is electrically connected with the near end of the stainless steel needle. The whole heating wire is wrapped by the first stainless steel tube, and the first stainless steel tube and the near end of the stainless steel needle are detachably fixed through a threaded connection part; the circuit board module and the power switch are wrapped by the second stainless steel tube, and the handle is fixed to the end, close to the first stainless steel tube, of the second stainless steel tube. The device can be used with a biopsy needle, and the bleeding risk caused by a biopsy operation can be prevented.

The utility model relates to the technical field of medical instruments, in particular to an inner knife tube transmission structure and a biopsy needle. The inner knife tube transmission structure comprises a fixing sleeve, an inner knife tube, an outer knife tube, an outer knife tube, an inner knife tube, an outer knife tube and an inner knife tube transmission mechanism, and is characterized in that the fixing sleeve drives the inner knife tube to synchronously act; the moving sleeve is used for driving the inner cutter tube to move in the axial direction, and the inner wall of the moving sleeve is inwards provided with a second protrusion in a protruding mode; the limiting piece is fixedly arranged on the outer wall of the inner knife tube, the limiting piece is arranged at at least one end of the fixing sleeve, and a limiting space is formed between the limiting piece and the first protrusion; the second protrusion is arranged in the limiting space, the limiting piece is arranged at one end, in the axial direction of the inner cutter tube, of the second protrusion in a blocking mode, and the first protrusion is arranged at the other end, in the axial direction of the inner cutter tube, of the second protrusion in a blocking mode. According to the scheme, when the movable sleeve drives the inner cutter tube to move in the axial direction, the movable sleeve and the fixed sleeve cannot be separated, and the problem of axial transmission failure is avoided.

The present invention belongs to the technical field of angle locators for ablation biopsy needles. Disclosed is an angle locator for ablation biopsy needle puncture under CT guidance. During movement, a main gear at the outer end of a rotating rod drives a first driven gear and a second driven gear to perform linkage, so as to drive a right-hand threaded screw and a left-hand threaded screw to rotate; then during rotation, the right-hand threaded screw and the left-hand threaded screw push an abutting pad to extend outward for fixation, thereby realizing the fixation function during movement, and achieving a double-linkage function. The abutting pad also can be manually rotated to move outward and inward. By using an inner angle scanning member in cooperation with angle marking holes, the rotation angle of a biopsy needle angle adjustment member can be measured during rotation, thereby improving the rotation accuracy and also allowing quick focusing. Moreover, an alignment laser is used in cooperation with a biopsy needle placement slot, so that by correspondingly aligning the focus point of the alignment laser and the focus points of a fixed laser and a rotating laser, the function of independently adjusting a biopsy needle can be realized.

The present invention relates to a method and apparatus for transperineal prostate biopsy. In one embodiment, the apparatus for transperineal prostate biopsy includes: (a) a first parallel mechanism for generating translational or rotational motion of an ultrasound probe; (b) a series-parallel hybrid mechanism as an end effector of the first parallel mechanism for accommodating the ultrasound probe and a biopsy needle guide; (c) a drive module of the series-parallel hybrid mechanism for generating rotational and translational motion of the ultrasound probe along an axis of the ultrasound probe; (d) a second parallel mechanism of the series-parallel hybrid mechanism for controlling the configuration of the biopsy needle guide relative to the ultrasound probe and constraining the trajectory of the biopsy needle to an axial imaging plane of the ultrasound probe; and a controller for performing kinematic modeling.

The utility model discloses a pressure compensation system of a rotary cutting biopsy needle, the rotary cutting biopsy needle comprises a needle tube and a tissue collector, and the tissue collector is communicated with the needle tube. The pressure compensation system comprises an air suction pipeline. One end of the air suction pipeline is communicated with the tissue collector, and the other end of the air suction pipeline is connected with the host; the pressure compensation system further comprises an air supplementing pipeline, one end of the air supplementing pipeline communicates with the needle tube, the other end of the air supplementing pipeline communicates with outside air, and a first pressure balancing valve for controlling on-off of the air supplementing pipeline is arranged on the air supplementing pipeline. When sampling is carried out, the first pressure balancing valve and the negative pressure air inlet valve are opened, under the action of negative pressure provided by the main machine, external air enters the needle tube, the tissue collector and the air suction pipeline through the air supplementing pipeline, and cut human tissue enters the tissue collector from the needle tube along with the air entering the needle tube. According to the utility model, pressure compensation can be carried out in the process of extracting human tissues, so that secondary injury to the human body is prevented.

The present invention provides a rotary cutting biopsy needle, comprising a distal tube portion, wherein the distal tube portion sequentially comprises, from outside to inside, an outer sheath tube, a puncture needle tube, and a rotary cutter tube. Before puncture, the distal end of the puncture needle tube is located in the outer sheath tube, and the distal end of the rotary cutter tube is located in the puncture needle tube. During puncture, the puncture needle tube and the rotary cutter tube emerge from the distal end of the outer sheath tube together to puncture the tissue, and in the puncture process, the distal end of the rotary cutter tube remains located in the puncture needle tube. After the puncture is completed, the rotary cutter tube extends out of the distal end of the puncture needle tube, and the tissue is sampled by means of rotary cutting. Since the distal end of the rotary cutter tube is located within the puncture needle tube during puncture, the rotary cutter tube may pierce human tissues together with the puncture needle tube, thereby ensuring the smoothness of the outer surface of the puncture needle tube and making puncture breakthrough easier.

The present disclosure relates to the field of endoscopy. In particular, the present disclosure relates to systems and methods for real-time visualization of target tissue, which allows the position / orientation of a biopsy needle to be determined before its first actuation.

This invention discloses a flexible biopsy needle robot with force sensing function and its lung navigation method, belonging to the field of lung disease diagnosis and treatment. The robot includes a movable support, a drive system, and a flexible biopsy needle catheter. The drive system is mounted on the movable support via an electric slide, and the flexible biopsy needle catheter is mounted on the drive system. The movable support is used for coarse adjustment of the pose of the flexible biopsy needle catheter, and the electric slide is used for coarse adjustment of the axial feed motion of the flexible biopsy needle catheter. The drive system includes a deflection drive mechanism and a feed mechanism, used for fine adjustment of the omnidirectional deflection motion and axial feed motion of the flexible biopsy needle catheter, respectively. The drive system integrates a single-axis force sensor with high dynamic response, which can be used to detect the puncture force of the flexible biopsy needle, realizing the puncture force sensing function. This invention has the advantages of compact structure and good flexibility, and can play a significant role in the diagnosis of thoracic surgical diseases.