44 results about "Lung punctures" patented technology

The invention discloses a lung puncture navigation system for pneumology department, which relates to the technical field of lung puncture navigation and comprises a data collection module, a data processing module, a calculation module and a navigation module. The method has the advantages that the focus position can be accurately positioned in real time by collecting the lung image data and the respiratory movement data of the patient and utilizing calculation of respiratory compensation, the need of adjusting the position of a puncture needle for multiple times is avoided, the optimal puncture path can be calculated, and the puncture accuracy is improved. Therefore, intelligent biopsy puncture path planning can be carried out according to specific conditions of the patient, biopsy risks are reduced, focus position changes caused by respiratory movement can be accurately compensated through real-time respiratory compensation application, and it is ensured that navigation precision and biopsy effects are not affected by the respiratory movement.

The invention relates to the technical field of image reconstruction, in particular to a lung puncture three-dimensional image reconstruction positioning system and method. The method comprises the following steps that CT scanning sequence data and chest wall multi-point infrared mark data of a patient are obtained, wherein the chest wall multi-point infrared mark data comprise respiration reference position data, real-time angular velocity data of a chest wall motion state and real-time acceleration data of each point of the chest wall; and inputting the real-time angular velocity data and the real-time acceleration data into a lung tissue nonlinear viscoelasticity prediction model based on a Maxwell model according to the chest wall multi-point infrared marking data to carry out iterative calculation so as to obtain lung tissue stress-strain relation data. According to the method, the non-feature region can be simplified while the grid density of the feature region is kept, the calculation burden is greatly reduced, and the detail and global consistency of reconstruction is ensured.

The invention provides a multifunctional needle inserting device for percutaneous lung puncture under the guidance of a CT image, and relates to the technical field of medical instruments. A motor base is installed at the left end of the base plate through bolts, a first motor is installed on the motor base through bolts, a chain wheel is fixed to an output shaft of the first motor, and a rotating column is installed on the base plate through a bearing. The front-back position of a puncture needle is adjusted by operating a third motor, the orientation of the puncture needle can be adjusted by operating a fourth motor, the height of the puncture needle can be adjusted by operating a fifth motor, a fifth hydraulic rod is stretched out and drawn back to enable a sliding seat to drive a rotating rod to rotate, and adjustment of the puncture elevation angle of the puncture needle is achieved; the sixth motor is operated to enable the moving seat to move on the mounting seat, so that the puncture needle punctures the diseased region, and the flexibility is high; a first hydraulic rod extends to enable a first rotating ring to drive six sets of movable seats to move, six sets of clamping plates clamp the puncture needle, and the first hydraulic rod retracts to quickly disassemble the puncture needle.

The invention relates to the technical field of puncture auxiliary devices, in particular to a lung puncture laser guiding device based on a CT image and a control method. A set of complete puncture guiding and feedback mechanism is constructed through the reference positioner, the precise positioner and the visual feedback system, and the reference positioner forms a clear needle inserting mark on the body surface of a patient by emitting positioning laser. The precise positioner realizes precise projection and visual guidance of a theoretical needle inserting angle through cooperative movement of a first sliding rail, a second sliding rail and a braking sliding seat on the first sliding rail and the precise laser position indicator, and the visual feedback system captures and analyzes an actual operation image of a doctor in real time, calculates deviation between the actual needle inserting angle and a theoretical value, and displays the actual needle inserting angle and the theoretical value. Repeated puncture times are reduced, and the operation success rate and the patient safety are improved; the technical problems that in the puncture operation process, due to the fact that the angle is not easy to grasp, the puncture frequency of a patient is increased, pain of the patient is increased, and radiation risks of doctors and the patient are increased are solved.

The application discloses a percutaneous lung puncture path planning method and device based on lung segment level blood vessel structure constraint, and the method comprises the following steps: performing isotropic resampling, lung lobe segmentation and bronchial tree extraction on CT image data to generate a three-dimensional lung dissection model; inputting the three-dimensional lung dissection model into a lung segment semantic segmentation module to output a lung segment boundary; reconstructing the topological connection relationship between lung segment level blood supply arteries and drainage veins from the lung segment boundary to obtain a structured lung segment level blood vessel atlas; constructing a dynamic puncture risk field voxel map according to the structured lung segment level blood vessel atlas; sampling a plurality of candidate needle entry points in a surface feasible needle entry region to generate an initial path set in the three-dimensional lung dissection model; and weighting the path length, cumulative risk value, puncture angle penalty and high-density lung tissue volume according to a multi-objective optimization function to output a final puncture path. The application significantly improves the safety boundary and clinical applicability of percutaneous lung puncture.

The invention provides a skin expanding device and an in-vitro artificial membrane lung puncture sleeve bag, the skin expanding device comprises a plurality of skin expanding tubes which are different in tube diameter and are arranged in a nested mode, the skin expanding tubes are used for expanding, establishing and maintaining a percutaneous puncture channel in an in-vitro artificial membrane lung puncture operation, the skin expanding tubes are connected in a sliding mode, and each skin expanding tube comprises a tube body; the connecting part is fixedly connected to one end of the pipe body; the inserting part is of a through hollow circular truncated cone structure, and the end, with the large diameter, of the inserting part is fixedly connected with the end, away from the connecting part, of the pipe body and communicates with the pipe body; a bayonet is formed in the skin expanding pipe from top to bottom in a penetrating mode and used for fixing a guide wire.

The present invention relates to the technical field of image reconstruction, and particularly to a three-dimensional imaging reconstruction positioning system and method for lung puncture. The method includes the following steps: obtaining CT scan sequence data of a patient and multi-point infrared marker data of the chest wall, where the multi-point infrared marker data of the chest wall includes respiratory reference position data, real-time angular velocity data of the chest wall motion state, and real-time acceleration data of each point of the chest wall; based on the multi-point infrared marker data of the chest wall, a non-linear viscoelastic prediction model of lung tissue based on the Maxwell model is established, and the real-time angular velocity data and the real-time acceleration data are input into the non-linear viscoelastic prediction model of lung tissue for iterative calculation to obtain lung tissue stress-strain relationship data. The present invention can simplify the non-feature region while maintaining the grid density of the feature region, greatly reducing the computational burden and ensuring the details and global consistency of the reconstruction.

The application discloses a navigation system for lung puncture in pneumology, and relates to the technical field of lung puncture navigation, comprising a data collection module, a data processing module, a calculation module and a navigation module. The application has the advantages that lung image data and respiratory motion data of a patient are collected, respiratory compensation calculation is utilized, the lesion position can be accurately positioned in real time, the need for multiple adjustments of the position of a puncture needle is avoided, the optimal puncture path can be calculated, intelligent biopsy puncture path planning can be carried out according to the specific condition of the patient, the biopsy risk is reduced, and the lesion position change caused by respiratory motion can be accurately compensated through real-time respiratory compensation application, which ensures that the navigation accuracy and biopsy effect are not affected by respiratory motion.

The invention relates to the technical field of fixing devices, and discloses a thoracic lung puncture needle fixing device which comprises a connecting base, two first threaded rods are fixedly mounted on the side wall of the front face of the connecting base, first telescopic rods are fixedly mounted at the ends, away from the connecting base, of the first threaded rods, and second telescopic rods are slidably connected to the first telescopic rods. The ends, away from the first telescopic rods, of the second telescopic rods are fixedly sleeved with fixing lantern rings, and connecting plates are fixedly installed on the side walls, close to each other, of the two fixing lantern rings. By designing the lung puncture needle fixing device, when the lung puncture needle fixing device is used, the needle tail of a puncture needle is placed in a second circular ring, a second rotary knob is screwed, two sets of extrusion fixing blocks are driven by a third threaded rod to get close to each other to fix the puncture needle, then a second telescopic rod slides along two sets of first telescopic rods, and the puncture needle penetrates into the body of a patient; therefore, the situation that the needle tip scratches internal organs of a patient due to hand shaking caused by manual fixation after the puncture needle penetrates into the human body is reduced.

The utility model provides a body position bolster for lung puncture under the guidance of CT (computed tomography). The body position bolster comprises a headrest part and a trunk part which is detachably connected with the headrest part, the headrest part comprises two side pieces and a middle piece which is connected between the two side pieces and is made of a soft material, and the highest point of each side piece is higher than the middle piece. The limiting blocks are rotated in the direction away from the notches, the limiting blocks drive the rotating plates to rotate, the rotating plates drive the rotating shafts to rotate on the side pieces, and therefore the two limiting blocks are in the standing state, the two hands of a patient can hold the two limiting blocks at the moment, and therefore the patient has grippers and supporting points; the patient can be kept in the current body position state; when the patient does not need to use the limiting block, the medical staff can rotate the limiting block to the notch, so that the limiting block limits and supports the two sides of the head of the patient, and the comfort of the patient is guaranteed.

The invention discloses a lung puncture multifunctional needle inserting device capable of achieving accurate positioning, and relates to the technical field of medical instruments, the lung puncture multifunctional needle inserting device comprises a puncture mechanism, the puncture mechanism comprises a biopsy needle, the biopsy needle is sleeved with a guide needle, and a positioning mechanism is arranged outside the biopsy needle; the positioning mechanism comprises a stable supporting unit, the stable supporting unit is arranged outside the biopsy needle, and the stable supporting unit is used for supporting the biopsy needle and the holding end of the guide needle; by means of the lung puncture multifunctional needle inserting device capable of achieving accurate positioning, medical staff can be far away from CT scanning equipment, harm caused by CT scanning to the medical staff is effectively reduced, the situation that the holding end of the puncture needle inserting device shakes and deviates due to the fact that the gravity center is close to the upper portion can be prevented, after the puncture needle inserting device pierces into the body of a patient, the medical staff does not need to conduct manual righting, and the labor intensity of the medical staff is lowered. The use stability of the puncture needle inserting device is effectively guaranteed, the positioning precision and convenience of the puncture needle inserting device are improved, and CT scanning radiation injuries of medical staff are reduced.

According to the technical scheme, the automatic precise lung puncture system is characterized by comprising a body, the middle of the body is provided with an operation space used for conducting puncture operation, and the body is provided with a puncture needle mechanical arm used for holding and operating a puncture needle and an injector mechanical arm used for holding an injector; the puncture needle mechanical arm and the injector mechanical arm are distributed around the operation space; a gradienter used for measuring the inclination angle of the body is arranged on the outer wall of the body. The puncture needle mechanical arm, the injector mechanical arm and the gradienter are in circuit connection with a main control module located in the body. According to the robot system disclosed by the invention, the operation time can be shortened, the physical and psychological burden of a patient is reduced, the efficiency and safety of the whole operation process are improved, human errors and intraoperative complications are reduced, and the robot system is suitable for treatment of pulmonary nodules and diagnosis and treatment of other pulmonary lesions.

The invention discloses a breathing motion compensation method and system based on master-slave force feedback. The breathing motion compensation method comprises the following steps that firstly, slave end acting force of breathing of a patient on a puncture needle is measured; 2, if the slave end acting force is equal to 0, directly returning to the step 1, otherwise, transmitting the slave end acting force to the master hand according to a preset proportion; 3, if the feedback force of the master hand is increased, the motion acceleration of the master hand is increased, so that the motion acceleration of the puncture needle is increased, and the step 1 continues to be executed; if the feedback force of the master hand is reduced, the motion acceleration of the master hand is reduced, so that the motion acceleration of the puncture needle is reduced, and the first step is continued; and if the feedback force of the master hand is not changed, directly returning to the step 1. According to the breathing motion compensation method, breathing motion compensation is introduced in the master-slave lung puncture operation process, so that a patient can continue to puncture under breathing, and the force of the master hand is accurately fed back to the slave end mechanical arm.

The application relates to the technical field of medical devices and computer-aided surgical navigation, and discloses a virtual positioning CT-guided lung biopsy method, which utilizes real-time acquired body surface point cloud data to drive a biomechanics model, deduces a displacement field of lung internal grid nodes, and generates a virtual lung model which changes with respiratory motion. Through a fiber grating sensing array embedded in a puncture needle, the three-dimensional shape of the needle body is solved in real time, and an axial force strain is separated. The system monitors the first derivative characteristics of the strain, and when a mechanical event representing penetration of an anatomical boundary is identified, a spatial deviation vector of the physical coordinates of the needle tip and the virtual predicted coordinates is calculated. A local space calibration field is constructed by using a radial basis function, the virtual lung model is non-rigidly corrected based on the deviation vector, and a dynamic navigation image is generated. The application improves the positioning accuracy of lung puncture navigation by combining body surface deduction and puncture mechanical feedback correction model prediction error without increasing the radiation dose.

The utility model provides a lung puncture robot and a master-slave control puncture system with force feedback, and the robot comprises an upper translation mechanism with a Corexy structure; the lower layer translation mechanism is provided with a Corexy structure; the bracket is connected with the lower surface of the upper-layer translation mechanism and the upper surface of the lower-layer translation mechanism; one end of the puncture needle inserting mechanism is rotationally connected to the upper-layer translation mechanism, and the other end of the puncture needle inserting mechanism is rotationally connected to the lower-layer translation mechanism; the upper-layer translation mechanism and the lower-layer translation mechanism drive the puncture needle inserting mechanism to move in the X direction and the Y direction; the puncture needle is connected to the puncture needle inserting mechanism and used for executing puncture operation. The robot provided by the utility model has five degrees of freedom, has the characteristics of small volume and light weight, and can enter a CT scanning hole together with a patient to effectively compensate the influence of respiratory movement on an operation; the puncture system provided by the utility model can improve the safety and efficiency of a lung puncture operation.

The invention discloses a 3d printing device for assisting lung puncture, and belongs to the technical field of medical auxiliary instruments, the 3d printing device comprises a fixed clamping and pressing assembly and an angle adjusting assembly, the fixed clamping and pressing assembly is arranged on one side of the angle adjusting assembly, the fixed clamping and pressing assembly comprises a fixed sleeve, the lower end of the fixed sleeve is fixedly connected with a fixed base, and the lower end of the fixed base is fixedly connected with an angle adjusting assembly. A stretchable sliding column is slidably connected to the end, away from the fixed base, of the fixed sleeve, a clamping and pressing plate is fixedly connected to one side of the outer ring of the sliding column, and meanwhile a clamping groove used for guiding is formed in the inner side of the clamping and pressing plate. According to the device, multi-degree-of-freedom smooth puncture angle fine adjustment is achieved, the pointer is driven by the semicircular block to slide along the semicircular plate and accurately point to the current set angle, and instant and visual angle feedback is provided; in addition, the disinfection treatment of the device and the real-time observation of a lower skin mark point and a puncture needle inserting point in the operation process are greatly facilitated, and the operation convenience and the puncture accuracy are further improved.

The lung puncture coaxial hollow-core needle comprises a four-way communicating body, a first connecting opening is formed in the outer surface of the four-way communicating body, a locking type conical connector is detachably connected to the end opening of the first connecting opening, a rubber film is fixedly connected to the end opening of the locking type conical connector, and the rubber film is fixedly connected to the outer surface of the four-way communicating body. The outer surface of the four-way communicating body is provided with a second connecting port, the port of the second connecting port is fixedly connected with a Luer taper, a tail plug rubber membrane, a needle core or a biopsy needle penetrates through the rubber membrane and then enters a relatively-closed coaxial needle cavity, pollution and air embolism are reduced, a one-way air valve is utilized, a gap between the needle core and the coaxial needle cavity is increased, and the sealing effect is good. Air pressure in a needle cavity is reduced, air embolism can be effectively reduced, cutting and sampling are facilitated by increasing the gap between the needle core and the coaxial part and less frictional resistance, sufficient tissue sample size is obtained, a medicine injector is connected laterally and does not conflict with the needle core or a puncture needle, and medicine injection operation during puncture is quicker and more convenient.

The invention provides a thoracic surgery lung puncture navigation system and method. The thoracic surgery lung puncture navigation system comprises medical imaging equipment, a model construction module, a positioning patch module, intelligent head display equipment, a puncture needle and a puncture guide plate. The medical imaging equipment generates a lung tissue image containing the positioning patch; the puncture guide plate comprises a plurality of photosensitive patches and a guide hole which penetrates through the main panel and is used for guiding a puncture needle; the model building module is used for building a virtual model comprising lung tissue and a planned puncture path and a puncture guide plate axis model according to the lung tissue image; and the intelligent head display equipment identifies the positioning patch to determine a coordinate transformation matrix between the virtual model and an actual scene, and projects the virtual model according to the transformation matrix, so that a doctor can coincide an axis model of the puncture guide plate with a planned virtual path, a puncture needle can be quickly guided in, and puncture is quickly realized.

The present invention belongs to the technical field of lung puncture positioning, and particularly relates to a lung puncture positioning path planning system. The invention obtains medical image data of the lung region through an information acquisition module, and extracts key structures and feature information through a preprocessing module. Subsequently, a path planning module generates multiple simulated puncture paths based on this information, and a path evaluation module quantitatively evaluates the paths according to preset evaluation conditions to determine the optimal puncture path and alternative puncture paths. A path output module visually displays the optimal puncture path and provides corresponding puncture parameters, facilitating accurate lung puncture operations by doctors. During the determination of the puncture path, the selection of the puncture path is further optimized through the generation and evaluation of obstacle avoidance paths, reducing the puncture risk, enabling doctors to more accurately and quickly determine the positioning path of lung puncture, reducing the uncertainty during the puncture process, and improving the accuracy and safety of the puncture.

The utility model discloses a lung puncture positioning regulator which comprises a base and a pressing plate which are detachably connected, bonding portions are arranged on the periphery of the base, a lower semicircular groove is formed in the center of the base, an upper semicircular groove is formed in the center of the pressing plate, the pressing plate is installed above the base, and the pressing plate is connected with the base. The upper semicircular groove and the lower semicircular groove of the base and the upper semicircular groove of the pressing plate form a spherical containing cavity, a round hole is formed in the bottom end of the spherical containing cavity, and an adjusting round head is placed in the round hole. According to the lung puncture positioning adjuster, the base, the pressing plate, the lower semicircular groove, the upper semicircular groove, the adjusting rod, the adjusting round head and other structures are combined, a puncture part can be accurately positioned, the puncture frequency and time are reduced, and the CT radiation quantity of a patient and the probability of complications are reduced.

The utility model is suitable for the technical field of medical instruments, and provides an interventional lung puncture treatment body position pad which comprises a bottom plate. The movable supporting plate is hinged to the bottom plate; the first air bag and the second air bag are fixedly mounted on the bottom plate and the movable supporting plate respectively; the body position adjusting mechanism is installed on the bottom plate and used for adjusting the lying body position of a patient; and the inflating mechanism is mounted on the bottom plate and is used for inflating the first air bag and the second air bag. According to the interventional lung puncture treatment body position pad, the lying posture of a patient can be adjusted, time and labor are saved in the operation process, operation is convenient, and practicability is high.

The utility model relates to the technical field of vibrating screens, in particular to a lung needle biopsy coaxial needle sheath system capable of preventing and treating air regurgitation, which comprises an outer sheath and a coaxial needle core, a needle inlet and a needle outlet are respectively arranged at two ends of the outer sheath, the diameter of the needle inlet is larger than that of the needle outlet, and an anti-regurgitation adhesive film is arranged at the needle inlet. The anti-backflow rubber film is arranged at the needle inlet of the outer sheath, the coaxial needle core and the needle biopsy needle are allowed to repeatedly pass through the outer sheath, air can be prevented from entering the chest, and complications such as pneumothorax and hemopneumothorax are reduced; meanwhile, a branch pipe and a valve are arranged on the side face of the outer sheath, artificial negative pressure can be formed through suction of the branch pipe and the valve, various complications such as pneumothorax or hemopneumothorax can be found and treated in the first time, the puncture injury risk of complex and dangerous parts is reduced as much as possible, and the success rate and safety of the thoracic biopsy operation are improved.

The invention discloses a path planning method for a puncture robot in a lung free breathing state, which comprises the following steps: firstly, analyzing the interaction force between a flexible needle and multi-layer soft tissues of a human body in different puncture stages, and establishing a kinematics model for interaction between the flexible needle and the multi-layer soft tissues by introducing a single-wheel vehicle model; then, a needle point position prediction model is built based on the nonlinear rod model, and the actual deflection posture of the flexible needle in the body is calculated in real time through force and torque parameters obtained by a force sensor at the tail end of the puncture mechanical arm. According to the method, a curve path generated by a flexible needle and a tissue interaction model is used for replacing a linear path in a traditional rapid search tree algorithm, and meanwhile, dynamic position changes of a target spot and an obstacle in a free breathing state are considered, so that dynamic obstacle avoidance is realized, and the puncture precision of a robot is improved. And finally, a lung puncture robot experiment platform in a free breathing state is constructed, and high-precision and high-efficiency puncture robot path planning can be realized in a free breathing environment.

The invention provides a lung puncture robot and a master-slave control puncture system with force feedback, and the robot comprises an upper translation mechanism with a Corexy structure; the lower layer translation mechanism is provided with a Corexy structure; the bracket is connected with the lower surface of the upper-layer translation mechanism and the upper surface of the lower-layer translation mechanism; one end of the puncture needle inserting mechanism is rotationally connected to the upper-layer translation mechanism, and the other end of the puncture needle inserting mechanism is rotationally connected to the lower-layer translation mechanism; the upper-layer translation mechanism and the lower-layer translation mechanism drive the puncture needle inserting mechanism to move in the X direction and the Y direction; the puncture needle is connected to the puncture needle inserting mechanism and used for executing puncture operation. The robot has five degrees of freedom, has the characteristics of small size and light weight, can enter a CT scanning hole together with a patient, and effectively compensates the influence of respiratory movement on an operation; according to the puncture system, the safety and efficiency of lung puncture operation can be improved.

The present invention provides a lung puncture biopsy surgical robot, comprising: an X / Y translation module, the X / Y translation module moves in the X direction and the Y direction to locate the insertion point of the puncture needle; an angle adjustment module, the angle adjustment module adjusts the puncture angle of the puncture needle according to the set angle; a puncture needle insertion module, the puncture needle insertion module controls the puncture needle to be sent into the lesion position according to the insertion point and the puncture angle, completes the puncture biopsy and is pulled out. The present invention has a compact structure and can complete the adjustment of the puncture needle position and angle in a narrow CT scanning hole or under a medical diagnostic X-ray machine; realizes autonomous puncture, improves puncture accuracy and puncture speed, reduces puncture time, and reduces radiation damage.

The invention relates to the technical field of medical apparatuses and instruments, and discloses a pulmonary nodule puncture positioning device based on lung treatment, which comprises a workbench, a puncture mechanism for treating the lung of a patient is arranged at the top of the workbench, and the puncture mechanism comprises a moving assembly, according to the moving assembly, electric guide rails are arranged on the left side and the right side of the top of the workbench correspondingly, sliding blocks are slidably connected to the exteriors of the two electric guide rails correspondingly, and supporting columns are fixedly connected to the tops of the two sliding blocks correspondingly. According to the device, the electric guide rail drives the sliding block to slide, then the supporting column and the containing shell are driven to move, and the beneficial effect of preliminarily aligning the to-be-punctured area of the lung of the patient is achieved. According to the structure, the left-right position of the puncture mechanism can be flexibly adjusted, an approximate area is rapidly positioned, a foundation is laid for follow-up accurate puncture, and the initial positioning efficiency of puncture is improved.

The invention provides a pathological physician digital slice actual combat simulation training examination system, and belongs to the technical field of examination systems. Comprising a cloud module, an AI algorithm extraction module, an examination question generation module and an examination question adjustment module. The examination subject adjusting module sets examination subjects, and the examination subjects, including metastatic tumors, small blue circular cell malignant tumors, endoscopic biopsy specimens and lung puncture specimens, are set according to a sub-specialized system according to the requirements of training and teaching major stiffness. The cloud module and the AI algorithm extraction module establish a test question bank according to real clinical cases and establish the test question bank according to the assessment subject, and the test question bank comprises clinical pathology information of the cases. According to the invention, the mastery degree of the pathologists on the diseases is assessed in a real pathologist working scene.

The utility model discloses a disposable lung puncture positioning bag which comprises a bottom box, a plurality of containing grooves with upward openings are formed in the bottom box, an edge tool box is arranged on the bottom box, the edge tool box is arranged to be of a long-cylinder-shaped structure matched with puncture positioning needles, the openings of the edge tool box face outwards in the horizontal direction, the edge tool box is arranged in an inclined mode, and the edge tool box is arranged in the containing grooves. And the opening at the front end of the sharp tool box is higher than the rear end of the sharp tool box along the vertical direction. The utility model provides a disposable lung puncture positioning bag which can collect various surgical articles used in lung puncture surgery into a sterile positioning bag, and a special edge tool box matched with a puncture positioning needle is arranged in the positioning bag, so that the puncture positioning needle can be conveniently recycled in time.

The invention relates to an injectable spherical instrument for percutaneous lung puncture of pulmonary nodules. The injectable spherical instrument comprises a forceps body, a fixed handle, a movable handle, a fixed tube, a movable tube, a spiral spring, resection forceps, an injection tube, a connecting tube and an injector. A fixed handle is fixedly connected to the side face of the clamp body, and a movable handle is rotatably arranged on the side face of the clamp body. A linkage rod is arranged at the end, located on the forceps body, of the movable handle, a fixed pipe is fixedly connected to one end of the forceps body, a movable pipe is inserted into the fixed pipe, one end of the movable pipe is connected with cutting forceps, and the other end of the movable pipe is connected to the linkage rod. The injection tube is located in the movable tube, one end of the injection tube penetrates out of the excision forceps in the lateral direction, the other end of the injection tube penetrates out of the tail of the forceps body and is connected with the connecting tube, and the other end of the connecting tube is connected with the injector. One end of the spiral spring is fixed on the clamp body, and the other end of the spiral spring is fixed on the movable handle. The device has the advantages that filling and hemostasis are further carried out on an operation cavity while nodules are cut off, and postoperative recovery is accelerated.

The present invention relates to a flexible cable driven nuclear magnetic resonance compatible puncture positioning surgical robot, comprising a flexible cable driving module, a flexible cable, a guide wheel group, a lasso, a puncture rack, a ball wheel, a ball cover, a ball rack, a puncture needle, and a puncture needle clamp. The flexible cable driving module is centrally arranged at the far end of the nuclear magnetic resonance instrument. The flexible cable is led out of the flexible cable driving module and leads to the puncture rack in the nuclear magnetic resonance instrument, and then output from the ball wheel centering above the rack. The end of the output flexible cable is connected to the puncture needle clamp, and a puncture needle holder is fixed in the puncture needle clamp. The puncture needle has five degrees of freedom, three degrees of freedom of movement realize the spatial movement of the puncture needle, and the two degrees of freedom of rotation around its own axis realize the insertion of the puncture needle at various angles. In the nuclear magnetic resonance instrument, the device does not contain ferromagnetic materials. The puncture positioning surgical robot involved in the present invention is driven by a flexible cable and can realize the flexible cable centering output. The puncture needle has five degrees of freedom, and can realize kidney puncture and lung puncture.