69 results about "Puncture procedure" patented technology

Provided is a puncture assistance system, a puncture assistance device, a puncture needle position correction system, and a surgical robot. The system includes a processor configured to: obtain a scan image of a target object; the scan image including at least one of a preoperative image, a first image from a first time period, and a second image from a second time period; the first time period is earlier than the second time period; generate puncture guidance information based on puncture status information and the scan image; guide a puncture operation based on the puncture guidance information; and display the puncture guidance information.

The invention discloses a puncture tissue recognition and transmembrane event control method and system based on force sense and image fusion, and the method comprises the steps: collecting a force signal at the tail end of a puncture needle, a real-time ultrasonic image sequence and the pose data of a mechanical arm, and carrying out the timestamp alignment to construct a synchronous data set; on the basis, tissue stiffness, a force change rate, extreme value features, texture features, envelope boundary features and optical flow displacement features are extracted, the tissue level where the puncture needle is located is recognized through multi-modal fusion, and a membrane penetrating event is detected in combination with the force sense extreme value features and envelope boundary fracture; according to the tissue level and the transmembrane event, event driving control strategies such as constant-speed propulsion, deceleration early warning, rotation assistance, transmembrane braking and path compensation are automatically triggered, so that the puncture process is accurately regulated and controlled. The accuracy of puncture tissue recognition and the reliability of transmembrane event judgment can be remarkably improved, and the safety and stability of puncture operation are improved.

The invention relates to the technical field of medical simulation, in particular to an ablation needle puncture training auxiliary system, and aims to solve the problems of insufficient tactile feedback and low fineness when an existing ablation needle puncture training system simulates a needle tip to penetrate through multiple layers of biological tissues so as to improve the'needle feeling 'cognition and fine operation skills of doctors. The system is characterized by comprising a physical interaction module, a virtual simulation module, a central processing module and a visual presentation module, a high-fidelity virtual tissue model is constructed, real-time multi-mode tactile feedback is combined, and an accurate needle-tissue interaction mechanical simulation and multi-dimensional tactile rendering algorithm is adopted. By the adoption of the technical scheme, the problem of a touch gap is effectively solved, the authenticity and effectiveness of simulation training are improved, and the precision and safety of clinical puncture operation are remarkably improved.

The invention provides a kidney needle biopsy quantitative teaching evaluation system and method based on mixed reality, and the system comprises a virtual-real space registration unit which is used for building the space mapping between a virtual kidney model containing a renal cortex layered anatomical structure and a simulation entity training model body, and completing the space registration of the virtual model and the entity model body; the operation data acquisition module is used for acquiring three-dimensional motion trail data of the puncture needle in the puncture operation process; according to the quantitative scoring module, the multi-dimensional weighted scoring model takes the cortical ratio as a core evaluation index, and the scoring dimension corresponding to the cortical ratio has the highest weight in the model; the quantitative scoring module calculates a cortical ratio based on the acquired three-dimensional motion trail data, and outputs an operation quantitative score through a multi-dimensional weighted scoring model; and the closed-loop verification unit is used for acquiring a real puncture result on the simulation entity training die body and comparing the real puncture result with the puncture track subjected to virtual calculation so as to calibrate the operation quantitative score.

The application relates to the technical field of orthopedic puncture, in particular to an orthopedic puncture navigation system; through the cooperation of a puncture positioning module and a control module, image data and a mechanical adjusting mechanism are organically combined, high-precision planning and positioning of a target puncture point, a puncture angle and a puncture depth are realized, the dependence on the experience of an operator in traditional puncture operation is significantly reduced, the problem of inaccurate positioning caused by artificial judgment deviation is effectively solved, the operation time is greatly shortened, so as to reduce the pain and operation risk of a patient, the puncture positioning module adopts a mechanical structure of a multi-degree-of-freedom adjustable machine, through the cooperation of a horizontal distance adjusting rod, a vertical distance adjusting rod and a positioning cylinder, flexible and accurate adjustment of the position and angle of a target puncture needle in a three-dimensional space is realized, the structure is compact and the adjusting logic is clear, the adaptability of the system to different anatomical structures and operation scenes is enhanced, and the flexibility and controllability of operation are improved.

The application discloses a skin tension device suitable for thoracentesis, and relates to the technical field of thoracentesis. The tension device comprises a base, a moving stretching component, a thoracentesis limiting component, an angle adjusting device and a supporting device. When working, a patient sits on the base, the height of the base can be adjusted according to the height of the patient, and the supporting device can provide suitable back support for the patient. After the patient sits down, medical staff drives the angle adjusting device to adjust the whole thoracentesis tension device to a suitable angle of the thoracic cavity area to be punctured of the patient, then the moving stretching component generates a moderate tension on the skin, and the skin at the puncture site is taut, thereby creating good conditions for subsequent puncture operation. Meanwhile, the thoracentesis limiting component can preliminarily guide and limit the direction and depth of the puncture needle. The skin is taut through the moving stretching component, and the application has the effect of meeting different puncture requirements.

The invention provides an injection puncture device in a lumbar facet joint, and belongs to the technical field of medical instruments. Comprising a body surface positioning frame and an in-vitro positioning frame, the body surface positioning frame and the in-vitro positioning frame are fixedly connected together through a collaboration rod, positioning bandages are installed at the top and the bottom of the body surface positioning frame, and the collaboration puncture mechanism is used for assisting medical staff in conducting puncture operation. The collaborative puncture mechanism is connected with the body surface positioning frame, the in-vitro positioning frame and the collaborative rod. By arranging the collaborative puncture mechanism, the puncture angle of the puncture needle can be adjusted by means of a puncture positioning ball and an adjusting knob, and the puncture position can be changed by means of a supporting system formed by the body surface positioning frame and the in-vitro positioning frame, so that medical staff can find joint gaps of lumbar facet joints more conveniently; therefore, medical staff can judge the puncture angle and the puncture depth according to the lumbar vertebra outline of a patient, the difficulty of puncture operation is greatly reduced, and the efficiency of puncture operation is improved.

The utility model relates to puncture fixer technical field, and disclose a puncture fixer, including base, fixed box, needle tube adjusting sleeve and needle sleeve, the base top is equipped with fixed concave surface, the base top both sides are equipped with fixed box, both sides fixed box top all are equipped with slide, the slide top is equipped with slide bar, between both sides slide bar is equipped with needle tube adjusting sleeve, the needle tube adjusting sleeve inside is connected with needle sleeve with slide, this puncture fixer, through the fixed concave surface design of base top, has provided stable support platform for puncture operation, the design of slide and slide bar makes needle tube adjusting sleeve can move flexibly in perpendicular direction, the slide connection of first slide rail of needle tube adjusting sleeve inner wall and needle sleeve makes needle sleeve can move in horizontal direction to expand the adjustment range of puncture point, and the design that moving plate drives in stable sleeve slide rail board slide.

The utility model relates to the technical field of lumbar intervertebral puncture positioning, in particular to a lumbar percutaneous intervertebral foramen endoscope puncture positioner which comprises a telescopic rod, a transverse rod, a moving assembly, a fixing assembly and an angle adjusting assembly. The angle adjusting assembly comprises a first arc-shaped seat, a first adjusting assembly, a second arc-shaped seat, a second adjusting assembly and a puncture sleeve, the two locking pieces are driven by the driving component to move, then the locking pieces are moved out of the locking grooves and are retracted into the bottom of the sliding block, and at the moment, the sliding block can drive the second arc-shaped seat to slide along the first arc-shaped seat; and then the puncture cannula is driven to slide along the second arc-shaped seat in the same way, then the angle of the puncture cannula in the vertical direction is adjusted, and after the angle of the puncture cannula is adjusted in place, a puncture needle is placed through the puncture sleeve for puncture operation, so that the disclosure of the puncture cannula is flexibly adjusted. And the puncture flexibility and accuracy are improved.

The invention discloses an abdominal cavity operation puncture outfit which comprises a puncture outfit body and further comprises two arc-shaped fixing plates, and the two arc-shaped fixing plates are symmetrically distributed on the two sides of the puncture outfit body. The pedal is treaded by feet, air in the arc-shaped groove is extracted through the air extraction assembly, so that the arc-shaped fixing plates suck the abdominal skin of a patient, the abdominal skin of the patient can be driven to move upwards to cater to the puncture outfit body by pulling the handle with the hand, and meanwhile an operator presses the pressing plate and drives the two arc-shaped fixing plates to deflect and open through the auxiliary assembly. Meanwhile, a puncture opening of the patient is dragged and exposed, so that puncture operation of an operator is facilitated, meanwhile, the linkage assembly is used for driving the two arc-shaped plates to be closed to form a guide channel to guide the puncture outfit body, and then the puncture precision is improved; therefore, the distance between the abdominal skin and the viscera of the patient is increased, the puncture risk is reduced, and meanwhile the operation pressure of medical staff is reduced.

The utility model discloses a visualized amniotic fluid puncture outfit relates to medical instrument technical field, including superfine endoscope and puncture component, the puncture component includes T-type drainage tube, the both sides of T-type drainage tube are provided with drainage connection port, the drainage connection port is controlled by flow valve, and the drainage connection port is connected with the flow valve. A puncture needle tube is arranged at the bottom of the T-shaped drainage tube, the top of the T-shaped drainage tube is connected with a superfine endoscope through a connecting fastener, a superfine endoscope lens is arranged at the bottom of the superfine endoscope, and the superfine endoscope lens is inserted into the puncture needle tube. According to the amniotic fluid puncture needle, a doctor can directly perform puncture operation, the risk of accidentally injuring tissues of a fetus and a maternal body is remarkably reduced, the position of the needle head and the puncture depth can be more accurately judged, and the efficiency of amniotic fluid puncture is improved.

A surgical execution device and a surgical robot comprising the same. The surgical execution device comprises a main frame, a puncture mechanism and a knotting mechanism; the main frame comprises an execution end and a driving end oppositely arranged in a first direction; the puncture mechanism is located at the execution end and comprises a puncture track configured to allow a leading end of a suture to move along the puncture track to perform a puncture operation in a suture area; the knotting mechanism is located at the execution end and comprises a knotting track configured to allow the leading end of the suture to move along the knotting track, the knotting track being located in a knotting plane; the execution end comprises a suture opening, the suture area being located on one side of the suture opening in a second direction, the puncture track passing through the suture opening to perform the puncture operation in the suture area, the knotting track being located on a side of the suture opening away from the suture area in the second direction, the second direction being perpendicular to the knotting plane. The surgical execution device can realize miniaturization of the surgical execution device.

This invention discloses a scrotum support device for transperineal prostate puncture, mainly comprising a detachable mounting bracket with a built-in fixator inserted into the side of the bed, an adjustment mechanism detachably mounted on the upper end of the mounting bracket, a support bracket detachably mounted on one end of the adjustment mechanism and adjustable in the length direction of the bed via the adjustment mechanism, and a support sleeve detachably fitted onto the end of the support bracket for supporting the patient's scrotum. This device can precisely adjust the support position according to the patient's position and the needs of the puncture procedure, effectively reducing the manpower required by medical staff and avoiding problems such as scrotal displacement and poor exposure of the puncture field caused by unstable manual support force and position. Simultaneously, the detachable design of the support sleeve and support bracket facilitates postoperative cleaning and disinfection. The overall device is flexible and adaptable, providing stable and precise scrotum support for transperineal prostate puncture, fully exposing the puncture area, and improving the convenience and safety of the puncture procedure.

The CT-guided needle biopsy body surface calibrator comprises a calibration ruler and a catheter, the calibration ruler comprises two supporting strips which are arranged in parallel and are made of plastic materials, and a plurality of metal rods which are arranged between the two supporting strips at equal intervals; wherein the middle part of one or more metal rods is movably connected with an angle regulator, and the catheter is arranged on the angle regulator and is used for guiding the puncture needle. According to the puncture calibrator, the smoothness and success rate of puncture operation can be improved, the calibrator can be repeatedly used, the equipment cost is lower, and the puncture calibrator is worthy of being vigorously popularized.

This application discloses a pedicle puncture system and a guiding method for pedicle puncture. The pedicle puncture system includes a pedicle puncture robot and a control unit (30) for controlling the pedicle puncture robot. The pedicle puncture robot includes a robot body (10) and an X-ray detection device. The X-ray detection device includes an X-ray projection section (20) and an X-ray receiving section (40). At least one of the X-ray projection section (20) and the X-ray receiving section (40) is disposed on the robot body (10). The control unit is configured to control the puncture operation of the robot body (10) based on the detection result of the X-ray detection device. This application can detect the position of the puncture instrument in real time by projecting X-rays, thereby controlling the puncture process through the robot body according to the detection result, ensuring accurate and smooth puncture.

The application relates to the field of vertebral puncture instruments, and discloses a vertebral body shaping tool system which comprises a puncture needle, a needle core, a guide needle, a push rod and a reamer, the puncture needle comprises a needle rod and a double-ball type handle I, the needle rod is of a hollow structure, and the double-ball type handle I is fixedly installed at the top end of the needle rod. The application has the following advantages and effects: the bone cement hardness can be conveniently and accurately detected, the in-vivo bone cement hardening condition can be accurately judged, unilateral adjacent multiple vertebral bodies can be synchronously punctured and injected with bone cement, the operation time is shortened, the operation complications are reduced, the C-arm perspective and the radiation exposure are reduced, the application has the advantages of higher efficiency and higher safety, the double-ball type handle is arranged, the doctor can hold and operate in accordance with ergonomics, the holding force of the doctor is reduced during operation, the operation mechanical torque is increased, the operation is more labor-saving, the holding is more convenient, the unilateral multiple vertebral bodies can be simultaneously punctured, the puncture accuracy and the one-time success probability are increased, and the operation time is further shortened.

The application provides an angle-adjustable interventional puncture auxiliary support, and relates to the technical field of puncture auxiliary supports.The support comprises a sliding rail, a sliding block, an adjusting mechanism and a puncture mechanism.The adjusting mechanism is composed of a linear component and a circumferential component.The linear component is connected with an inner sleeve, a reverse sleeve, a horizontal rod, a bidirectional rod, a round head, a vertical rod, a stop sleeve and a lifting plate to realize linear adjustment and linkage locking in the horizontal and vertical directions.The circumferential component is connected with a circular rod, a follow-up sleeve, a circular ring, a screw sleeve, a compression spring, a bottom disc, a top disc and a push spring to realize adjustment and synchronous locking of the angle and position in the circumferential direction.The puncture mechanism is connected with an intermediate sleeve, an extension rod, a double-sided sleeve, a center sleeve, a matching sleeve and a laser lamp to provide puncture needle matching and light path guiding.The support can realize multi-degree-of-freedom accurate setting, combined quick locking and visual calibration of the puncture angle and position, and provides stable, accurate and quantifiable mechanical assistance for interventional puncture operation.

The invention provides a puncture robot capable of being adjusted flexibly. The puncture robot comprises a base, a puncture needle posture adjusting mechanism, a puncture needle, an ultrasonic probe posture adjusting mechanism and an ultrasonic probe. The puncture needle posture adjusting mechanism is installed on one side of the base, the puncture needle is installed on the puncture needle posture adjusting mechanism, and the puncture needle posture adjusting mechanism is used for adjusting the needle inserting angle of the puncture needle; the ultrasonic probe posture adjusting mechanism is installed on the other side of the base, the ultrasonic probe is installed on the ultrasonic probe posture adjusting mechanism, and the ultrasonic probe posture adjusting mechanism is used for adjusting the irradiation angle of the ultrasonic probe. Through the device, the puncture needle and the ultrasonic probe are integrated, a doctor is assisted in adjusting the irradiation angle of the ultrasonic probe and the needle inserting angle of the puncture needle in real time, the puncture precision is improved, the device has the advantages of miniaturization, modularization and integration, and multi-position and multi-angle compliant adjustment auxiliary puncture operation of different body parts is achieved.

The utility model discloses an ultrasound-guided puncture auxiliary device which comprises a fixed groove plate, an ultrasound assembly is installed on the inner side of the fixed groove plate, the ultrasound assembly comprises a clamping groove and a sliding groove plate, the clamping groove is formed in the inner side of the fixed groove plate, an ultrasound probe is clamped on the inner side of the clamping groove in a sliding mode, and the sliding groove plate is connected with the ultrasound probe in a sliding mode. According to the blood vessel puncture needle, medical staff can puncture a puncture needle into a blood vessel at 45 degrees and then rotate the needle groove tube to the 15-degree limiting block, the needle head can be accurately punctured into the blood vessel by slowly pushing the puncture needle, the blood vessel puncture needle can be accurately punctured, the blood vessel puncture needle can be accurately punctured, and the blood vessel puncture needle can be accurately punctured. In addition, the puncture needle can be observed in real time through the ultrasonic probe during adjustment, medical staff do not need to conduct puncture according to experience, the accuracy of puncture needle operation is improved, the puncture operation time is saved, discomfort of a patient is relieved, and the operation efficiency is further improved.

The application discloses a diabetes rapid detection device, relates to the technical field of diabetes detection, and is used for solving the problems that the existing device is inconvenient to replace a puncture needle structure and insufficient puncture depth leads to inaccurate detection results, and comprises a shell and a base, a detection element is arranged in the shell, a display screen and control buttons are arranged above the shell, a multifunctional blood sampling mechanism and a test paper card connecting mechanism are arranged in the shell; the shell is internally provided with a puncture needle assembly convenient to replace; the puncture needle assembly is rebounded through adsorption and release of an electromagnetic part, puncture and blood sampling are carried out, the maximum puncture depth of the puncture needle is adjusted through the adjusting effect of a puncture needle limiting bolt, adjustment is carried out according to actual conditions, the accuracy of detection results is ensured, and the safety of puncture operation is ensured through the sterilization of the disinfectant liquid on the disinfection cotton on the front side of the puncture.

The application belongs to the technical field of prostate puncture, and particularly relates to an intelligent prostate puncture robot. The intelligent prostate puncture robot comprises a mobile lifting support, the top end of the mobile lifting support is provided with a rotary table, the upper surface of the rotary table is provided with a first linear driving mechanism, the upper surface of the output end of the first linear driving mechanism is slidably provided with a probe fixing support, the top end of the probe fixing support is fixedly provided with a platform plate, the upper surface of the platform plate is fixedly provided with a three-axis sliding table, the output end of the three-axis sliding table is fixedly connected with a biopsy gun fixing seat, the side surface of the biopsy gun fixing seat is provided with a supporting rod through a mounting guide rail, the other end of the supporting rod is fixedly connected with a guide sleeve for providing support and guidance for a puncture needle; the intelligent prostate puncture robot further comprises a controller, the three-axis sliding table and a B-ultrasonic host are electrically connected with the controller. The controller can control the three-axis sliding table to drive the biopsy gun to perform puncture operation according to the pre-calculated position and depth, so as to improve the puncture precision and avoid errors caused by manual operation.

This invention discloses an auxiliary device for bone marrow aspiration biopsy in clinical blood testing, relating to the field of medical device technology. It includes a base with sliding grooves on both sides, a support frame slidably connected within the sliding grooves, a limit sensor mounted on the support frame, a drive motor mounted on the support frame via a motor bracket, and a screw connected to the output end of the drive motor via a coupling; and a positioning component. Through its designed positioning component, during bone marrow aspiration biopsy, when the drive motor drives the screw to precisely raise and lower the sliding block to the target height, the positioning component is synergistically adjusted by an angle adjustment rod and a lifting support rod, thereby precisely aligning the puncture target point marked by the laser emitter with the guide hole. This ensures that the infrared rangefinder and PLC controller can monitor and calibrate in real time during the puncture operation, greatly improving the success rate and safety of clinical punctures.

The invention discloses a manufacturing method of a blood vessel puncture guiding and positioning card, and relates to the field of medical auxiliary instruments. According to the manufacturing method of the embodiment, the positioning card suitable for the patient can be manufactured based on the ultrasonic image data of the blood vessel of the patient, the subcutaneous invisible blood vessel three-dimensional path is converted into the entity continuous hollow guide groove in the card through the data processing and digital cutting technology, and the blood vessel positioning effect is improved. The card prepared by the method allows medical personnel to directly draw a continuous and accurate blood vessel trend guide line on the skin, so that the position of a puncture point is clear, and the needle inserting direction and the tangential angle of the blood vessel are more intuitively indicated; meanwhile, the blood vessel path is divided into a puncturable section and a penetration forbidding section according to the risk area data, it is ensured that the generated guide groove automatically avoids high-risk areas such as vascular stenosis and valves, the technical threshold of puncture operation is effectively lowered, and the puncture success rate and the blood vessel protection effect are improved.

This invention provides a pressure device for post-thyroid ablation surgery, belonging to the field of medical device technology. The pressure device includes a pressure mechanism, which includes a mounting frame. A lifting block is mounted on the mounting frame via a lifting assembly. The lifting assembly adjusts the height of the lifting block within the mounting frame. A spiral self-locking rod is threaded onto the lifting block, and a pressure pad is rotatably mounted at the bottom end of the spiral self-locking rod. The pressure pad conforms to the post-thyroid ablation wound and applies stable pressure. An elastic airbag adapts to the neck contour through deformation. The micro-telescopic component on the contact pad is adjustable in position, allowing for precise pressure application to each puncture point in multi-point puncture procedures. This achieves adjustable pressure height, stable pressure maintenance, and precise adaptation to multi-point puncture wounds, meeting the basic pressure needs of different patients.

The application discloses an anesthetic puncture set puncture auxiliary device and belongs to the puncture auxiliary field. The device comprises two lifting clamping mechanisms, and a guide mechanism is arranged between the two lifting clamping mechanisms. The front surface of the guide mechanism is provided with a puncture mechanism. The inner side of the puncture mechanism is provided with a puncture needle body. The puncture mechanism comprises a protective cylinder. The left side of the protective cylinder is provided with a penetrating lifting groove. The inner side of the lifting groove is rotationally connected with a lead screw through a rotating shaft. The device can flexibly select vertical or transverse clamping modes according to different bed edge structures in clamping and fixing. In the clamping process, the device is stably and firmly clamped through positioning rods, adjusting bolts and other components, thereby providing solid foundation support for the whole puncture operation, and the clamping mode cannot be changed, and the puncture adjusting distance is shortened.

The invention relates to the field of medical instruments, in particular to a neurology cerebrovascular intervention puncture positioning device which comprises a base, an adsorption mechanism is arranged on the base, a supporting mechanism is arranged at the top of the base, a puncture cannula is rotationally connected to the supporting mechanism, and a locking mechanism is arranged in the puncture cannula. A first acquisition unit and a second acquisition unit are further arranged in the puncture cannula; the first acquisition unit is used for acquiring the moving distance of the puncture needle, and the second acquisition unit is used for acquiring the puncture angle of the puncture needle; the system further comprises a third collection unit and a control unit, the third collection unit is used for collecting blood vessel information of a patient, and the control unit is used for calculating a safe movement interval of the puncture needle based on the puncture angle and the blood vessel information and comparing the movement distance collected by the first collection unit with the safe movement interval in real time. And the locking mechanism is triggered. The controllability and safety of puncture operation can be improved, and the surgical risk is reduced.

The utility model discloses a fast puncture type thoracic cavity closed drainage device which comprises a main hose, a built-in hard tube and a closed drainage bag, a conical section is arranged at the front end of the main hose, the front end of the conical section is open, a blunt round head is arranged at the front end of the built-in hard tube, and the outer end of the blunt round head is closed. A drainage hole is formed in the side wall of the front end of the blunt round head extending out of the outer side of the opening of the conical section. The conical section is provided with a plurality of first side holes, and the blunt round head is provided with a plurality of second side holes in one-to-one correspondence with the first side holes. The built-in hard tube is hollow, the head of the built-in hard tube is blunt and round, the built-in hard tube is provided with a drainage hole, gas and liquid drained through the drainage hole can be pre-judged to enter the pleural cavity safely, the built-in sleeve is withdrawn and the main hose is pushed to enter the pleural cavity after puncture succeeds, damage to internal thoracic organs is effectively avoided, the safety of puncture operation is effectively improved, the main hose is of a pen point type design, and the safety of puncture operation is improved. And after puncturing into the pleural cavity, the built-in cannula is withdrawn to finish the catheter indwelling operation, so that the catheter indwelling operation time is shortened.

The application relates to a puncture simulation tunnel intelligent teaching system and an application method thereof. Dynamic puncture data of a current user in a puncture process is collected by mutual sensing between an arm teaching aid and a puncture needle, a controller and a background, and after the puncture is completed, puncture positions, angular velocities, time and other information of a student such as a nurse at different puncture positions can be obtained, so that puncture training data of the current user is formed. The background can simulate and generate a simulation image of the current user to perform arm puncture eye puncture in combination with the dynamic puncture training data of the current user, the dynamic puncture simulation image will be used to simulate a puncture operation simulation picture of the current user in the operation, visual display of the puncture process is realized, a background administrator or the current user can perform teaching evaluation and visual learning in various modes for the operation path and the puncture position, speed, direction and the like of the current user, so that good scientific research and puncture teaching effects are achieved.