CN111374714B - Method for selecting chamber of sample holder and biopsy device - Google Patents
Method for selecting chamber of sample holder and biopsy device Download PDFInfo
- Publication number
- CN111374714B CN111374714B CN201811647000.5A CN201811647000A CN111374714B CN 111374714 B CN111374714 B CN 111374714B CN 201811647000 A CN201811647000 A CN 201811647000A CN 111374714 B CN111374714 B CN 111374714B
- Authority
- CN
- China
- Prior art keywords
- chamber
- sample holder
- empty
- input conduit
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
- A61B10/0266—Pointed or sharp biopsy instruments means for severing sample
- A61B10/0275—Pointed or sharp biopsy instruments means for severing sample with sample notch, e.g. on the side of inner stylet
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Endoscopes (AREA)
Abstract
The invention discloses a chamber selection method and a biopsy device of a sample holder, when a current chamber communicated with an input conduit of the sample holder finishes one-time sampling, whether the chambers behind the current chamber are empty is detected in sequence along a positive direction until an nth chamber behind the current chamber is detected to be empty, wherein N is more than or equal to 1 and less than or equal to N, and N is the total number of the chambers of the sample holder; calculating the rotation angle D1 according to the formula D1 ═ 360/N × N; the input catheter or the sample holder is controlled to rotate D1 degrees in a positive direction. By the chamber selection method of the sample holder, whether the chamber is stored with the tissue samples or not can be detected, the repeated storage is avoided, and the problem that a plurality of tissue samples mixed in one chamber cannot be distinguished is solved.
Description
Technical Field
The present invention relates to the field of medical devices, and in particular, to a method for selecting a chamber of a sample holder and a biopsy device.
Background
Biopsy devices are used to biopsy soft tissue within a patient. Biopsy devices typically include a handle and a cutter mounted to the handle. The cutter comprises an inner cutter tube and an outer cutter tube sleeved outside the inner cutter tube, a sampling groove is radially formed in the front end of the outer cutter tube, soft tissue is sucked into the sampling groove under the action of negative pressure after the outer cutter tube penetrates into epidermis, the inner cutter tube is rotationally cut forwards to cut the soft tissue and accommodate the soft tissue in the front end of the inner cutter tube, and the soft tissue is sucked into a sample holder at the tail end of the cutter or the handle for temporary storage through negative pressure suction.
The earliest biopsy devices were provided with only a single chamber sample holder in which multiple tissue samples were mixed and could not be distinguished. To address this problem, there are biopsy devices that divide a sample holder into a plurality of chamber units, and it is desirable to store soft tissue sampled only once in each chamber unit. However, such multi-chamber biopsy devices are still prone to the problem of repeated storage of multiple sampled tissue samples in the same chamber.
Disclosure of Invention
In view of the above-mentioned prior art, the present invention provides a method for selecting a chamber of a sample holder and a biopsy device, so as to solve the problem of repeatedly storing samples in a multi-chamber sample holder.
In order to solve the above technical problem, the present invention provides a method for selecting a chamber of a sample holder, comprising:
when the sample holder and the current chamber communicated with the input conduit finish one-time sampling, sequentially detecting whether the chambers behind the current chamber are empty along the positive direction until an nth chamber behind the current chamber is detected to be empty, wherein N is more than or equal to 1 and less than or equal to N, and N is the total number of the chambers of the sample holder;
calculating the rotation angle D1 according to the formula D1 ═ 360/N × N;
the input catheter or the sample holder is controlled to rotate D1 degrees in a positive direction.
By the chamber selection method of the sample holder, whether the chamber is stored with the tissue samples or not can be detected, and the situation of repeated storage is avoided, so that the problem that a plurality of tissue samples mixed in the same chamber cannot be distinguished is solved.
In one embodiment, if all chambers are not empty, an alarm signal is output.
In one embodiment, the method further comprises:
when the initialization is completed, detecting whether a current chamber of the sample holder communicated with the input conduit is empty;
if so, keeping the current cavity communicated with the input conduit;
and if not, executing the step of sequentially detecting whether the chambers behind the current chamber are empty or not along the positive direction.
In one embodiment, the method further comprises:
judging whether an operation instruction of a chamber with a selection serial number m input by a user is received;
if yes, acquiring the serial number w of the current cavity communicated with the input conduit;
calculating the rotation angle D2 according to the formula D2 ═ 360/N (m-w);
the input catheter or sample holder is controlled to rotate D2 degrees in a positive direction.
In one embodiment, the method further comprises:
when the current chamber, in which the sample holder is in communication with the input conduit, completes one sampling, it is indicated that the current chamber is not empty.
The invention provides a biopsy device, comprising:
a sample holder assembly comprising a sample holder and an input conduit, the sample holder and the input conduit being relatively rotatable, the sample holder having a plurality of chambers disposed thereon and a plurality of inlets communicating with the plurality of chambers, respectively, the trailing end of the input conduit selectively communicating with the inlet of one of the chambers upon relative rotation of the sample holder and the input conduit;
a drive mechanism for driving rotation of the sample holder or the input conduit;
further comprising:
a detection mechanism for detecting whether the chamber is empty; and
the processor is used for controlling the detection mechanism to sequentially detect whether the chambers behind the current chamber are empty or not along the positive direction until the nth chamber behind the current chamber is detected to be empty when the current chamber communicated with the input conduit of the sample holder finishes one-time sampling, wherein N is more than or equal to 1 and less than or equal to N, and N is the total number of the chambers of the sample holder; calculating the rotation angle D1 according to the formula D1 ═ 360/N × N; controlling the drive mechanism to drive the input conduit or the sample holder to rotate in a positive direction by D1 degrees.
In one embodiment, the biopsy device further comprises an alarm mechanism for outputting an alarm signal;
and the processor is used for controlling the alarm mechanism to output an alarm signal if all the chambers are not empty.
In one embodiment, the processor is further configured to control the detection mechanism to detect whether a current chamber of the sample holder in communication with the input conduit is empty when the initialization is completed; if so, keeping the current cavity communicated with the input conduit; if not, controlling the detection mechanism to sequentially detect whether the chambers behind the current chamber are empty or not along the positive direction.
In one embodiment, the processor is further configured to determine whether an operation instruction for selecting a chamber with a serial number m is received, which is input by a user; if yes, acquiring the serial number w of the current cavity communicated with the input conduit; calculating the rotation angle D2 according to the formula D2 ═ 360/N (m-w); the drive mechanism is controlled to drive the input catheter or sample holder to rotate D2 degrees in a positive direction.
In one embodiment, the biopsy device further comprises a display mechanism coupled to the processor for displaying the status of the chamber of the sample holder;
the processor is used for controlling the display mechanism to display that the current chamber is not empty when the current chamber of the sample holder communicated with the input conduit completes one sampling.
The advantageous effects of the additional features of the present invention will be explained in the detailed description section of the present specification.
Drawings
FIG. 1 is a schematic view of a biopsy device according to one embodiment of the present invention;
FIG. 2 is a schematic view of a sample holder assembly of a biopsy device in one embodiment of the present invention;
FIG. 3 is a side view of a sample holder of the sample holder assembly in one embodiment of the invention;
FIG. 4 is a block diagram of a control system for a biopsy device in one embodiment of the present invention;
FIG. 5 is a block diagram of a control system for a biopsy device in another embodiment of the present invention;
FIG. 6 is a flow chart of a method for selecting a chamber of a sample holder according to a first embodiment of the invention;
FIG. 7 is a flow chart of a method for selecting a chamber of a sample holder according to a second embodiment of the present invention;
FIG. 8 is a flow chart of a method for selecting a chamber of a sample holder according to a third embodiment of the present invention;
FIG. 9 is a flow chart of a method for selecting a chamber of a sample holder according to a fourth embodiment of the present invention;
FIGS. 10 and 11 are views showing the alignment of the trailing end of the input conduit with the inlet of the chamber, wherein FIG. 10 shows the input conduit rotated excessively and FIG. 11 shows the input conduit rotated insufficiently;
fig. 12 is a flowchart of a chamber selection method of a sample holder according to a fifth embodiment of the present invention.
Description of reference numerals: 100. a biopsy device; 110. a handle; 111. a housing; 112. a tool driving device; 113. a sample holder; 1131. a chamber; 1132. identifying the mark; 1133. an inlet; 114. an input conduit; 115. a first connection assembly; 116. a second connection assembly; 117. an infrared sensor; 120. a cutter; 121. an outer cutter tube; 122. an inner cutter tube; 130. a knife handle; 210. a processor; 220. a detection mechanism; 230. a position detector; 240. a display mechanism; 250. an alarm mechanism; 260. a drive mechanism.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the features in the following embodiments and examples may be combined with each other without conflict.
FIG. 1 illustrates a schematic view of a biopsy device 100 according to one embodiment of the present invention. As shown in fig. 1, the biopsy device 100 in this embodiment includes a cutter 120 and a handle 110, the handle 110 includes a housing 111, the cutter 120 includes an outer cutter tube 121, an inner cutter tube 122 and a handle 130, a puncture needle (not shown in the figure) is disposed at a front end of the outer cutter tube 121, a sampling slot (not shown in the figure) is radially disposed at a position of the outer cutter tube 121 close to the front end, and a rear end of the outer cutter tube 121 is fixedly mounted in a front end of the handle 130. The inner cutter tube 122 is disposed inside the outer cutter tube 121, and is rotatable and axially reciprocable relative to the outer cutter tube 121. The front end of the inner blade tube 122 has a blade for cutting tissue entering the sampling groove, and the rear end of the inner blade tube 122 is inserted into the handle 130.
Fig. 2 is a schematic diagram of the structure of a sample holder assembly in one embodiment of the invention, and fig. 3 is a side view of sample holder 113 of the sample holder assembly in one embodiment of the invention. As shown in fig. 2 and 3, the sample holder assembly includes a sample holder 113 and an input conduit 114, the sample holder 113 has a first end portion near the inner knife tube 122 side and a second end portion opposite to the first end portion, a plurality of chambers 1131 for temporarily storing soft tissue are provided on the sample holder 113, a plurality of inlets 1133 respectively communicating with the plurality of chambers 1131 are provided on an end surface of the first end portion of the sample holder 113, and the plurality of inlets 1133 are arranged at intervals in a circumferential direction. The input duct 114 is rotatable along the rotation axis L, the head end of the input duct 114 is connected to the rear end of the inner cutter tube 122 via a first connecting assembly 115, and the tail end of the input duct 114 is connected to the inlets 1133 of the plurality of chambers 1131 via a second connecting assembly 116. The rotation of the input conduit 114 about the rotation axis L selectively connects the inner knife tube 122 to the inlet 1133 of one chamber 1131 of the sample holder 113, so that the tissue samples sampled at each time are respectively stored in different chambers 1131 for differentiation. Alternatively, the input conduit 114 is stationary and the sample holder 113 is rotated about the rotation axis L. As long as relative rotation of the input conduit 114 and the sample holder 113 is achieved.
FIG. 4 is a block diagram of a control system of biopsy device 100 in one embodiment of the present invention. As shown in fig. 4, the control system comprises a processor 210, a detection mechanism 220, and a drive mechanism 260, wherein the drive mechanism 260 is configured to drive the input catheter 114 or the input catheter to rotate about the rotation axis L.
The detection mechanism 220 is used to detect whether the chamber 1131 is empty. The detection mechanism 220 may take a variety of forms. For example, detection mechanism 220 is a sensor, detection mechanism 220 being configured to sense a tissue sample as a disturbed ultrasound sensor in an ultrasound field; or a laser sensor configured to detect the tissue sample as an interruption of a laser beam projected through the tissue sample path by the detection mechanism 220; or the detection mechanism 220 is configured as a capacitive sensor; alternatively, the detection means 220 is configured as a doppler sensor, a strain gauge, an optical sensor, or a proximity sensor. As one merely illustrative approach, the detection mechanism 220 may include a vacuum sensor that senses tissue samples based on a variation in vacuum strength. As another merely illustrative approach, the detection mechanism 220 may include a mechanical member positioned in the path of the tissue such that during proximal delivery of the tissue sample to the tissue sample holder, the mechanical member will move as the tissue contacts the mechanical member, whereby the sensor or momentary switch senses the relevant signal. Other suitable forms in which the detection mechanism may take on will be apparent to those of ordinary skill in the art in view of the teachings herein. The detection mechanism 220 may be disposed within the chamber or at the inlet, or on the handle towards the chamber.
The processor 210 is connected to the detection mechanism 220 and the driving mechanism 260, and the processor 210 is configured to generate a control command through calculation according to the information collected by the detection mechanism 220, and control the driving mechanism 260 to drive the input catheter 114 to rotate.
In one embodiment, when the current chamber of the sample holder 113 in communication with the input conduit 114 completes one sampling, the processor 210 sends a detection control signal to the detection mechanism 220, the detection mechanism 220 sequentially detects whether the chambers after the current chamber are empty in the forward direction, and if not, the processor continues to detect the state of the next chamber until the nth chamber after the current chamber is detected to be empty, stops the detection, and feeds back a detection result signal to the processor 210. Wherein 1. ltoreq. n.ltoreq.N, said N being the total number of chambers of the sample holder; the positive direction refers to a direction from a current chamber inlet communicating with the input knife pipe 114 to a next chamber inlet communicating with the input knife pipe 114, and is not limited to clockwise or counterclockwise. The processor 210 calculates the rotation angle D1 according to the formula D1 ═ 360/N × N, and sends a control driving command to the driving mechanism 260, the driving mechanism 260 drives the input conduit 114 or the sample holder 113 to rotate D1 degrees in the positive direction, the input conduit 114 communicates with the inlet of the nth chamber after the current chamber, and the tissue is stored in the next empty chamber when the next sampling is facilitated.
The manner of determining whether to complete one sampling may be various, for example, the processor 210 calculates the sampling process of the inner cutter 122 according to the number of revolutions of the cutter driving device 112, and then determines whether to complete one sampling; or the detecting mechanism 220 automatically detects whether the current chamber changes from empty to non-empty state, and when the state changes to non-empty, the detecting mechanism 220 transmits a detection result signal back to the processor 210.
In one embodiment, biopsy device 100 is automatically initialized if biopsy device 100 is just started or if sample holder 113 is just installed, although the user may also enter an initialization command, and biopsy device 100 completes initialization based on the initialization command. At initialization, the processor 210 sends a control drive command to the drive mechanism 260, and the drive mechanism 260 can drive the input conduit 114 or the sample holder 113 to rotate to an initial position; or not rotate the input catheter 114 or sample holder 113, but merely initialize the data. When the initialization is completed, the processor 210 outputs a detection control signal to the detection mechanism 220, and the detection mechanism 220 detects whether the current chamber where the sample holder 113 communicates with the input conduit 114 is empty; if so, maintaining the current chamber in communication with the input conduit 114; if not, the processor 210 outputs a detection control signal to the detection mechanism 220, the detection mechanism 220 sequentially detects whether the chambers behind the current chamber are empty along the positive direction, the detection is stopped until the nth chamber behind the current chamber is detected to be empty, and a detection result signal is fed back to the processor 210. The processor 210 calculates the rotation angle D1 according to the formula D1 ═ 360/N × N, and sends a control driving command to the driving mechanism 260, the driving mechanism 260 drives the input conduit 114 or the sample holder 113 to rotate D1 degrees in the positive direction, the input conduit 114 communicates with the inlet of the nth chamber after the current chamber, and the next sampling tissue is prevented from being stored in the non-empty chamber.
FIG. 5 is a block diagram of a control system for biopsy device 100 in another embodiment of the present invention. As shown in fig. 5, the control system in this embodiment further includes a display mechanism 240, and the display mechanism 240 is connected to the processor 210. The display mechanism 240 is used to display the status (e.g., empty) of the chamber 1131, and the like. The display mechanism 240 may include a plurality of indicator lights or display screens, one indicator light or display screen corresponds to one chamber, and the turning-off and turning-on of the indicator lights, or the change of the color of the indicator lights, or the characters, figures, numbers, etc. displayed on the display screen can be used to indicate the empty or non-empty state of the chamber; the display mechanism 240 may also be a display screen, which displays the number of the chamber and the corresponding characters, figures, numbers, etc. of the state to indicate whether the chamber is empty or not.
In one embodiment, the control system further comprises an alarm mechanism 250, and the alarm mechanism 250 is connected to the processor 210 for outputting an alarm signal, wherein the alarm signal may be in the form of an audible alarm or an indicator light alarm. When all of the chambers 1131 are not empty, the processor 210 outputs an alarm control signal to the alarm mechanism 250 and the alarm mechanism 250 outputs an alarm signal to prompt the user to replace the sample holder 113 to avoid multiple sampling of tissue in the same chamber.
In one embodiment, the user may also manually input a desired chamber serial number, for example, if the user knows that the chamber serial number m is empty, an operation instruction for selecting the chamber serial number m is input on the handle of the biopsy device 100 or on a host connected to the handle, and the processor 210, upon receiving the operation instruction, obtains a serial number w of a current chamber communicating with the input catheter, where (m-w) is a difference between the current chamber and the chamber selected by the user; the processor 210 calculates the rotation angle D2 according to the formula D2 ═ 360/N × m-w, and sends a control drive command to the drive mechanism 260, the drive mechanism 260 drives the input conduit 114 or the sample holder 113 to rotate D2 degrees in the positive direction, the input conduit 114 is connected to the inlet of the chamber numbered m, and the tissue is deposited into the chamber numbered m at the next sampling.
In one embodiment, the control system further comprises a position detector 230 for detecting whether the tail end of the input conduit 114 is aligned with the inlet 1133 of the chamber 1131 of the sample holder 113. As an example, the position detector 230 in the present embodiment includes an infrared sensor 117 and an identification mark 1132, and the infrared sensor 117 is provided on the input duct 114 (see fig. 2). The identification mark 1132 is provided on an end face of the first end portion of the sample holder 113 (see fig. 3). Preferably, an identification 1132 is provided on each side of the inlet 1133 of the chamber 1131. The infrared sensor 117 emits position detection light to the sample holder 113; detecting first reflected light reflected by the target position on the sample holder 113; and comparing the intensity of the first reflected light with a preset intensity, and judging whether the identification mark is detected or not, so as to judge whether the tail end of the input conduit is aligned with the inlet of the cavity or not. In this embodiment, the identification 1132 may be a black object that does not reflect light, or may be a mirror object that reflects light completely; after infrared sensor 117 strikes sample holder 113, if identification mark 1132 is a black object, when no light is reflected back, it is determined that infrared sensor 117 is aligned with identification mark 1132, and when some or all of the light is reflected back, it is determined that infrared sensor 117 is not aligned with identification mark 1132, that is, input conduit 114 is not aligned with chamber 1131; if the identifier 1132 is a mirror, when all of the light is reflected back, it is determined that the infrared sensor 117 is aligned with the identifier 1132, and when only part of the light is reflected back or no light is reflected back, it is determined that the infrared sensor 117 is not aligned with the identifier 1132, that is, the input duct 114 is not aligned with the chamber 1131.
In one embodiment, when the input conduit 114 is misaligned with the chamber 1131, the processor 210 outputs an alarm control signal to the alarm mechanism 250, and the alarm mechanism 250 outputs an alarm signal to indicate that the user is misaligned and temporarily unable to perform the sampling operation.
FIG. 6 is a flow chart of a method for selecting a chamber of a sample holder of a biopsy device according to a first embodiment of the present invention. As shown in fig. 6, the method of selecting a sample holder chamber of a biopsy device comprises the steps of:
step 310: when the sample holder and the current chamber communicated with the input conduit finish sampling for one time, sequentially detecting whether the chambers behind the current chamber are empty along the positive direction until detecting that the nth chamber behind the current chamber is empty, wherein N is more than or equal to 1 and less than or equal to N, and N is the total number of the chambers of the sample holder 113.
Preferably, if none of the 1 st to nth chambers following the current chamber in communication with the input conduit is empty, the biopsy device outputs an alarm signal to alert the user that all chambers are exhausted.
Step 320: the rotation angle D1 is calculated according to the formula D1 ═ 360/N × N. If the total number of chambers N of the sample holder is 6 and N is 3, then D1 is 180 degrees.
Step 330: the input catheter or the sample holder is controlled to rotate D1 degrees in a positive direction. The inlet conduit is now in communication with the inlet of the nth chamber after the current chamber.
By the method for selecting the chamber of the sample holder in the embodiment, whether the tissue samples are stored in the chamber behind the current chamber or not can be detected, the input conduit is automatically controlled to be communicated with the empty chamber, the repeated storage is avoided, and the problem that a plurality of tissue samples cannot be distinguished when one chamber is mixed is solved.
FIG. 7 is a flow chart of a method for selecting a chamber of a sample holder of a biopsy device according to a second embodiment of the present invention. As shown in fig. 7, the method of selecting a sample holder chamber of a biopsy device comprises the steps of:
step 410: when the initialization is completed, it is detected whether the current chamber in which the sample holder communicates with the input conduit is empty.
Step 420: if so, the current chamber is maintained in communication with the input conduit.
Step 430: if not, sequentially detecting whether the chambers behind the current chamber are empty or not in the positive direction until the nth chamber behind the current chamber is detected to be empty, wherein N is more than or equal to 1 and less than or equal to N, and N is the total number of the chambers of the sample holder.
Step 440: the rotation angle D1 is calculated according to the formula D1 ═ 360/N × N.
Step 450: the input catheter or the sample holder is controlled to rotate D1 degrees in a positive direction.
Fig. 8 is a flowchart of a method for selecting a chamber of a sample holder of a biopsy device according to a third embodiment of the present invention. As shown in fig. 8, the method of selecting a sample holder chamber of a biopsy device comprises the steps of:
step 510: judging whether an operation instruction of selecting a chamber with the serial number m input by a user is received, if so, entering a step 520, and if not, entering a step 550;
step 520: acquiring a serial number w of a current cavity communicated with an input conduit;
step 530: calculating the rotation angle D2 according to the formula D2 ═ 360/N (m-w);
step 540: controlling the input catheter or sample holder to rotate D2 degrees in a positive direction;
step 550: judging whether initialization is finished or one-time sampling is finished, if so, entering the next step;
step 560: detecting whether an nth chamber behind a current chamber of the sample holder communicated with the input conduit is empty, if so, entering step 570, and if not, entering step 590;
step 570: the rotation angle D1 is calculated according to the formula D1 ═ 360/N × N.
Step 580: the input catheter or the sample holder is controlled to rotate D1 degrees in a positive direction.
Step 590: it is determined whether all chambers have been used up, if so, step 5100 is entered, and if not, step 560 is returned.
Step 5100: and sending out an alarm signal. For example: the buzzer sounds.
Fig. 9 is a flowchart of a chamber selection method for a sample holder of a biopsy device according to a fourth embodiment of the present invention. As shown in fig. 9, the method of selecting a sample holder chamber of a biopsy device comprises the steps of:
step 610: when the sample holder and the current chamber communicated with the input conduit finish sampling for one time, sequentially detecting whether the chambers behind the current chamber are empty along the positive direction until the nth chamber behind the current chamber is detected to be empty, wherein N is more than or equal to 1 and less than or equal to N, and N is the total number of the chambers of the sample holder.
Step 620: the rotation angle D1 is calculated according to the formula D1 ═ 360/N × N.
Step 630: the input catheter or the sample holder is controlled to rotate D1 degrees in a positive direction.
Step 640: determining whether the input conduit is aligned with an inlet of a target chamber.
Step 650: if not, controlling the input conduit or the sample holder to rotate in the reverse direction by a preset angle beta.
As an example, as shown in fig. 10, 11, if the total number of chambers of the sample holder is 6, K1 is the current chamber, K3 is the target chamber, the input conduit rotates in the positive direction (assumed to be counterclockwise) from chamber K1 to K3, and there are two possibilities for misalignment of the input conduit 114 with the inlet of chamber K3: the first possibility is that the input catheter 114 is over-rotated (as shown in fig. 10) and the infrared sensor 117 hits the b position at the time of alignment of the identification mark a of the chamber K3. A second possibility is that the input catheter 114 is not rotating enough (as shown in fig. 11) and the infrared sensor 117 hits the e position when the id a of the chamber K3 is aligned.
The preset angle β may be an empirical value, and is determined according to an error of the driving mechanism 260 and an angle between two adjacent chambers, that is, the preset angle β is larger than the error and smaller than the angle between two adjacent chambers, for example, the preset angle β is half of the angle between two chambers, that is, β is 360/2N. Thus, when the first possibility occurs, the infrared sensor 117 hits the c position between the chamber K2 and the chamber K3 after the input duct 114 has been rotated in the opposite direction by the preset angle β. When the second possibility is present, after the input duct 114 has been rotated in the opposite direction by the preset angle β, the infrared sensor 117 hits the position d, which is located between the chamber K2 and the chamber K3. That is, the input duct 114 rotates excessively or insufficiently, and is located between the chambers K2 and K3 when the input duct 114 rotates in the reverse direction by the predetermined angle β.
Step 660: controlling the input conduit or the sample holder to continue rotating in the opposite direction while detecting whether the input conduit is aligned with the inlet of a chamber until the input conduit is aligned with the inlet of the previous chamber.
Step 670: the input catheter or the sample holder is controlled to rotate in a positive direction by a preset angle D3, D3 ═ 360/N.
Since the trailing end of the input conduit 114 has been aligned with the inlet of chamber K2 after step 660, the trailing end of the input conduit 114 is aligned with the inlet of chamber K3 when rotated D3 degrees in the positive direction.
By the chamber alignment calibration method of the sample holder, when the input catheter is aligned with the chamber, the phenomenon of misalignment caused by errors of a stepping motor and the like is avoided, and sample collection is not influenced.
FIG. 12 is a flow chart of a method for selecting a chamber of a sample holder of a biopsy device according to a fifth embodiment of the present invention. As shown in fig. 12, the method of selecting a sample holder chamber of a biopsy device includes the steps of:
step 710: when the sample holder and the current chamber communicated with the input conduit finish sampling for one time, sequentially detecting whether the chambers behind the current chamber are empty along the positive direction until the nth chamber behind the current chamber is detected to be empty, wherein N is more than or equal to 1 and less than or equal to N, and N is the total number of the chambers of the sample holder.
Step 720: the rotation angle D1 is calculated according to the formula D1 ═ 360/N × N.
Step 730: the input catheter or the sample holder is controlled to rotate D1 degrees in a positive direction.
Step 740: determining whether the input conduit is aligned with an inlet of a target chamber.
Step 750: if not, controlling the input conduit or the sample holder to rotate by a preset angle beta along the reverse direction, and simultaneously detecting whether the tail end of the input conduit is aligned with the inlet of the current chamber or not during the rotation.
Step 760: if the inlet of the current chamber is detected before the rotation angle reaches the predetermined angle β (i.e., if the input conduit 114 is over-rotated, the inlet of the current chamber is detected during the reverse rotation), the rotation is stopped when the tail end of the input conduit is detected to be aligned with the inlet of the current chamber.
Step 770: if the inlet of the current chamber is not detected after the rotation angle reaches the preset angle β (i.e. when the input conduit 114 is not rotated enough, the inlet of the current chamber is not detected during the reverse rotation), then, as in the fourth embodiment, the rotation is continued in the reverse direction until the tail end of the input conduit is aligned with the inlet of the previous chamber, and the rotation is stopped, and then the input conduit or the sample holder is controlled to rotate by the angle D3 in the forward direction, where D1 is 360/N, where N is the total number of chambers of the sample holder.
By the chamber alignment calibration method of the sample holder, when the input catheter is aligned with the chamber, the phenomenon of misalignment caused by errors of a stepping motor and the like is avoided, and sample collection is not influenced.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (10)
1. A method of chamber selection for a sample holder, comprising:
when the sample holder and the current chamber communicated with the input conduit finish one-time sampling, sequentially detecting whether the chambers behind the current chamber are empty along the positive direction until an nth chamber behind the current chamber is detected to be empty, wherein N is more than or equal to 1 and less than or equal to N, and N is the total number of the chambers of the sample holder;
calculating the rotation angle D1 according to the formula D1 ═ 360/N × N;
the input catheter or the sample holder is controlled to rotate D1 degrees in a positive direction.
2. The method of claim 1, wherein an alarm signal is output if none of the chambers are empty.
3. The method of chamber selection for a sample holder of claim 1, further comprising:
when the initialization is completed, detecting whether a current chamber of the sample holder communicated with the input conduit is empty;
if so, keeping the current cavity communicated with the input conduit;
and if not, executing the step of sequentially detecting whether the chambers behind the current chamber are empty or not along the positive direction.
4. The method of chamber selection for a sample holder of claim 1, further comprising:
judging whether an operation instruction of a chamber with a selection serial number m input by a user is received;
if yes, acquiring the serial number w of the current cavity communicated with the input conduit;
calculating the rotation angle D2 according to the formula D2 ═ 360/N (m-w);
the input catheter or sample holder is controlled to rotate D2 degrees in a positive direction.
5. The method of chamber selection for a sample holder of claim 1, further comprising:
when the current chamber, in which the sample holder is in communication with the input conduit, completes one sampling, it is indicated that the current chamber is not empty.
6. A biopsy device, comprising:
a sample holder assembly comprising a sample holder and an input conduit, the sample holder and the input conduit being relatively rotatable, the sample holder having a plurality of chambers disposed thereon and a plurality of inlets communicating with the plurality of chambers, respectively, the trailing end of the input conduit selectively communicating with the inlet of one of the chambers upon relative rotation of the sample holder and the input conduit;
a drive mechanism for driving rotation of the sample holder or the input conduit;
it is characterized by also comprising:
a detection mechanism for detecting whether the chamber is empty; and
the processor is used for controlling the detection mechanism to sequentially detect whether the chambers behind the current chamber are empty or not along the positive direction until the nth chamber behind the current chamber is detected to be empty when the current chamber communicated with the input conduit of the sample holder finishes one-time sampling, wherein N is more than or equal to 1 and less than or equal to N, and N is the total number of the chambers of the sample holder; calculating the rotation angle D1 according to the formula D1 ═ 360/N × N; controlling the drive mechanism to drive the input conduit or the sample holder to rotate in a positive direction by D1 degrees.
7. The biopsy device of claim 6, further comprising an alarm mechanism for outputting an alarm signal;
and the processor is used for controlling the alarm mechanism to output an alarm signal if all the chambers are not empty.
8. The biopsy device of claim 6, wherein the processor is further configured to control the detection mechanism to detect whether a current chamber of the sample holder in communication with the input conduit is empty when the initialization is complete; if so, keeping the current cavity communicated with the input conduit; if not, controlling the detection mechanism to sequentially detect whether the chambers behind the current chamber are empty or not along the positive direction.
9. The biopsy device of claim 6, wherein the processor is further configured to determine whether a user input of an operation instruction to select a chamber with a serial number m is received; if yes, acquiring the serial number w of the current cavity communicated with the input conduit; calculating the rotation angle D2 according to the formula D2 ═ 360/N (m-w); the drive mechanism is controlled to drive the input catheter or sample holder to rotate D2 degrees in a positive direction.
10. The biopsy device of claim 6, further comprising a display mechanism coupled to the processor for displaying a status of the chamber of the sample holder;
the processor is used for controlling the display mechanism to display that the current chamber is not empty when the current chamber of the sample holder communicated with the input conduit completes one sampling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811647000.5A CN111374714B (en) | 2018-12-29 | 2018-12-29 | Method for selecting chamber of sample holder and biopsy device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811647000.5A CN111374714B (en) | 2018-12-29 | 2018-12-29 | Method for selecting chamber of sample holder and biopsy device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111374714A CN111374714A (en) | 2020-07-07 |
| CN111374714B true CN111374714B (en) | 2021-10-08 |
Family
ID=71221087
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811647000.5A Active CN111374714B (en) | 2018-12-29 | 2018-12-29 | Method for selecting chamber of sample holder and biopsy device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111374714B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101301213A (en) * | 2006-12-13 | 2008-11-12 | 伊西康内外科公司 | Biopsy device and biopsy sample storing assembly |
| CN101438969A (en) * | 2007-11-20 | 2009-05-27 | 伊西康内外科公司 | Revolving tissue sample holder for biopsy device |
| CN101641052A (en) * | 2006-12-13 | 2010-02-03 | 伊西康内外科公司 | Biopsy device, system and method |
| CN102355860A (en) * | 2008-12-18 | 2012-02-15 | 德威科医疗产品公司 | Biopsy device with discrete tissue chambers |
| CN103501708A (en) * | 2011-05-03 | 2014-01-08 | 德威科医疗产品公司 | Biopsy device with manifold alignment feature and tissue sensor |
| CN103764044A (en) * | 2011-08-26 | 2014-04-30 | 德威科医疗产品公司 | Biopsy device tissue sample holder with bulk chamber and pathology chamber |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9345457B2 (en) * | 2006-12-13 | 2016-05-24 | Devicor Medical Products, Inc. | Presentation of biopsy sample by biopsy device |
| US8057402B2 (en) * | 2007-12-27 | 2011-11-15 | Devicor Medical Products, Inc. | Vacuum sensor and pressure pump for tetherless biopsy device |
| EP2174602B1 (en) * | 2008-10-07 | 2012-09-19 | Neurendo B.V. | A minimal invasive neurosurgery assembly |
| CN106290160A (en) * | 2011-01-21 | 2017-01-04 | 提拉诺斯公司 | Sample uses maximized system and method |
| CN107811656A (en) * | 2012-08-13 | 2018-03-20 | 德威科医疗产品公司 | Biopsy system |
| WO2014143010A1 (en) * | 2013-03-15 | 2014-09-18 | Illumina, Inc. | System and method for generating or analyzing a biological sample |
| CA3024440C (en) * | 2013-04-08 | 2023-03-07 | Boston Scientific Scimed, Inc. | Medical systems and methods |
| US10610205B2 (en) * | 2014-05-15 | 2020-04-07 | Devicor Medical Products, Inc. | Biopsy device |
| KR102365969B1 (en) * | 2015-10-30 | 2022-02-23 | 데비코어 메디컬 프로덕츠, 인코포레이티드 | Tissue sample holder with bulk tissue collection feature |
| US10426467B2 (en) * | 2016-04-15 | 2019-10-01 | Ethicon Llc | Surgical instrument with detection sensors |
| CN106388871A (en) * | 2016-08-31 | 2017-02-15 | 重庆西山科技股份有限公司 | Rotary varicotomy tool synchronous monitoring method and system |
-
2018
- 2018-12-29 CN CN201811647000.5A patent/CN111374714B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101301213A (en) * | 2006-12-13 | 2008-11-12 | 伊西康内外科公司 | Biopsy device and biopsy sample storing assembly |
| CN101641052A (en) * | 2006-12-13 | 2010-02-03 | 伊西康内外科公司 | Biopsy device, system and method |
| CN106974679A (en) * | 2006-12-13 | 2017-07-25 | 德威科医疗产品公司 | Biopsy device, system and method |
| CN101438969A (en) * | 2007-11-20 | 2009-05-27 | 伊西康内外科公司 | Revolving tissue sample holder for biopsy device |
| CN102355860A (en) * | 2008-12-18 | 2012-02-15 | 德威科医疗产品公司 | Biopsy device with discrete tissue chambers |
| CN103501708A (en) * | 2011-05-03 | 2014-01-08 | 德威科医疗产品公司 | Biopsy device with manifold alignment feature and tissue sensor |
| CN104970837A (en) * | 2011-05-03 | 2015-10-14 | 德威科医疗产品公司 | Biopsy device with manifold alignment feature and tissue sensor |
| CN103764044A (en) * | 2011-08-26 | 2014-04-30 | 德威科医疗产品公司 | Biopsy device tissue sample holder with bulk chamber and pathology chamber |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111374714A (en) | 2020-07-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20220031291A1 (en) | Biopsy system | |
| CN111588472B (en) | Surgical robot system | |
| JP5507076B2 (en) | Biopsy device with motorized needle firing mechanism | |
| US7914464B2 (en) | Surgical biopsy system with control unit for selecting an operational mode | |
| EP2383121B1 (en) | Ink cartridge for inkjet printer | |
| EP1776047B1 (en) | Transport system for biopsy device | |
| AU779031B2 (en) | Syringe pumps | |
| EP1345535B1 (en) | Electro-mechanical surgical device | |
| JP5340701B2 (en) | Rotating tissue sample holder for biopsy devices | |
| US20110196395A1 (en) | Method for displaying an image of the inside of a vessel lying in front of an expander device and display device corresponding hereto | |
| US7640787B2 (en) | Pipette verification device and pipette | |
| CN108852424B (en) | Vacuum-assisted mammary gland rotary-cut system and application method thereof | |
| US20160015261A1 (en) | Endoscope | |
| JP2009160384A (en) | Biopsy device with user interface | |
| CN111374714B (en) | Method for selecting chamber of sample holder and biopsy device | |
| EP0360855A1 (en) | Fine-needle aspiration cell sampling methods and apparatus | |
| JP2009153967A (en) | Tissue sample holder for biopsy device | |
| JP2009172362A (en) | Biopsy system with vacuum control module | |
| CN104703549A (en) | Biopsy system | |
| CN111374713B (en) | Chamber alignment calibration method for sample holder and biopsy device | |
| JP2005218524A (en) | Ophthalmological device | |
| US10881383B2 (en) | Systems and methods for homing an automated biopsy driver for installing a disposable biopsy needle assembly | |
| US20200100778A1 (en) | Oscillating syringe system | |
| EP3911242A1 (en) | Method for scanning material using an ultrasonic imaging probe | |
| US20230041111A1 (en) | Systems and methods for intraoperative surgical scope cleaning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |