CN210990612U - Puncture device and medical system - Google Patents
Puncture device and medical system Download PDFInfo
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- CN210990612U CN210990612U CN201921191039.0U CN201921191039U CN210990612U CN 210990612 U CN210990612 U CN 210990612U CN 201921191039 U CN201921191039 U CN 201921191039U CN 210990612 U CN210990612 U CN 210990612U
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Abstract
The utility model relates to a puncture device and a medical system, wherein the puncture device comprises a puncture needle device, a puncture needle driving device, a limiting device and a controller; the controller is used for controlling the puncture needle driving device to drive the puncture needle device to move; the limiting device is used for limiting the puncture needle device to move in a preset area; wherein the controller is further configured to determine the preset region according to a target penetration depth. Above-mentioned piercing depth, according to current target puncture degree of depth, automatic control stop device inject the area that the pjncture needle device can remove to restrict the travel of puncture needle device, prevent that the puncture degree of depth of pjncture needle is too big to cause the injury to the puncture object, improved piercing depth's security, and alleviateed operating personnel's work load.
Description
Technical Field
The utility model relates to the field of medical equipment, especially, relate to a puncture equipment and medical system.
Background
When the puncture operation is performed, since the body shape and the target position of each puncture object are different, puncture needles with different lengths need to be selected before puncture, and since the puncture needles with different lengths have different movement strokes, the puncture depth of the puncture needle needs to be controlled.
Conventional control of the depth of penetration is typically by manual control or by providing a stop. Most of the manual control is to arrange a length mark on the outer wall of a needle cylinder of the puncture needle, and an operator can manually judge the puncture depth by observing the length mark, but the mode has great dependence on the experience of the operator; the existing limiting device is generally fixed, is suitable for motion control of repetitive strokes and is not suitable for motion control of a puncture needle, so that the safety of puncture operation is influenced.
SUMMERY OF THE UTILITY MODEL
In view of the above, it is desirable to provide a lancing apparatus and a medical system capable of automatically limiting the movement stroke of a lancet according to a target puncture depth.
A puncture device comprises a puncture needle device, a puncture needle driving device, a limiting device and a controller; the controller is used for controlling the puncture needle driving device to drive the puncture needle device to move; the limiting device is used for limiting the puncture needle device to move in a preset area; wherein the controller is further configured to determine the preset region according to a target penetration depth.
Above-mentioned piercing depth, according to current target puncture degree of depth, automatic control stop device inject the area that the pjncture needle device can remove to restrict the travel of puncture needle device, prevent that the puncture degree of depth of pjncture needle is too big to cause the injury to the puncture object, improved piercing depth's security, and alleviateed operating personnel's work load.
In one embodiment, the puncture needle device comprises a puncture needle main body and a puncture needle bearing assembly, the puncture needle main body is detachably arranged on the puncture needle bearing assembly, and the puncture needle driving device drives the puncture needle bearing assembly to move.
In one embodiment, the limiting device includes a limiting member and a limiting member driving device, and the limiting member driving device drives the limiting member to move to a preset position.
In one embodiment, the puncture needle driving device comprises a first driving assembly and a first transmission assembly, the puncture needle device is movably arranged on the first transmission assembly, and the first driving assembly drives the first transmission assembly to move the puncture needle device;
the limiting part driving device comprises a second driving component and a second transmission component, the limiting part is movably arranged on the second transmission component, and the second driving component drives the second transmission component to enable the limiting part to move.
In one embodiment, the first driving assembly and the second driving assembly are fixedly arranged relatively; the maximum movable distance between the puncture needle device and the first driving assembly does not exceed the maximum movable distance between the limiting piece and the second driving assembly.
In one embodiment, the maximum distance that the puncture needle device can move between the first driving component and the stopper is the target puncture depth.
In one embodiment, the first drive assembly and/or the second drive assembly is an electric motor and the first transmission assembly and/or the second transmission assembly comprises a transmission rod.
A medical system, comprising:
the imaging device is used for scanning and imaging the scanning object to acquire a target puncture position;
a processor for determining the target puncture depth from the target puncture location;
the puncture device is used for performing puncture operation according to the target puncture depth.
According to the medical system, the target puncture depth is determined according to the medical image of the target object, and the area where the puncture needle device can move is limited by the limiting device according to the current target puncture depth, so that the movement stroke of the puncture needle device is limited, the puncture object is prevented from being injured by the overlarge puncture depth of the puncture needle, the safety of puncture equipment is improved, and the workload of operators is reduced.
In one embodiment, after the controller of the puncture device controls the limiting device to limit the preset area according to the target puncture depth, the controller controls the puncture needle driving device to drive the puncture needle device to move.
In one embodiment, the imaging device includes at least one of a positron emission tomography device, a computed tomography device, a magnetic resonance device, an X-ray device, an ultrasound image device, and a multi-modality fusion imaging device.
Drawings
FIG. 1 is a schematic block diagram of a lancing apparatus in one embodiment;
FIG. 2 is a schematic block diagram of another embodiment lancing apparatus;
FIG. 3 is a schematic view showing the structure of a puncturing apparatus in one embodiment;
FIG. 4 is a schematic diagram of the medical system in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 is a block diagram of a puncture apparatus in one embodiment, and in one embodiment, as shown in fig. 1, a puncture apparatus 100 includes a puncture needle device 110, a puncture needle driving device 130, a stopper device 150, and a controller 170; the controller 170 is used for controlling the puncture needle driving device 130 to drive the puncture needle device 110 to move; the limiting device 150 is used for limiting the puncture needle device 110 to move in a preset area; wherein the controller 170 is further configured to determine the preset region according to the target puncture depth.
Specifically, in the puncture device 100, the puncture needle device 110 and the puncture needle driving device 130 may be disposed on a base 180 of the puncture device, the puncture needle driving device 130 may drive the puncture needle device 110 to move back and forth along a set track, a moving stroke of the puncture needle driving device 130 driving the puncture needle device 110 has a fixed limit, which may generally be a range not exceeding the base 180, the puncture needle driving device 130 is in communication connection with the controller 170, and the control of parameters such as a moving distance, a moving direction, and a moving speed of the puncture needle device 110 may be implemented by the controller 170 sending corresponding control commands to the puncture needle driving device 130.
The puncture device 100 is further provided with a limiting device 150, the limiting device 150 is also in communication connection with the controller 170, the limiting device 150 is used for limiting the end position of the moving stroke of the puncture needle device 110, and the controller 170 determines the moving stroke of the puncture needle device 110 according to the target puncture depth and then controls the limiting device 150 to move to the end position of the stroke. The limiting device 150 can be disposed on the base 180, or can be disposed at other positions on the moving track of the puncture needle device 110. The type and structure of the stopper 150 can be determined according to actual requirements, and the stopper 150 can be a mechanical stopper, such as a baffle, a stop, etc., disposed on the moving track of the puncture needle device 110, and stops the puncture needle device 110 from moving further at the end of the travel. The limiting device 150 may also be an electronic limiting device, an optoelectronic limiting device, or a magnetic limiting device, and when it is detected that the puncture needle device 110 moves to the preset stroke end, a corresponding stop signal is sent to the controller 170, and the controller 170 controls the puncture needle driving device 130 to stop driving the puncture needle device 110, so as to stop moving the puncture needle device 110.
Further, when the target object is punctured, the maximum distance from the initial moving position to the end position defined by the limiting device 150 of the puncture needle device 110 does not exceed the target puncture depth, so that the situation of too large puncture depth is avoided. The initial moving position may be determined according to an actual puncturing situation, and in a preferred embodiment, it may be considered that when the needle tip of the puncture needle device 110 reaches a body surface position of the puncturing site, the puncture needle device 110 is located at the initial moving position, and the controller 170 sets a preset region where the puncture needle device 110 moves according to the target puncturing depth, where the preset region is a preset region where the puncture needle device 110 moves from the initial moving position to an end position defined by the limiting device 150, and a distance where the puncture needle device 110 moves is the target puncturing depth.
According to the puncture device 100, the automatic control limiting device 150 limits the area where the puncture needle device 110 can move according to the current target puncture depth, so that the movement stroke of the puncture needle device 110 is limited, the puncture object is prevented from being injured by the overlarge puncture depth of the puncture needle, the safety of the puncture device 100 is improved, and the workload of operators is reduced.
Fig. 2 is a schematic block diagram of a lancing apparatus in another embodiment. As shown in fig. 2, based on the technical content of the structure of the puncturing device in the above embodiment, the puncturing device 200 in this embodiment includes a puncturing needle device, a puncturing needle bearing device 230, a limiting device and a controller 270, which may be respectively the same as the corresponding structures in the above embodiments, wherein the puncturing needle device 210 in this embodiment includes a puncturing needle main body 212 and a puncturing needle bearing assembly 214, the puncturing needle main body 212 is detachably disposed on the puncturing needle bearing assembly 214, and the puncturing needle driving device 230 drives the puncturing needle bearing assembly 214 to move.
Specifically, the puncture needle device 210 may specifically include two parts, a puncture needle body 212 and a puncture needle carrier assembly 214, wherein the puncture needle body 212 is used for puncturing a target object, and the puncture needle body 212 may have a plurality of different length specifications, for example, the puncture needle body 212 may generally have different length specifications of 90mm, 100mm, 150mm, 200mm, and the like. A doctor or an operator can select the puncture needle body 212 with a corresponding length according to the puncture requirements such as a target puncture position, and fix the determined puncture needle body 212 on the puncture needle bearing assembly 214, wherein one end of the puncture needle body 212 is a needle point, and the other end of the puncture needle body 212 is arranged on the puncture needle bearing assembly 214. The puncture needle main body 214 and the puncture needle bearing component 214 can be generally detachably connected, the connection mode of the puncture needle main body 212 and the puncture needle bearing component 214 can be determined according to actual requirements, and can be fixed in a clamping mode, a locking mode and the like, and when one end of the puncture needle main body 212 with different lengths is connected to the puncture needle bearing component 214, the relative positions of the puncture needle main body 212 and the puncture needle bearing component 214 are consistent.
In one embodiment, the position limiting device includes a position limiting element 252 and a position limiting element driving device 254, and the position limiting element driving device 254 drives the position limiting element 252 to move to a predetermined position.
Specifically, the limiting device may be a mechanical limiting structure composed of a stopper, and the controller 270 may send a motion instruction to the limiting member driving device 254 after determining the moving stroke region of the puncture needle device, so that the limiting member driving device 254 drives the limiting member 252 to move to the end position of the preset region of the moving stroke of the puncture needle device. The limiting member 252 can block the moving track of the puncture needle bearing assembly 214, when the controller 270 controls the puncture needle driving device 230 to drive the puncture needle bearing assembly 214 to move, the puncture needle bearing assembly 214 cannot move to a position beyond the limiting member 252, and even if the puncture needle driving device 230 fails in the moving process, the depth of the puncture needle main body 212 penetrating into the human body cannot exceed the target puncture depth set, so that a safety protection is added for the movement of the puncture needle device, and the safety of the device is improved.
Fig. 3 is a schematic structural diagram of a puncture device in an embodiment, and as shown in fig. 3, based on the technical content of the structure of the puncture device in the above embodiment, a puncture device 300 in this embodiment includes a puncture needle main body 312, a puncture needle bearing assembly 314, a puncture needle driving device, a stopper 352, a stopper driving device 354, a controller (not shown), and a base 380, which may be respectively the same as the corresponding structures in the above embodiments, wherein the puncture needle driving device in this embodiment includes a first driving assembly 332 and a first transmission assembly 334, the puncture needle device is movably disposed on the first transmission assembly 334, and the first driving assembly 332 drives the first transmission assembly 334 to move the puncture needle device; the limiting member driving device 354 includes a second driving assembly 3542 and a second transmission assembly 3544, the limiting member 352 is movably disposed on the second transmission assembly 3544, and the second driving assembly 3542 drives the second transmission assembly 3544 to move the limiting member 352.
Specifically, in the puncture device 300, the base 380 is a bottom plate parallel to the movement track of the puncture needle device, one end of the bottom plate is provided with a baffle 320 perpendicular to the movement track of the puncture needle device, the baffle is provided with a needle outlet hole, the needle outlet hole is located on the movement track of the puncture needle main body 312, and the puncture needle main body 312 can penetrate out of the needle outlet hole. The other end of the base plate may be provided with a connection structure, such as a screw hole, which may be used to secure the lancing apparatus 300 to a robotic arm or the like. Lancing device 300 can also include components such as a housing that can be fixedly attached to base 380 to prevent exposure of internal structures during operation to improve the reliability of lancing device 300.
In the lancing device 300, the lancet drive mechanism includes a first drive assembly 332 and a first transmission assembly 334, the first drive assembly 332 is disposed on a base 380, and one end of the first transmission assembly 334 is connected to the first drive assembly 332 and the other end is fixedly disposed on the shield 320. The needle carrier 314 includes a clamping assembly 3142 and a movable platform 3144, the clamping assembly 3142 is used to fix the needle body 312, one end of the needle body 312 may be provided with a tail portion engaged with the clamping assembly 3142, the clamping assembly 3142 is fixedly disposed on the movable platform 3144, and the movable platform 3144 is movably disposed on the first transmission assembly 334. The position limiting device 354 includes a second driving assembly 3542 and a second transmission assembly 3544, the second driving assembly 3542 is disposed on the base 380, one end of the second transmission assembly 3544 is connected to the second driving assembly 3542, and the other end is fixedly disposed on the baffle 320. The limiting member 352 is movably disposed on the second transmission assembly 3542.
Further, the first driving assembly 332 and the second driving assembly 3542 are fixedly arranged relative to each other, the maximum distance between the puncture needle device and the first driving assembly 332 does not exceed the maximum distance between the limiting member 352 and the second driving assembly 3542, the first driving assembly 332 and the second driving assembly 3542 can be both arranged at one end of the base 380, the first driving assembly 334 and the second driving assembly 3544 can be arranged in parallel, so that the puncture needle device and the movement track of the limiting member 352 are parallel, the limiting member 352 can be specifically an L-shaped structure of a stopper, one side of the L-shaped structure of the stopper is arranged on the second driving assembly 3544, the other side of the stopper extends to the movement track of the puncture needle bearing assembly 314, and the position of the moving block 352 is always located between the puncture needle bearing assembly 314 and the baffle plate 320, so that the maximum distance that the first driving assembly 332 can drive the puncture needle bearing assembly 314 to move does not exceed the maximum distance between the limiting member 352 and the second driving assembly 3542, thereby ensuring that the movement range of the puncture needle device is smaller.
In one embodiment, the maximum distance that the needle assembly can move between the first drive assembly 332 and the stop 352 is the target penetration depth.
Specifically, at the beginning of the moving stroke of the puncture needle carrier 314, the holding assembly 3142 on the moving platform 3144 holds the puncture needle main body 312 at the initial puncture position, and when performing the puncture operation, the controller first controls the second driving assembly 3542 to drive the second transmission assembly 3544 according to the target puncture depth, so that the limiting member 352 moves to the preset position. The initial puncturing position may be a position of the moving platform 3144 on the first transmission assembly 334 close to the first driving assembly 332, and at this time, since the limiting member 352 may block the moving platform 3144 from moving, a maximum distance that the moving platform 3144 can move between the initial puncturing position and the predetermined position is a maximum distance that the moving platform 3144 can move between the first driving assembly 332 and the limiting member 352, and the maximum distance is equal to the target puncturing depth, so that the puncturing depth of the puncturing needle body 312 is accurately controlled, and the puncturing depth of the puncturing needle body 312 is prevented from being too deep to cause damage to the target object.
It will be appreciated that because movable platform 3144 is free to move on first drive assembly 334, the initial lancing position is not limited to the position of movable platform 3144 in close proximity to first drive assembly 32, but may be adjusted as desired. For example, when the puncture needle body 312 has a short length, the controller may first control the first driving assembly 332 to drive the first transmission assembly 334 to make the needle tip of the puncture needle body 312 located at the needle outlet position on the barrier 320, set the position of the moving platform 3144 at this time as the initial puncture position, and move the needle outlet of the barrier 320 to the body surface position of the puncture site. After the limiting member 352 reaches the preset position, the controller continues to control the first driving assembly 332 to drive the first transmission assembly 334 to drive the moving platform 3144 to move, so that the puncture needle body 312 penetrates through the needle outlet hole to puncture the target object until the moving platform 3144 moves to the position of the limiting member 352 and stops, and the distance from the initial puncture position to the stop position of the puncture needle body 312 is the target puncture depth.
In one embodiment, the first drive assembly 332 and/or the second drive assembly 3542 are electric motors and the first drive assembly 334 and/or the second drive assembly 3544 include drive rods. The first transmission assembly 334 and the second transmission assembly 3544 may be transmission rods with threads, and the moving block 3144 and the limiting member 352 are both provided with screw holes, and the screw holes are engaged with the threads of the first transmission assembly 334 and the second transmission assembly 3544, respectively. The first driving assembly 332 can drive the first transmission assembly 334 to rotate, so as to drive the puncture needle carrier 314 to move, and the second driving assembly 3542 can drive the second transmission assembly 3544 to rotate, so as to drive the stopper 352 to move. Because the displacement control precision of the motor-driven transmission rod is higher, the moving precision of the puncture needle bearing device 314 and the limiting piece 352 can be improved to 0.1mm, so that the puncture depth of the puncture needle main body 312 is more accurate, the precision is better than that of human eyes for estimating and reading the mark on the puncture needle main body 312, and the safety of the puncture process can be further improved.
FIG. 4 is a schematic diagram of the medical system in one embodiment. As shown in fig. 4, in one embodiment, a medical system 500 includes: an imaging device 520 for acquiring a medical image of a target object to determine a target puncture location; a processor 540 for calculating a target puncture depth from the target puncture location; the puncturing device 560 in the above embodiment is used to perform a puncturing operation on a target puncturing position according to a target puncturing depth.
Specifically, in the medical system 500, the imaging device 520 is configured to perform scanning imaging on a target object to obtain a medical image, the type and specific model of the imaging device 520 may be determined according to actual requirements, and the imaging device 520 may specifically include a Computed Tomography (CT) device, an X-ray device, a Magnetic Resonance (MR) device, a Positron Emission Tomography (PET) device, an ultrasound imaging device, a multi-modality fusion imaging device, and the like. The target puncture position may be determined based on the medical image acquired by the imaging device 520, and may generally be a lesion position of the target object, and the target puncture position may be manually selected by a doctor or an operator, or may be determined by automatically identifying each part in the medical image by a computer or the like.
The processor 540 is in communication connection with the imaging device 520, and calculates the target puncture depth according to the target puncture position in the medical image, it can be understood that the calculation method of the target puncture depth can be determined according to the actual situation of the medical image, for example, the processor 540 can obtain the spatial coordinates of the target puncture position and the body surface position where puncture is performed by reconstructing the medical image into a three-dimensional image, so as to calculate the distance between the two spatial coordinates; the processor 540 may also calculate the distance between the target puncture location and the body surface based on the relative location and size of the target puncture location and other known portions of the target subject's body in the two-dimensional medical image.
In one embodiment, after the controller of the lancing apparatus 560 controls the limiting device to limit the preset region according to the target puncture depth, the controller controls the puncture needle driving device to drive the puncture needle device to move.
Specifically, the processor 540 is communicatively connected to the puncturing device 560, and the processor 540 calculates the target puncturing depth according to the medical image C and then sends the target puncturing depth data to the controller of the puncturing device 560. The controller in the puncturing device 560 may calculate a displacement distance from the initial position to the preset position of the puncturing needle device according to the target puncturing depth, so as to control the limiting device to the preset position first, and then the doctor or the operator controls the puncturing needle device to move to puncture the target object, and the controller controls the puncturing needle driving device to continuously drive the puncturing needle device to move to the preset position. Before the puncture needle device reaches the preset position, the limiting device is already in the preset position, so that safety protection is added to the movement of the puncture needle device. Even if the puncture needle driving device breaks down in the movement process, the puncture needle device can be blocked by the limiting part and stops moving at the preset position, the puncture needle device cannot be caused to exceed the target puncture depth to penetrate into deeper human tissues, and the safety of the puncture process is improved.
According to the medical system, the target puncture depth is determined according to the medical image of the target object, and the puncture needle is automatically controlled to move to the initial puncture position according to the target puncture depth and the length of the currently used puncture needle, so that the movement stroke of the puncture needle is controlled, the puncture object is prevented from being damaged due to the fact that the puncture depth of the puncture needle is too large, the safety of puncture equipment is improved, and the workload of operators is reduced.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. A puncture device is characterized by comprising a puncture needle device, a puncture needle driving device, a limiting device and a controller; the controller is used for controlling the puncture needle driving device to drive the puncture needle device to move; the limiting device is used for limiting the puncture needle device to move in a preset area; wherein the controller is further configured to determine the preset region according to a target penetration depth.
2. The lancing apparatus of claim 1, wherein the lancet device includes a lancet body and a lancet carrier assembly, the lancet body is removably disposed on the lancet carrier assembly, and the lancet drive device drives the lancet carrier assembly to move.
3. The lancing apparatus of claim 1, wherein the position limiting device comprises a position limiting member and a position limiting member driving device, the position limiting member driving device drives the position limiting member to move to a preset position.
4. The lancing apparatus of claim 3, wherein the lancet drive device includes a first drive assembly and a first transmission assembly, the lancet device being movably disposed on the first transmission assembly, the first drive assembly moving the lancet device by driving the first transmission assembly;
the limiting part driving device comprises a second driving component and a second transmission component, the limiting part is movably arranged on the second transmission component, and the second driving component drives the second transmission component to enable the limiting part to move.
5. The lancing apparatus of claim 4, wherein the first drive assembly is fixedly disposed with the second drive assembly; the maximum movable distance between the puncture needle device and the first driving assembly does not exceed the maximum movable distance between the limiting piece and the second driving assembly.
6. The lancing apparatus of claim 5, wherein the maximum distance that the lancet device can move between the first drive assembly and the stop is the target puncture depth.
7. The lancing apparatus of claim 4, wherein the first drive assembly and/or the second drive assembly is a motor and the first drive assembly and/or the second drive assembly includes a drive rod.
8. A medical system, comprising:
the imaging device is used for scanning and imaging the scanning object to acquire a target puncture position;
a processor for determining the target puncture depth from the target puncture location;
the lancing device of any one of claims 1 to 7, for performing a lancing operation according to said target lancing depth.
9. The medical system of claim 8, wherein the controller of the puncture device controls the puncture needle driving device to drive the puncture needle device to move after controlling the limiting device to limit the preset region according to the target puncture depth.
10. The medical system of claim 8, wherein the imaging device comprises at least one of a positron emission tomography device, a computed tomography device, a magnetic resonance device, an X-ray device, an ultrasound image device, and a multi-modality fusion imaging device.
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| CN201921191039.0U CN210990612U (en) | 2019-07-26 | 2019-07-26 | Puncture device and medical system |
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| CN201921191039.0U CN210990612U (en) | 2019-07-26 | 2019-07-26 | Puncture device and medical system |
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| CN210990612U true CN210990612U (en) | 2020-07-14 |
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