CN210990613U - Puncture device and medical system - Google Patents
Puncture device and medical system Download PDFInfo
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- CN210990613U CN210990613U CN201921191049.4U CN201921191049U CN210990613U CN 210990613 U CN210990613 U CN 210990613U CN 201921191049 U CN201921191049 U CN 201921191049U CN 210990613 U CN210990613 U CN 210990613U
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Abstract
The utility model relates to a puncture device and a medical system, the puncture device comprises a puncture needle main body, a puncture needle bearing device, a puncture needle driving device and a controller; the puncture needle main body is arranged on the puncture needle bearing device, and the controller is used for controlling the puncture needle driving device to drive the puncture needle bearing device to move to a preset position according to the current length of the puncture needle main body and the target puncture depth. According to the puncture device, the puncture needle is automatically controlled to move to the initial puncture position according to the length of the currently used puncture needle and the target puncture depth, so that the movement stroke of the puncture needle is controlled, the puncture object is prevented from being damaged due to the overlarge puncture depth of the puncture needle, the safety of the puncture device is improved, and the workload of operators is reduced.
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 zero position device and the limiting device of the existing automatic equipment are generally fixed, are suitable for motion control of repetitive strokes and are not suitable for motion control of puncture needles.
SUMMERY OF THE UTILITY MODEL
In view of the above, it is necessary to provide a puncture device and a medical system, which can automatically determine the initial position of the puncture needle according to the length of the puncture needle and the target puncture depth.
A puncture device comprises a puncture needle main body, a puncture needle bearing device, a puncture needle driving device and a controller; the puncture needle main body is arranged on the puncture needle bearing device, and the controller is used for controlling the puncture needle driving device to drive the puncture needle bearing device to move to a preset position according to the current length of the puncture needle main body and the target puncture depth, so that the puncture needle main body reaches an initial puncture position.
According to the puncture device, the puncture needle is automatically controlled to move to the initial puncture position according to the length of the currently used puncture needle and the target puncture depth, so that the movement stroke of the puncture needle is controlled, the puncture object is prevented from being damaged due to the overlarge puncture depth of the puncture needle, the safety of the puncture device is improved, and the workload of operators is reduced.
In one embodiment, the lancing apparatus further comprises:
and the final position assembly is used for limiting the final position of the moving track of the puncture needle bearing device, and the distance between the preset position and the final position assembly is equal to the target puncture depth.
In one embodiment, the lancing apparatus further comprises:
and the zero position component is used for limiting the starting point position of the moving track of the puncture needle bearing device, and the controller calculates the displacement length of the puncture needle bearing device moving to the preset position according to the starting point position.
In one embodiment, the length of the needle body does not exceed the distance between the starting and ending positions.
In one embodiment, the puncture needle driving device comprises a driving assembly and a transmission assembly, the puncture needle carrying device is movably arranged on the transmission assembly, and the driving assembly drives the transmission assembly to move the puncture needle carrying device.
In one embodiment, the drive assembly comprises an electric motor and the transmission assembly comprises a transmission rod.
A medical system, comprising:
an imaging device for acquiring a medical image of a target object to determine a target puncture location;
the processor is used for calculating a target puncture depth according to the target puncture position;
the puncture device is used for performing puncture operation on the target puncture position 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 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.
In one embodiment, the medical system includes a plurality of puncture needle bodies with different lengths, and the processor is further configured to determine a puncture needle body for performing a puncture operation among the plurality of puncture needle bodies according to the target puncture depth.
In one embodiment, the controller controls the puncture needle driving device to drive the puncture needle bearing device to move to a preset position according to the length of the puncture needle body and the target puncture depth, so that the puncture needle body reaches an initial puncture position.
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 structural view of a lancing apparatus in another embodiment;
FIG. 5 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 device in one embodiment, and in one embodiment, as shown in fig. 1, a puncture device 100 includes a puncture needle main body 110, a puncture needle carrier 130, a puncture needle driving means 150, and a controller 170; the puncture needle body 110 is disposed on the puncture needle carrier 130, and the controller 170 is configured to control the puncture needle driving device 150 to drive the puncture needle carrier 130 to move to a preset position according to the length of the current puncture needle body 110 and the target puncture depth, so that the puncture needle body 110 reaches the initial puncture position.
Specifically, in the puncture device 100, the puncture needle body 110 is used for puncturing a target object, and the puncture needle body 110 has a plurality of different length specifications, for example, the puncture needle body 110 may generally have specifications of different lengths of 90mm, 100mm, 150mm, 200mm, and the like. A doctor or an operator may select the puncture needle body 110 with a corresponding length according to a puncture requirement such as a target puncture position, and set the determined puncture needle body 110 on the puncture needle bearing device 130, where one end of the puncture needle body 110 is a needle point and is used for puncturing a target object, and the other end is set on the puncture needle bearing device 130. The puncture needle main body 110 can be detachably arranged on the puncture needle bearing device 130, the connection mode of the puncture needle main body 110 and the puncture needle bearing device 130 can be determined according to actual requirements, and can be fixed in a mode of a clamp, a lock catch and the like, and when one end of the puncture needle main body 110 with different lengths is connected to the puncture needle bearing device 130, the relative positions of the puncture needle main body 110 and the puncture needle bearing device 130 are consistent.
The puncture needle bearing device 130 and the puncture needle driving device 150 can be arranged on a base 180 of the puncture device, the puncture needle driving device 150 can drive the puncture needle bearing device 130 to move back and forth along a set track, the moving stroke of the puncture needle driving device 150 driving the puncture needle bearing device 130 has fixed limit and generally can be within a range not exceeding the base 180, the puncture needle driving device 150 is in communication connection with the controller 170, and the control of parameters such as the moving distance, the moving direction and the moving speed of the puncture needle bearing device 130 can be realized by the controller 170 sending corresponding control commands to the puncture needle driving device 150.
The controller 170 obtains the length of the current puncture needle main body 110 and the target puncture depth, and controls the puncture needle driving device 150 to drive the puncture needle bearing device 130 to move to the preset position, at this time, the needle tip of the puncture needle main body 110 reaches the initial puncture position, and the remaining movement stroke of the puncture needle bearing device 130 at the preset position is the target puncture depth, the initial puncture position can be the position where the needle tip of the puncture needle main body 110 reaches the body surface of the puncture site, and then the target object is punctured, so that the maximum distance from the initial puncture position to the movement stroke of the puncture needle bearing device 130 of the puncture needle main body 110 does not exceed the target puncture depth, thereby avoiding the situation that the puncture depth is too large.
According to the puncture device 100, the puncture needle is automatically controlled to move to the initial puncture position according to the length of the currently used puncture needle and the target puncture depth, so that the moving stroke of the puncture needle is controlled, the puncture object is prevented from being damaged due to the overlarge puncture depth of the puncture needle, the safety of the puncture device 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 contents of the structure of the puncture device in the above-described embodiment, the puncture device 200 in this embodiment may further include, in addition to the puncture needle main body 210, the puncture needle carrier 230, the puncture needle driving device 250, the controller 270, and the base 280: and the final position assembly 220 is used for defining the final position of the moving track of the puncture needle carrier 230, and the distance between the preset position and the final position assembly 220 is equal to the target puncture depth.
Specifically, a final position assembly 220 is disposed in the puncture device 200, the final position assembly 220 is used for defining the end point of the moving stroke of the puncture needle carrier 230, and the final position assembly 220 may be disposed on the base 280 of the puncture device 200, or may be disposed at other positions on the moving track of the puncture needle carrier 230. The type and structure of the final position assembly 220 can be determined according to actual requirements, the final position assembly 220 can be a mechanical limiting component, such as a baffle, a stop, etc., disposed on the moving track of the puncture needle carrier 230, and the final position assembly 220 can also be an electronic component, such as a sensor, etc., when it is detected that the puncture needle carrier 230 moves to a preset stroke end point, a control command for stopping driving is sent to the puncture needle driving device 250, so as to stop the puncture needle carrier 230 from moving.
In one embodiment, lancing device 200 can further include: the zero position component 240 is used for defining the starting position of the moving track of the puncture needle carrier 230, and the controller 270 calculates the displacement length of the puncture needle carrier 230 to the preset position according to the starting position.
Specifically, the puncture device 200 further includes a zero position assembly 240, the zero position assembly 240 is configured to define a starting position of a moving track of the puncture needle carrier 230, the zero position assembly 240 may generally adopt an optoelectronic limit switch, an electronic limit switch, a magnetic limit switch, or the like, the zero position assembly 240 may also be a mechanical limit structure such as a baffle or a stopper, and the controller 270 may determine the starting position of the movement of the puncture needle carrier 230 by acquiring a signal of the zero position assembly 240 or detecting a position of the zero position assembly 240. In a preferred embodiment, the zero assembly 240 is an electronic zero switch that is communicatively coupled to the controller 270. When the puncture device 200 is used each time, the puncture needle carrier 230 is located at the zero position assembly 240 by default, the controller 270 calculates the displacement length of the puncture needle carrier 230 moving to the preset position according to the length of the puncture needle main body 210 and the target puncture depth, and then controls the puncture needle driving assembly 250 to drive the puncture needle carrier 230 to move the displacement length relative to the zero position assembly 240, so that the puncture needle main body 210 reaches the initial puncture position.
Further, in an alternative embodiment, the length of the needle body 210 does not exceed the distance between the start position defined by the zero position assembly 240 and the end position defined by the final position assembly 220. That is, the distance between the zero position component 240 and the final position component 220 should be set to be greater than or equal to the length of the longest puncture needle body 210, so as to prevent the puncture needle body 210 from being too long and ensure the control of the puncture depth. For example, if the distance between the zero position assembly 240 and the final position assembly 220 is equal to the length of the longest lancet body 210, then the predetermined position can be set at the zero position assembly 240 when the longest lancet body 210 is used, and the position of the lancet body 210 at that time can be directly used as the initial puncture position. When a shorter length of the needle body 2109 is used, the needle driver 250 is controlled to drive the needle carrier 230 a corresponding distance relative to the null assembly 240 so that the needle body 210 reaches the proper initial piercing position.
Fig. 3 is a schematic diagram of the structure of the 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, the puncture device 300 in this embodiment includes a puncture needle main body 310, a zero position assembly 340, a puncture needle carrier 330, a final position assembly 320, a puncture needle driving device, a controller (not identified), and a base 380, wherein the puncture needle driving device includes a driving assembly 352 and a transmission assembly 354, the puncture needle carrier 330 is movably disposed on the transmission assembly 354, and the driving assembly 352 drives the transmission assembly 354 to move the puncture needle carrier.
Specifically, in the lancing device 300, the final position assembly 320 is a baffle plate disposed on the base 380, the zero position assembly 340 is a zero position switch, the lancet driving device includes a driving assembly 352 and a transmission assembly 354, the driving assembly 352 is disposed on the base 380, one end of the transmission assembly 354 is connected with the driving assembly 352, the other end of the transmission assembly 354 is fixedly disposed on the final position assembly 320, and the zero position assembly 340 is disposed at the connection position of the driving assembly 352 and the transmission assembly 354. The puncture needle bearing device 330 is movably arranged on the transmission assembly 354, the moving stroke of the puncture needle bearing device 330 is from the zero position assembly 340 to the final position assembly 320, and the driving assembly 352 drives the puncture needle bearing device 330 to move to a preset position through the driving transmission assembly 354 so as to enable the puncture needle body 310 to reach an initial puncture position.
Further, in an alternative embodiment, the drive assembly 352 includes an electric motor and the drive assembly 354 includes a drive rod. The drive assembly 352 can be a motor, the drive assembly 354 can be a threaded drive rod, and a threaded bore can be provided in the needle carrier 330 and can engage the threads of the drive assembly 340. The drive assembly 352 may drive the transmission assembly 354 to rotate, thereby moving the needle carrier 330. Because the displacement control precision of the motor-driven transmission rod is higher, the precision of the puncture depth of the puncture needle main body 310 can be improved to 0.1mm, the mark on the puncture needle main body 300 is more accurate compared with the estimation and reading of human eyes, and the safety of the puncture process can be further improved.
Fig. 4 is a schematic structural diagram of a puncture apparatus in another embodiment, and as shown in fig. 4, based on the technical contents of the structure of the puncture apparatus in the above embodiment, the puncture apparatus 400 in this embodiment includes a puncture needle main body 410, a zero position assembly 440, a puncture needle carrier, a final position assembly 420, a driving assembly 452, a transmission assembly 454, a controller (not identified), and a base 480, wherein the puncture needle carrier includes a holding assembly 432 and a moving platform 434, the holding assembly 432 is used for fixing the puncture needle main body 410, and the moving platform 434 is movably disposed on the transmission assembly 454.
In the lancing device 400, the base 480 includes a bottom plate parallel to the movement path of the lancet carrier, and the bottom plate is provided with a null assembly 440 and a drive assembly 452. One end of the bottom plate is provided with a baffle perpendicular to the moving track of the puncture needle bearing device, the baffle is provided with a final position assembly 420 and a needle outlet hole, the needle outlet hole is arranged on the moving track of the puncture needle main body 410, and the puncture needle main body 410 can penetrate out of the needle outlet hole. The other end of the base plate may be provided with attachment structures, such as screw holes, which may be used to secure the lancing device 400 to a robotic arm or the like. Lancing device 400 can also include components such as a housing that can be fixedly attached to base 480 to prevent exposure of internal structures during operation to improve the reliability of lancing device 400.
The puncture needle bearing device comprises a clamping component 432 and a moving platform 434, wherein the clamping component 432 is used for fixing the puncture needle body 410, one end of the puncture needle body 410 can be provided with a tail part matched with the clamping component 432, the clamping component 432 is fixedly arranged on the moving platform 434, and the moving platform 434 is movably arranged on the transmission component 454. At the beginning of the moving stroke of the puncture needle bearing device, the connection between the moving platform 434 and the transmission assembly is aligned with the zero position assembly 440, the driving assembly 452 drives the moving platform 434 to move to a preset position through the driving transmission assembly 454, at this time, the clamping assembly 432 arranged on the moving platform 434 clamps the puncture needle body 410 to be at the initial puncture position, the needle tip of the puncture needle body 410 can be at the needle outlet position, when the puncture operation is performed, the driving component 452 continues to drive the transmission component 454 to drive the moving platform 434 to move, the puncture needle body 410 penetrates out of the needle outlet hole to perform the puncture operation on the target object until the moving platform 434 reaches the final position component 420 and stops, the distance from the initial puncture position to the stop position of the puncture needle body 410 is the target puncture depth, thereby precisely controlling the penetration depth of the puncture needle body 410 and preventing the target object from being injured due to the excessively deep penetration.
FIG. 5 is a schematic diagram of the medical system in one embodiment. As shown in fig. 5, 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.
Further, in an alternative embodiment, the medical system 500 includes a plurality of puncture needle bodies with different lengths, and the processor 540 is further configured to determine a puncture needle body for performing a puncture operation among the plurality of puncture needle bodies according to the target puncture depth. The medical system 500 includes puncture needle bodies with various lengths to adapt to different puncture depths, and after calculating the target puncture depth, the processor 540 may automatically determine the puncture needle body with the most appropriate length according to the target puncture depth, for example, specifically select the puncture needle body with the least length exceeding the target puncture depth as the puncture needle body used in the current puncture. The processor 540 may send the selected puncture needle body length to a doctor or an operator, or the processor 540 may also directly control a mechanical arm or other equipment to directly mount a suitable puncture needle body on a puncture needle bearing device of the puncture apparatus, thereby realizing an automated operation of the puncture process.
The processor 540 is in communication connection with the puncture device 560, the processor 540 sends the target puncture depth and the length of the puncture needle main body to the puncture device 560, and the controller in the puncture device 560 calculates the displacement distance of the puncture needle bearing device from the initial position to the preset position according to the length of the puncture needle main body and the target puncture depth, so as to control the puncture needle driving device to drive the puncture needle bearing device to move a corresponding distance, and the puncture needle bearing device moves to the preset position to drive the puncture needle main body to reach the initial puncture position. The doctor or the operator controls the puncture device 560 to perform the puncture operation on the target object, the puncture needle driving device continues to drive the puncture needle bearing device to drive the puncture needle main body to move, and the target puncture depth is obtained from the initial puncture position to the end point of the movement stroke, so that the puncture operation on the target puncture position is completed.
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 main body, a puncture needle bearing device, a puncture needle driving device and a controller; the puncture needle main body is arranged on the puncture needle bearing device, and the controller is used for controlling the puncture needle driving device to drive the puncture needle bearing device to move to a preset position according to the current length of the puncture needle main body and the target puncture depth, so that the puncture needle main body reaches an initial puncture position.
2. The lancing apparatus of claim 1, further comprising:
and the final position assembly is used for limiting the final position of the moving track of the puncture needle bearing device, and the distance between the preset position and the final position assembly is equal to the target puncture depth.
3. The lancing apparatus of claim 2, further comprising:
and the zero position component is used for limiting the starting point position of the moving track of the puncture needle bearing device, and the controller calculates the displacement length of the puncture needle bearing device moving to the preset position according to the starting point position.
4. The lancing apparatus of claim 3, wherein the length of the lancet body does not exceed the distance between the starting position and the ending position.
5. The lancing apparatus of claim 1, wherein the lancet drive comprises a drive assembly and a transmission assembly, the lancet carrier being movably disposed on the transmission assembly, the drive assembly moving the lancet carrier by driving the transmission assembly.
6. The lancing apparatus of claim 5, wherein the drive assembly comprises a motor and the drive assembly comprises a drive rod.
7. A medical system, comprising:
an imaging device for acquiring a medical image of a target object to determine a target puncture location;
the processor is used for calculating a target puncture depth according to the target puncture position;
the lancing device of any one of claims 1 to 6, for performing a lancing operation on said target lancing site according to said target lancing depth.
8. The medical system of claim 7, wherein the medical system includes a plurality of lancet bodies of different lengths, and wherein the processor is further configured to determine a lancet body for performing a lancing operation among the plurality of lancet bodies based on the target puncture depth.
9. The medical system of claim 8, wherein the controller controls the puncture needle driving device to drive the puncture needle carrier device to move to a preset position according to the length of the puncture needle body and the target puncture depth, so that the puncture needle body reaches an initial puncture position.
10. The medical system of claim 7, 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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| CN201921191049.4U CN210990613U (en) | 2019-07-26 | 2019-07-26 | Puncture device and medical system |
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| CN201921191049.4U CN210990613U (en) | 2019-07-26 | 2019-07-26 | Puncture device and medical system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113662592A (en) * | 2021-08-13 | 2021-11-19 | 深圳大学 | Puncture path planning method, medical image acquisition system, device, and medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113662592A (en) * | 2021-08-13 | 2021-11-19 | 深圳大学 | Puncture path planning method, medical image acquisition system, device, and medium |
| CN113662592B (en) * | 2021-08-13 | 2023-11-21 | 深圳大学 | Puncture path planning method, medical image acquisition system, device and medium |
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