CN216167730U - Puncture path planning device and ultrasonic system - Google Patents
Puncture path planning device and ultrasonic system Download PDFInfo
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- CN216167730U CN216167730U CN202121909741.3U CN202121909741U CN216167730U CN 216167730 U CN216167730 U CN 216167730U CN 202121909741 U CN202121909741 U CN 202121909741U CN 216167730 U CN216167730 U CN 216167730U
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Abstract
The embodiment of the utility model discloses a puncture path planning device and an ultrasonic system, wherein the device comprises: puncture rifle, puncture rifle includes the pjncture needle, still includes: the device comprises a first substrate, a second substrate and a support frame arranged between the first substrate and the second substrate; wherein the first substrate and the second substrate are arranged in parallel; the first substrate is provided with at least one first hole; the second substrate is provided with at least one second hole. Through the technical scheme of the embodiment of the utility model, the technical effect of accurately planning the puncture path is realized.
Description
Technical Field
The embodiment of the utility model relates to the technical field of medical treatment, in particular to a puncture path planning device and an ultrasonic system.
Background
Currently, breast biopsy treatment methods rely on ambulatory two-dimensional hand-held ultrasound images or image information of breast molybdenum target images with radioactivity for needle guidance.
When the puncture needle is guided by the image information based on the molybdenum target image of the mammary gland, the mammary gland area is fixed in the scanning process, and accurate positioning and path planning can be realized theoretically, but because of the radioactivity of the molybdenum target scanning, additional injury is easily caused to patients and medical care personnel. Moreover, the molybdenum target scanning and the puncture operation are not performed simultaneously, so that the spatial positioning is inaccurate due to the movement of the breast area.
The two-dimensional hand-held ultrasound image has no radioactivity and can be used for performing operation guidance in real time during the puncture process. However, this method requires a doctor's operation experience because of the non-fixed nature of the breast area. Moreover, noise is included in the two-dimensional ultrasonic imaging process, so that the problems of inaccurate puncture path and unclear puncture depth can be caused in the process of puncture guiding, and secondary injury can be easily caused to a patient.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a puncture path planning device and an ultrasonic system, which are used for achieving the technical effect of accurately planning a puncture path.
In a first aspect, an embodiment of the present invention provides a puncture path planning apparatus, including a puncture gun, where the puncture gun includes a puncture needle, and the puncture path planning apparatus is characterized by further including: the device comprises a first substrate, a second substrate and a support frame arranged between the first substrate and the second substrate;
wherein the first substrate and the second substrate are arranged in parallel;
the first substrate is provided with at least one first hole;
the second substrate is provided with at least one second hole.
Further, the first hole and/or the second hole are circular holes, elliptical holes or polygonal holes.
Furthermore, the number of the first holes is equal to that of the second holes, and the arrangement modes of the first holes and the second holes are the same.
Furthermore, the first holes are uniformly distributed according to a preset interval, and the second holes are uniformly distributed according to a preset interval.
Further, at least one fixing frame is arranged at the edge of the first base plate and/or the second base plate.
Furthermore, a scale value is marked on the puncture needle.
Furthermore, the first hole and the second hole are both circular, and the diameter of the first hole and the diameter of the second hole are larger than the maximum diameter of the puncture needle.
In a second aspect, an embodiment of the present invention further provides an ultrasound system, including a puncture path planning apparatus, where the puncture path planning apparatus includes a puncture gun, the puncture gun includes a puncture needle, and the puncture path planning apparatus further includes: the device comprises a first substrate, a second substrate and a support frame arranged between the first substrate and the second substrate;
wherein the first substrate and the second substrate are arranged in parallel;
the first substrate is provided with at least one first hole;
the second substrate is provided with at least one second hole.
Further, the system further comprises: a scanning device; wherein the first substrate or the second substrate is mounted on a scanning probe of the scanning device.
Furthermore, at least one fixing frame is arranged at the edge of the first substrate and/or the second substrate, and the scanning probe is connected with the first substrate and the second substrate through the at least one fixing frame.
According to the technical scheme of the embodiment of the utility model, the puncture gun, the first substrate, the second substrate and the support arranged between the first substrate and the second substrate in the puncture path planning device are adopted, wherein the puncture gun comprises the puncture needle, the first substrate and the second substrate are arranged in parallel, the first substrate is provided with at least one first hole, and the second substrate is provided with at least one second hole, so that the problems of inaccurate space positioning caused by movement of human tissues and inaccurate puncture path caused by system noise are solved, and the technical effect of accurately planning the puncture path is realized.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, a brief description is given below of the drawings used in describing the embodiments. It should be clear that the described figures are only views of some of the embodiments of the utility model to be described, not all, and that for a person skilled in the art, other figures can be derived from these figures without inventive effort.
Fig. 1 is a schematic structural diagram of a puncture path planning apparatus according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a first hole and a second hole provided in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a second first hole and a second hole provided in an embodiment of the utility model;
fig. 4 is a schematic structural diagram of a third first hole and a second hole provided in the first embodiment of the present invention;
FIG. 5 is a schematic diagram of a first substrate position encoder according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a fixing frame disposed on a first substrate and a second substrate according to an embodiment of the present invention;
FIG. 7 is a schematic structural view of a puncture gun according to an embodiment of the present invention;
FIG. 8 is a schematic view of a piercing gun according to an embodiment of the present invention passing through a first bore and a second bore;
fig. 9 is a schematic structural diagram of an ultrasound system according to a second embodiment of the present invention;
FIG. 10 is a schematic structural diagram of another ultrasound system provided in accordance with a second embodiment of the present invention;
fig. 11 is a schematic view illustrating a connection between a scanning probe and a first substrate and a second substrate according to a second embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting of the utility model. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of a puncture path planning apparatus according to an embodiment of the present invention, which is applicable to a case where a puncture path is planned before a puncture is performed.
As shown in fig. 1, the puncture path planning apparatus includes: the puncture gun 101, wherein the puncture gun 101 includes a puncture needle 1011. The device also includes: a first substrate 102, a second substrate 103 and a support frame 104 disposed between the first substrate and the second substrate.
The first substrate 102 and the second substrate 103 are disposed in parallel, the first substrate 102 has at least one first hole 1021, and the second substrate 103 has only at least one second hole 1031.
The puncture gun 101 is a puncture device used for puncturing, and may be, for example, a biopsy gun. The puncture gun 101 generally includes a hand-held portion and a puncture needle 1011 that enters the human body when puncturing. The first substrate 102 and the second substrate 103 may be oppositely disposed planar plates with holes to facilitate subsequent determination of the puncture path from the first substrate 102 and the second substrate 103. The first holes 1021 are holes on the first substrate 102, and the shape and number thereof can be selected according to the actual need of puncturing. The second holes 1031 are holes on the second substrate 103, and the shape and number thereof can be selected according to the actual needs of puncturing.
In the present embodiment, the material of the first substrate 102 and the second substrate 103 is not particularly limited, and may be any hard material that does not damage the human body.
It should be noted that the shape and size of the first substrate 102 and the second substrate 103 may be set according to the size of other devices connected in actual use, and are not particularly limited in this embodiment.
Illustratively, the opposing surfaces of the first substrate 102 and the second substrate 103 may be configured as a square, a rounded rectangle, or the like. The specific dimensions of the first substrate 102 and the second substrate 103 may be set according to actual requirements. For example, the opposing surfaces of the first substrate 102 and the second substrate 103 are square, and the side length thereof may be 10 cm. The height or thickness of the first substrate 102 and the second substrate 103 is 5 mm.
Optionally, the positions and/or angles of the first substrate 102 and the second substrate 103 may be adjusted by a knob bolt or a transmission belt corresponding to the stepping motor.
Among these, the support frame 104 may be understood as a support structure for fixing the first substrate 102 and the second substrate 103. Optionally, the support frame 104 is composed of at least one support rod. The specific number of the support rods may be set according to requirements, and for example, may be determined according to the shape of the first substrate 102 and the second substrate 103, the material of the support rods, the stability of the first substrate 102 and the second substrate 103 after being fixed, and the like, and the number thereof is not limited herein. In addition, the setting mode of the support rod is not particularly limited in the embodiment of the utility model, and can be set according to requirements, so that the stability requirement of a user can be met on the premise of not influencing puncture. For example, the number of the support rods may be 4, and the support rods may be respectively disposed at four corners of the first substrate 102 and the second substrate 103, or disposed at edges of the first substrate 102 and the second substrate 103 in a manner as shown in fig. 1.
Optionally, the supporting frame 104 may also be an annular supporting structure, wherein the annular supporting structure does not block the first hole 1021 and the second hole 1031, the annular supporting structure may ensure stability of connection between the first substrate 102 and the second substrate 103, and the supporting frame 104 may also be any other supporting structure that plays a role in connecting the first substrate 102 and the second substrate 103.
It should be noted that, in order to facilitate adjusting the distance between the first substrate 102 and the second substrate 103, the supporting frame 104 may be configured to be adjustable in height. For example, the distance between the first substrate 102 and the second substrate 103 may be set to be greater than or equal to 5 cm and less than or equal to 8 cm, or the like.
Fig. 2 is a schematic structural view of the first hole and the second hole provided in the first embodiment of the present invention, and as shown in fig. 2, optionally, the first hole 1021 and/or the second hole 1031 are circular holes.
It should be noted that, since the puncture needle 1011 is formed by a cylindrical needle body and a tapered needle tip, the first hole 1021 and the second hole 1031 are configured as circular holes to facilitate the puncture needle 1011 to pass through.
Optionally, as shown in fig. 3, the first hole 1021 and/or the second hole 1031 are elliptical holes.
Optionally, as shown in fig. 4, the first hole 1021 and/or the second hole 1031 are polygonal holes, and a square is taken as an example in fig. 4.
The first hole 1021 and the second hole 1031 may have the same or different hole shapes. If the hole shapes of the first hole 1021 and the second hole 1031 are the same, the puncture path is conveniently determined according to the first substrate 102 and the second substrate 103. If the shapes of the first hole 1021 and the second hole 1031 are different, the puncture path is determined according to the first substrate 102 and the second substrate 103, and then the corresponding adjustment is needed. For example, the first hole 1021 is circular in shape, and the second hole 1031 is elliptical in shape.
Optionally, the number of the first holes 1021 is equal to that of the second holes 1031, and the arrangement manner of the first holes 1021 and the second holes 1031 is the same.
Specifically, if the number of the first holes 1021 is equal to the number of the second holes 1031, the first holes 1021 and the second holes 1031 may be arranged oppositely, that is, in the same arrangement manner.
If the arrangement of the first holes 1021 and the second holes 1031 are the same, it is convenient to determine that the first holes 1021 and the second holes 1031 needed to be used on the first substrate 102 and the second substrate 103 are needed according to the arrangement of the holes.
Optionally, the number of the first holes 1021 and the number of the second holes 1031 may not be equal. Similarly, the arrangement of the first holes 1021 and the second holes 1031 may be different. When the required first holes 1021 and the required second holes 1031 are determined subsequently, calculation and determination can be performed according to the number of the holes and the arrangement mode of the holes.
Optionally, the first holes 1021 are uniformly arranged at preset intervals, and the second holes 1031 are uniformly arranged at preset intervals.
Specifically, in order to facilitate position coding and position determination of the first holes 1021 on the first substrate 102 and position coding and position determination of the second holes 1031 on the second substrate 103, the first holes 1021 and the second holes 1031 may be uniformly arranged at preset intervals.
Illustratively, the first holes 1021 and the second holes 1031 are uniformly arranged at 2 mm intervals, respectively.
It can be understood that, in order to make the puncture path planning more accurate and facilitate control when the puncture needle is used for puncturing, on the premise that the first hole 1021 and the second hole 1031 can accommodate the puncture needle 1011 to pass through, the smaller the areas of the first hole 1021 and the second hole 1031 are, the more closely the first hole 1021 and the second hole 1031 are arranged, the better the control is. Alternatively, the second hole 1031 may be arranged most closely to accommodate the piercing needles 1011.
It should be noted that the position coding method of each first hole 1021 on the first substrate 102 may be: the first holes 1021 are divided into 3 × 3 size and arranged by using english alphabets for each row and column, as shown in fig. 5. According to the position encoding method, the position code of the first hole 1021 marked with solid in fig. 5 is C1 × D1, which represents the first hole 1021 in the C1 th row and the D1 th column.
The second holes 1031 on the second substrate 103 may be position-coded according to the position coding method.
It should be noted that other position coding methods may also be used to perform position coding on the first holes 1021 on the first substrate 102 and the second holes 1031 on the second substrate 103, for example: encoding using sequentially ascending numbers, etc.
Fig. 6 is a schematic structural diagram of the fixing frames disposed on the first substrate and the second substrate according to a first embodiment of the present invention, and as shown in fig. 6, at least one fixing frame 105 is optionally disposed at an edge of the first substrate 102 and/or the second substrate 103.
Specifically, the first substrate 102 and the second substrate 103 may be fixed on other cooperatively used devices by at least one fixing frame 105 disposed at the edge of the first substrate 102 and/or the second substrate 103, for example: a scanning probe of a scanning device, etc.
The fixing frame 105 shown in fig. 6 is disposed in such a manner as to be mounted at four corners of the first substrate 102 and the second substrate 103, respectively. The fixing frame 105 may be mounted only at the four corners of the first substrate 102, or the fixing frame 105 may be mounted only at the four corners of the second substrate 103.
It should be noted that the fixing frame 105 may also be installed on the edge of the first substrate 102 and/or the second substrate 103, and the fixing frame 105 may also be an annular fixing structure matched with the size of the first substrate 102 and/or the second substrate 103, or may also be an arbitrary structure installed on the first substrate 102 and/or the second substrate 103, so that the first substrate 102 and/or the second substrate 103 can be connected with other devices, and the structure does not affect the use of the puncture path planning device.
Note that, instead of using the fixing frame 105, the first substrate 102 and the second substrate 103 may be connected to another device using an electromagnetic connection or the like.
If the fixing frame 105 is mounted on the first substrate 102 and the second substrate 103, the first substrate 102 or the second substrate 103 may be mounted on other devices subsequently, and at this time, the first substrate 102 and the second substrate 103 are not in sequence. If the fixing frame 105 is attached only to the first substrate 102, the first substrate 102 can be attached to another device, and in this case, the first substrate 102 is located between the second substrate 103 and another device. If the fixing frame 105 is attached only to the second substrate 103, the second substrate 103 can be attached to another device, and in this case, the second substrate 103 is located between the first substrate 102 and another device.
Fig. 7 is a schematic structural diagram of a puncture gun according to an embodiment of the present invention, and as shown in fig. 7, a scale value is optionally marked on a puncture needle 1011 of the puncture gun 101.
Specifically, according to the scale value on the puncture needle 1011, the corresponding depth value when the puncture enters the human tissue can be conveniently determined, so as to avoid the situations that the puncture direction is correct, the puncture depth is incorrect, the puncture fails, and unnecessary damage is caused to the human body.
Optionally, the area of the first hole 1021 and the area of the second hole 1031 may be equal or unequal.
It can be understood that the first hole 1021 and the second hole 1031 are used to position the puncture path of the puncture needle 1011 of the puncture gun 101, and the puncture needle 1011 needs to penetrate through the first hole 1021 and the second hole 1031 to perform the puncture operation. That is, the first and second holes 1021, 1031 receive the piercing needle 1011 therethrough. Illustratively, if the first and second holes 1021, 1031 are both circular in shape, the diameters of the first and second holes 1021, 1031 are both larger than the diameter of the needle 1011. If the first hole 1021 and the second hole 1031 are both oval in shape, the length of the minor axis of each of the first hole 1021 and the second hole 1031 is greater than the diameter of the puncture needle 1011.
Fig. 8 is a schematic view of a puncture gun according to an embodiment of the present invention passing through a first hole and a second hole, wherein solid holes represent a first hole 1021 of the first substrate 102 and a second hole 1031 of the second substrate 103 corresponding to the determined puncture path. The piercing pins 1011 penetrate the solid holes on the first substrate 102 and the second substrate 103 to fix the piercing direction.
According to the technical scheme of the embodiment of the utility model, the puncture gun, the first substrate, the second substrate and the support arranged between the first substrate and the second substrate in the puncture path planning device are adopted, wherein the puncture gun comprises the puncture needle, the first substrate and the second substrate are arranged in parallel, the first substrate is provided with at least one first hole, and the second substrate is provided with at least one second hole, so that the problems of inaccurate space positioning caused by movement of human tissues and inaccurate puncture path caused by system noise are solved, and the technical effect of accurately planning the puncture path is realized.
Example two
Fig. 9 is a schematic structural diagram of an ultrasound system according to a second embodiment of the present invention, where the ultrasound system includes: a puncture path planning device 10.
Wherein, puncture path planning device 10 includes puncture gun 101, and puncture gun 101 includes pjncture needle 1011, and puncture path planning device 10 still includes: a first substrate 102, a second substrate 103, and a support frame 104 disposed between the first substrate 102 and the second substrate 103; wherein, the first substrate 102 and the second substrate 103 are arranged in parallel; the first substrate 102 is provided with at least one first hole 1021; the second substrate 103 is provided with at least one second hole 1031.
Further, the first hole 1021 and/or the second hole 1031 are circular holes, elliptical holes or polygonal holes.
Further, the number of the first holes 1021 is equal to the number of the second holes 1031, and the arrangement manner of the first holes 1021 and the second holes 1031 is the same.
Further, the first holes 1021 are uniformly arranged at preset intervals, and the second holes 1031 are uniformly arranged at preset intervals.
Further, at least one fixing frame 105 is disposed at an edge of the first substrate 102 and/or the second substrate 103.
Further, the puncture needle 1011 is marked with a scale value.
Further, the first hole 1021 and the second hole 1031 are both circular, and the diameter of the first hole 1021 and the diameter of the second hole 1031 are larger than the maximum diameter of the puncture needle 1011.
Specifically, the puncture path planning apparatus 10 is installed in the ultrasound system, so that the ultrasound system can plan the puncture path through the puncture path planning apparatus 10 during the scanning process.
Fig. 10 is a schematic structural diagram of another ultrasound system according to a second embodiment of the present invention, where the ultrasound system further includes: a scanning device 20. Wherein, the puncture path planning device 10 is mounted on the scanning probe 201 of the scanning device 20.
Alternatively, the puncture path planning apparatus 10 is mounted on the scanning probe 201 of the scanning apparatus 20, and the first substrate 102 or the second substrate 103 in the puncture path planning apparatus 10 may be mounted on the scanning probe 201.
Specifically, the puncture path planning apparatus 10 is mounted on the scanning probe 201 of the scanning apparatus 20, so that when the ultrasound system scans through the scanning apparatus 20 to acquire an image, the puncture path planning apparatus 10 determines the puncture path, i.e. determines the puncture direction and the puncture depth, in real time according to the scanning result of the scanning apparatus 20.
The reason why the puncture path planning apparatus 10 is mounted on the scanning probe 201 of the scanning apparatus 20 is that: the ultrasonic system scans through the scanning device 20, the scanning probe 201 of the scanning device 20 presses the skin of the human body corresponding to the part to be punctured to scan the part to be punctured, and the puncture path planning device 10 is mounted on the scanning probe 201, so that the subcutaneous tissue of the human body corresponding to the puncture path planning device 10 corresponds to the ultrasonic image scanned by the scanning device 20, and the problem that the puncture path planned by the puncture path planning device 10 is inaccurate when the scanning device 20 is moved or the human body tissue is deformed is avoided.
It should be noted that, in order to improve the adaptability of the puncture path planning apparatus 10 to the scanning apparatus 20 and to enable the puncture path planning apparatus 10 to cover the scanning region, the shapes of the first substrate 102 and the second substrate 103 may be consistent with the scanning probe 201. Optionally, the area of the first substrate 102 and the second substrate 103 is greater than or equal to the area of the scanning probe 201.
Alternatively, the first substrate 102 and the second substrate 103 and the scanning probe 201 may be identical in shape and area, so that the puncture path planning apparatus 10 can be adapted to the scanning probe 201 of the scanning apparatus 20.
Fig. 11 is a schematic view illustrating a connection between a scanning probe and a first substrate and a second substrate according to a second embodiment of the present invention. At least one fixing frame 105 is arranged at the edge of the first substrate 102 and/or the second substrate 103, and the scanning probe 201 is connected with the first substrate 102 and the second substrate 103 through the at least one fixing frame 105.
Specifically, as shown in fig. 11, the scanning probe 201 may be connected to the second substrate 103 through at least one fixing frame 105, and since the second substrate 103 and the first substrate 102 are connected through the supporting frame 104, the scanning probe 201 may be connected to the first substrate 102 and the second substrate 103 through at least one fixing frame 105. It should be noted that at least one fixing frame 105 may be mounted on the first substrate 102 to complete the connection of the scanning probe 201 with the first substrate 102 and the second substrate 103.
Alternatively, the fixing frame 105 may be a snap structure disposed on the edge of the first substrate 102 or the second substrate 103, and may also be an electromagnetic structure disposed on the edge of the first substrate 102 or the second substrate 103 to facilitate the installation and the removal of the puncture path planning apparatus.
It is understood that the scanning probe 201 can be connected to the first substrate 102 or the second substrate 103 through at least one fixing frame 105 to connect the first substrate 102 and the second substrate 103. In addition, the scanning device may also be provided with a fixing member to fixedly connect the scanning probe 201 with the first substrate 102 or the second substrate 103.
It should be noted that the first substrate 102 and the second substrate 103 may be arranged along the scanning direction of the scanning probe 201. Alternatively, the first substrate 102 and the second substrate 103 are disposed in parallel with the probe plane of the scanning probe 201.
Next, how to perform puncture path planning by the puncture path planning apparatus 10 in the ultrasound system will be described.
First, image acquisition may be performed by the scanning device 20 to obtain a target puncturing position, determine a target first region on the first substrate 102 corresponding to the target puncturing position according to the target puncturing position, and determine a target first hole in the target first region. Based on the target puncture location, the target first hole and the second substrate 103, a target second hole on the second substrate 103 corresponding to the target first hole is determined. A target depth is determined based on the target first hole and the target puncture location. A target puncture path is determined based on the target first hole, the target second hole, and the target depth. Finally, the puncture can be completed using the puncture needle 101 in accordance with the target puncture path.
According to the technical scheme of the embodiment of the utility model, the problem of inaccurate space positioning caused by human tissue movement and the problem of inaccurate puncture path caused by system noise are solved through the puncture path planning device in the ultrasonic system, and the technical effect of accurate puncture path planning is realized.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. The utility model provides a puncture path planning device, includes the puncture rifle, the puncture rifle includes the pjncture needle, its characterized in that still includes: the device comprises a first substrate, a second substrate and a support frame arranged between the first substrate and the second substrate;
wherein the first substrate and the second substrate are arranged in parallel;
the first substrate is provided with at least one first hole;
the second substrate is provided with at least one second hole.
2. The device of claim 1, wherein the first aperture and/or the second aperture is a circular aperture, an elliptical aperture, or a polygonal aperture.
3. The device of claim 1, wherein the number of the first holes is equal to the number of the second holes, and the first holes and the second holes are arranged in the same manner.
4. The apparatus of claim 1, wherein the first holes are uniformly arranged at a predetermined interval, and the second holes are uniformly arranged at a predetermined interval.
5. The device of claim 1, wherein at least one fixing frame is disposed at an edge of the first substrate and/or the second substrate.
6. The device of claim 1, wherein said needle is marked with a scale.
7. The device of claim 1, wherein the first and second apertures are circular, and wherein the diameter of the first and second apertures is greater than the maximum diameter of the needle.
8. An ultrasound system, comprising the puncture path planning apparatus of any one of claims 1 to 7, wherein the puncture path planning apparatus comprises a puncture gun including a puncture needle, the puncture path planning apparatus further comprising: the device comprises a first substrate, a second substrate and a support frame arranged between the first substrate and the second substrate;
wherein the first substrate and the second substrate are arranged in parallel;
the first substrate is provided with at least one first hole;
the second substrate is provided with at least one second hole.
9. The system of claim 8, further comprising: a scanning device; wherein the first substrate or the second substrate is mounted on a scanning probe of the scanning device.
10. The system of claim 9, wherein at least one fixing frame is disposed at an edge of the first substrate and/or the second substrate, and the scanning probe is connected to the first substrate and the second substrate through the at least one fixing frame.
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| CN202121909741.3U CN216167730U (en) | 2021-08-13 | 2021-08-13 | Puncture path planning device and ultrasonic system |
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| CN202121909741.3U CN216167730U (en) | 2021-08-13 | 2021-08-13 | Puncture path planning device and ultrasonic system |
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