CN111358534A - Ultrasound guided puncture device and system - Google Patents

Abstract

The invention relates to the technical field of ultrasonic equipment, and specifically discloses an ultrasonic guided puncture device, wherein the ultrasonic guided puncture device comprises: an ultrasonic probe module, the ultrasonic probe module can be communicatively connected with a host module for detecting puncture the target, and send the detected ultrasonic signal of the puncture target to the host module; the puncture control module, which can communicate with the host module and is used for The position information of the puncture target obtained after the ultrasonic signal processing forms a puncture control signal; a puncture module, the puncture module is electrically connected with the puncture control module, and is used for automatically puncturing the puncture target according to the puncture control signal . The invention also discloses an ultrasonic guided puncture system. The ultrasonic guided puncture device provided by the present invention can provide puncture efficiency and puncture accuracy.

Description

Ultrasound guided puncture device and system

technical field

The present invention relates to the technical field of ultrasonic equipment, and in particular, to an ultrasonic guided puncture device and an ultrasonic guided puncture system including the ultrasonic guided puncture device.

Background technique

At present, the application of ultrasound equipment in clinical diagnosis and treatment has been very popular, and it has made great contributions to doctors to accurately understand the patient's condition, formulate medical plans, and assist in treatment.

At present, ultrasound has been widely used for puncture guidance. However, after the probe is manually scanned on the surface of the human tissue to be tested, the ultrasonic image is manually performed to judge the depth of tissues such as blood vessels, and then manual puncture is performed. In this way, three manual judgment operations are required, such as how to perform a rapid ultrasound probe scan in the effective area, how to judge the depth of other tissues such as blood vessels on the ultrasound image, and how to select an appropriate puncture position and puncture angle for puncturing.

However, through manual participation, there will be inaccurate puncture target recognition and inaccurate positioning, and three manual judgment operations will result in a long puncture time and affect the puncture efficiency.

Therefore, how to provide the puncturing efficiency and the puncturing accuracy has become a technical problem to be solved urgently by those skilled in the art.

SUMMARY OF THE INVENTION

The present invention aims to solve at least one of the technical problems existing in the prior art, and provides an ultrasonic guided puncture device and an ultrasonic guided puncture system including the ultrasonic guided puncture device to solve the problems in the prior art.

As a first aspect of the present invention, an ultrasonic guided puncture device is provided, wherein the ultrasonic guided puncture device includes:

an ultrasonic probe module, the ultrasonic probe module can be connected in communication with the host module for detecting the puncture target, and sending the detected ultrasonic signal of the puncture target to the host module;

a puncture control module, the puncture control module can be connected in communication with the host module, and is used for forming a puncture control signal according to the position information of the puncture target obtained after the host module processes the ultrasonic signal;

The puncture module is electrically connected with the puncture control module, and is used for automatically puncturing the puncture target according to the puncture control signal.

Preferably, the ultrasonic probe module includes a probe housing and a detection module disposed at one end of the probe housing, the detection module can be connected to the host module in communication for detecting the puncture target, and detects the puncture target. The received ultrasonic signal of the puncture target is sent to the host module.

Preferably, the puncture module includes: a first motor, a second motor, a clamping module and a connecting bracket, the connecting brackets are respectively connected with the fixed end of the first motor and the output end of the second motor, so The clamping module is arranged at the output end of the first motor, the output end of the first motor can drive the clamping module to do reciprocating linear motion along the first direction, and the output end of the second motor can The connecting bracket is driven to perform a reciprocating linear motion along the second direction, and then the first motor and the clamping module are driven to perform a reciprocating linear motion along the second direction.

Preferably, the first direction is perpendicular to the support plane, and the second direction forms an included angle a with the support plane.

Preferably, the value of the included angle a ranges from 10° to 70°.

Preferably, the puncture module further includes a first sliding rail and a second sliding rail, the second sliding rail is arranged on the connecting bracket and is used for the reciprocating linear motion of the first motor along the first direction A sliding track is provided, and the first sliding track is arranged on the probe housing, and is used for providing a sliding track for the second motor to perform a reciprocating linear motion in a second direction.

Preferably, the clamping module includes a clamping member and a clamping locking screw, the clamping member is provided at the output end of the first motor, a threaded through hole is provided on the clamping member, and the clamping member is The holding and locking screw is arranged in the threaded through hole, the clamping member is used for clamping the puncture needle, and the clamping locking screw is used for adjusting the clamping force of the clamping member.

Preferably, the ultrasonic guided puncture device further includes a bracket module for supporting the ultrasonic probe module, the puncture control module and the puncture module.

Preferably, the bracket module includes a base, a first movable part and a second movable part, the upper surface of the base forms a support plane, the support plane is provided with a sliding groove, and one end of the first movable part is provided with In the sliding groove, one end of the second movable portion is provided with a first through hole, the other end is provided with a second through hole, and the first through hole is sleeved on the other end of the first movable portion, The second through hole is sleeved on the other end of the probe housing, the first movable part can slide in the sliding groove, and the first movable part can drive the second movable part along the vertical direction. directional movement of the support plane.

Preferably, the second movable part includes a fixing piece and a rotating locking screw, the fixing piece and the rotating locking screw are both arranged on the second through hole, and the fixing piece is used for fixing the probe the housing, and the rotating locking screw is used to lock the probe housing.

Preferably, the bracket module further includes a spacer, and the spacer is arranged between the probe housing and the second movable portion.

Preferably, the bracket module includes a base, a height position adjustment mechanism, a horizontal position adjustment mechanism and a connection mechanism, the upper surface of the base forms a support plane, and the height position adjustment mechanism is vertically arranged on the support plane, so The connecting mechanism is arranged at the moving end of the height position adjusting mechanism, the fixed end of the horizontal position adjusting mechanism is connected to the connecting mechanism, the moving end of the horizontal position adjusting mechanism is connected to the ultrasonic probe module, and the The height position adjustment mechanism can drive the connecting mechanism to move in a direction perpendicular to the support plane, and the horizontal position adjustment mechanism can drive the ultrasonic probe module to move in a direction parallel to the support plane. .

As a second aspect of the present invention, an ultrasonic guided puncture system is provided, wherein the ultrasonic guided puncture system includes a host module and the aforementioned ultrasonic guided puncture device, the host module is respectively connected to the ultrasonic guided puncture device. The ultrasonic probe module in the puncture device is connected in communication with the puncture control module, and the host module can perform image processing on the ultrasonic signal of the puncture target detected by the ultrasonic probe module to obtain the position information of the puncture target, so that the ultrasonic The puncture control module guiding the puncture device can control the puncture module to automatically puncture the puncture target according to the position information of the puncture target.

Preferably, the ultrasonic probe module and the host module are integrated into one body.

Preferably, the puncture control module and the host module are integrated into one body.

In the ultrasonic guided puncture device provided by the present invention, the puncture target is detected by the ultrasonic probe module and an ultrasonic signal is formed to send to the host module. After the host module processes the ultrasonic signal, the position information of the puncture target is extracted and sent to the puncture control module The puncture control module forms a control signal according to the position information of the puncture target to control the puncture module to automatically puncture the puncture target, the ultrasonic guided puncture device provided by the present invention can realize the accurate identification and positioning of the puncture target, and the puncture process can be realized automatically, The uncertainty and inaccuracy of the considered operation are reduced, thereby improving the puncturing efficiency of the usage site with high puncturing frequency.

Description of drawings

The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the specification, and together with the following specific embodiments, are used to explain the present invention, but do not constitute a limitation to the present invention. In the attached image:

FIG. 1 is a schematic structural diagram of the ultrasonic guided puncture device and system provided by the present invention.

FIG. 2 is a schematic diagram of the action of the ultrasonic guided puncture device provided by the present invention.

FIG. 3 is a schematic diagram of the state of the ultrasound-guided puncture device provided by the present invention not penetrating the puncture target.

FIG. 4 is a schematic diagram of the state of penetrating the puncture target of the ultrasonic guided puncture device provided by the present invention.

FIG. 5 is a schematic diagram of an intermediate state between the two states of FIGS. 3 and 4 .

FIG. 6 is a schematic structural diagram of an embodiment of the bracket module provided by the present invention.

FIG. 7 is a schematic diagram of the rotating assembly structure of the ultrasonic probe module and the bracket module provided by the present invention.

FIG. 8 is a schematic structural diagram of an embodiment of the clamping module provided by the present invention.

FIG. 9 is a schematic structural diagram of another embodiment of the bracket module provided by the present invention.

FIG. 10 is a schematic structural diagram of a specific embodiment of the puncture module provided by the present invention.

FIG. 11 is a schematic structural diagram of another embodiment of the clamping module provided by the present invention.

FIG. 12 is a schematic structural diagram of the ultrasonic guided puncture device provided by the present invention using the clamping module shown in FIG. 11 .

FIG. 13 is a schematic structural diagram of the protective casing provided by the present invention.

FIG. 14 is a schematic diagram of the installation of the protective casing provided by the present invention.

FIG. 15 is a schematic structural diagram of another embodiment of the bracket module provided by the present invention.

FIG. 16 is a schematic diagram of the installation of the bracket module and the ultrasonic probe module provided by the invention.

17 is a schematic diagram of the installation positions of the ultrasonic probe module and the puncture module provided by the invention.

18 is a schematic diagram of the installation position of another embodiment of the ultrasonic probe module and the puncture module provided by the invention.

Detailed ways

The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, but not to limit the present invention.

As a first aspect of the present invention, an ultrasonic guided puncture device is provided, wherein, as shown in FIG. 1 , the ultrasonic guided puncture device includes:

The ultrasonic probe module 100, the ultrasonic probe module 100 can be connected in communication with the host module 300, is used for detecting the puncture target, and sends the detected ultrasonic signal of the puncture target to the host module 300;

The puncture control module 500, the puncture control module 500 can be connected in communication with the host module 300, and is used for forming a puncture control signal according to the position information of the puncture target obtained by the host module 300 after processing the ultrasonic signal;

The puncture module 200 is electrically connected to the puncture control module 500 for automatically puncturing the puncture target according to the puncture control signal.

In the ultrasonic guided puncture device provided by the present invention, the puncture target is detected by the ultrasonic probe module and an ultrasonic signal is formed to send to the host module. After the host module processes the ultrasonic signal, the position information of the puncture target is extracted and sent to the puncture control module The puncture control module forms a control signal according to the position information of the puncture target to control the puncture module to automatically puncture the puncture target, the ultrasonic guided puncture device provided by the present invention can realize the accurate identification and positioning of the puncture target, and the puncture process can be realized automatically, The uncertainty and inaccuracy of the considered operation are reduced, thereby improving the puncturing efficiency of the usage site with high puncturing frequency.

Specifically, as shown in FIG. 3 , the ultrasonic probe module 100 includes a probe housing 120 and a detection module 110 disposed at one end of the probe housing 120 . The detection module 110 can be connected with the host module 300 The communication connection is used to detect the puncture target, and send the ultrasonic signal of the detected puncture target to the host module 300 .

Specifically, as shown in FIG. 3 , FIG. 4 and FIG. 10 , the puncturing module 200 includes: a first motor 210 , a second motor 220 , a clamping module 230 and a connecting bracket 240 , the connecting bracket 240 is respectively connected with The fixed end of the first motor 210 is connected to the output end of the second motor 220, the clamping module 230 is arranged at the output end of the first motor 210, and the output end of the first motor 210 can drive the The clamping module 230 reciprocates linearly in the first direction, and the output end of the second motor 220 can drive the connecting bracket to reciprocate linearly in the second direction, thereby driving the first motor 210 and the The clamping module 230 performs a reciprocating linear motion along the second direction.

More specifically, the first direction is perpendicular to the support plane, and the second direction forms an included angle a with the support plane.

Preferably, the value of the included angle a ranges from 10° to 70°.

It should be noted that the supporting plane is the plane indicated by P shown in FIGS. 3 to 5 , that is, the upper surface of the base. The connecting bracket 240 is respectively fixedly connected with the fixed end of the first motor 210 and the output end of the second motor 220, the clamping module 230 is fixedly connected to the output end of the first motor 210, and the output end of the first motor 210 can drive the clamping The module 230 performs reciprocating linear motion in the M1 direction, and the output end of the second motor 220 can drive the module composed of the connecting bracket 240 , the first motor 210 , and the clamping module 230 to perform the reciprocating linear motion in the Z2 direction. The Z2 direction is perpendicular to P, and the M1 direction is at an angle a with P. The value of a ranges from 10° to 70°, preferably 15°, 20°, 30°, 45°, and 60°. The included angle a shown in Figures 3 and 4 is 20°.

It should be understood that the first motor 210 can adjust the depth of the puncture, and the second motor 220 can realize the needle insertion process. In this way, through a simple combination of the two motors, the puncture target detected by the detection module 110 can be accurately detected. puncture.

In addition, when the purpose of use is different, the corresponding goals can be achieved by adjusting the stroke of the motor and the value of the included angle a.

It should also be noted that, the first motor 210 and the second motor 220 may specifically be linear propulsion motors. Compared with the traditional motor, the use of linear propulsion motor, because the output end of the transmission motor is rotary motion, needs to be converted into linear motion through the lead screw, etc. The advantage of the linear propulsion motor is that the output end of the motor directly performs linear propulsion motion, reducing assembly parts and assembly. error.

In order to realize the movement of the first motor 210 and the second motor 220, the puncture module further includes a first sliding rail 250 and a second sliding rail 260, and the second sliding rail 260 is arranged on the connecting bracket 240, and is used for In order to provide a sliding track for the reciprocating linear motion of the first motor 210 in the first direction, the first sliding track 250 is arranged on the probe housing 120 and is used for the second motor 220 to move in the second direction. Provide sliding track for reciprocating linear motion.

It should be understood that the first sliding rail 250 is disposed on the probe housing 120 , the second motor 220 can reciprocate linearly in the second direction on the first sliding rail 250 , and the second sliding rail 260 Provided on the connecting bracket 240 , the first motor 210 can perform a reciprocating linear motion along the first direction on the second sliding rail 260 .

The first motor 210 and the second motor 220 of the present invention can also be rotary motors, the output shaft of the rotary motor is provided with external threads, and the connection between the output shaft of the rotary motor and the connecting bracket 240 is provided with screw holes matching the external threads. A common rotary shaft motor can also be used, and the motor effect of this embodiment can be achieved after the motor shaft is matched with the lead screw.

It should be noted that, by using the first sliding rail 250 and the second sliding rail 260, the stability of movement can be increased, and the precision of movement can be improved.

As a specific implementation of the clamping module 230, as shown in FIG. 8 , the clamping module 230 includes a clamping member 231 and a clamping locking screw 232, and the clamping member 231 is disposed on the first An output end of the motor 210, the clamping member 231 is provided with a threaded through hole, the clamping locking screw 232 is disposed in the threaded through hole, the clamping member 231 is used for clamping the puncture needle 270, The clamping locking screw 232 is used to adjust the clamping force of the clamping member 231 .

Specifically, the clamping module 230 can clamp the puncture needle, and the clamping needle can be replaced. There are many different types of puncture needles according to different puncturing locations and puncturing purposes. Different clamping structures may be designed for different puncture needles. In this embodiment, a threaded through hole is provided on the clamping member 231 , and the clamping locking screw 232 passes through the threaded hole to press and lock the puncture needle 270 .

As another specific implementation of the clamping module 230 , as shown in FIG. 11 and FIG. 12 , the clamping module 230 includes a fixing part 233 , a rod part 234 and a clamping part 235 , and the fixing part 233 Connected to the output end of the first motor 210 , one end of the rod portion 234 is connected to the fixing portion 233 , and the other end of the rod portion 234 is connected to the clamping portion 235 , and the clamping portion 235 can realize Clamping of the puncture needle.

On the basis of the above-mentioned embodiment of the clamping module 230, in order to ensure the use safety of the puncture module 200, as shown in FIG. 13 and FIG. 14, the ultrasonic guided puncture device further includes a protective casing 600, the The casing 600 is fixedly connected with the probe casing 120 , so that the puncture module 200 is arranged in the protective casing 600 . In addition, in order to realize the normal use of the puncture module 200 , the protective casing 600 is provided with a puncture hole 610 , and the puncture needle can protrude out of the protective casing 600 through the puncture hole 610 .

It should be noted that the shape of the puncture hole 610 can be determined according to the cross-sectional shape of the rod portion of the clamping module 230 and the distance of up and down movement, and can be rectangular, waist-shaped, etc., and can be set according to requirements. A flexible shielding structure may be provided on the puncture hole 610 to play a role of dust prevention.

Specifically, as shown in FIGS. 1 and 2 , in order to support the puncture module and the ultrasonic probe module, the ultrasonic guided puncture device further includes a bracket module 400, which is used to support the The ultrasonic probe module 100 , the puncture control module 500 and the puncture module 200 .

As a first specific implementation of the bracket module, as shown in FIG. 6 , the bracket module 400 includes a base 410 , a first movable part 420 and a second movable part 430 . The upper surface of the base 410 A support plane is formed, a sliding groove 411 is provided on the supporting plane, one end of the first movable portion 420 is provided in the sliding groove 411, and one end of the second movable portion 430 is provided with a first through hole 434, The other end is provided with a second through hole 435 , the first through hole 431 is sleeved at the other end of the first movable portion 420 , and the second through hole 435 is sleeved at the other end of the probe housing 120 , the first movable portion 420 can slide in the sliding slot 411 , and the first movable portion 420 can drive the second movable portion 430 to move in a direction perpendicular to the support plane.

It should be understood that, as shown in FIG. 2 and FIG. 6 , the ultrasonic probe module 100 and the puncture module 200 can move in the Z1 direction and the Y1 direction by arranging the first movable part 420 and the second movable part 430 . For example, when the first movable part 420 slides in the sliding slot 411, it can drive the ultrasonic probe module 100 and the puncture module 200 to move in the Y1 direction, and when the second movable part 430 is sleeved on the first movable part When the first through hole 434 on the 420 moves along the axial direction of the first movable part (ie, the direction perpendicular to the support plane), it can drive the probe module 100 and the puncture module 200 to move in the Z1 direction. sports.

It should also be noted that the ultrasonic probe module 100 can be rotated along its own center, such as the direction of R1 shown in FIG. 2 . Specifically, the rotation of the ultrasonic probe module 100 can be adjusted manually, or a motor can be used to control the ultrasonic probe module 100. For automatic rotation, the specific implementation can be selected according to requirements, which is not limited here.

More specifically, as shown in FIG. 7 , the second movable portion 430 includes a fixing piece 432 , and the fixing piece 432 is disposed on the second through hole 435 for fixing the probe housing 120 .

More specifically, as shown in FIG. 7 , the bracket module 400 further includes a spacer 433 , and the spacer 433 is disposed between the probe housing 120 and the second movable portion 430 .

Further specifically, as shown in FIG. 6 , the second movable member 430 further includes a rotary locking screw 431 , and the rotary locking screw 431 is disposed on the second through hole 435 for locking the probe housing 120 .

As shown in FIGS. 6 and 7 , the second movable portion 430 is provided with a circular second through hole 435 , the upper end of the probe housing 120 is provided with a cylindrical shape, and the circular second through hole 435 is installed on the second movable portion 430 . In the hole 435, the fixing piece 432 is used for fixing, and a spacer 433 is arranged between the probe housing 120 and the second movable part 430. The spacer 433 can be set as a material or structure with a certain deformability, such as a spring piece, or a deformable plastic Wait.

FIG. 2 illustrates a structure in which the support module 400 can move in two directions. Of course, it can also be set as a structure in which the support module 400 can move in three directions according to requirements.

As a second specific embodiment of the bracket module 400, as shown in FIG. 9, the bracket module 400 includes a base 410, a height position adjustment mechanism 440, a horizontal position adjustment mechanism 450 and a connection mechanism 460. The The upper surface of the base 410 forms a support plane, the height position adjustment mechanism 440 is vertically disposed on the support plane, the connection mechanism 460 is disposed at the moving end of the height position adjustment mechanism 440, and the horizontal position adjustment mechanism 450 The fixed end is connected with the connecting mechanism 460 , the moving end of the horizontal position adjusting mechanism 450 is connected with the ultrasonic probe module 100 , and the height position adjusting mechanism 440 can drive the connecting mechanism 460 along the vertical direction of the support plane. The horizontal position adjustment mechanism 450 can drive the ultrasonic probe module 100 to move in the direction parallel to the support plane.

It should be understood that, the horizontal and vertical directions of the ultrasonic probe module 100 can be adjusted through the horizontal position adjustment mechanism 450 and the height position adjustment mechanism 440, which facilitates the detection of the puncture target position.

In order to ensure the stability of the movement of the connection mechanism 460 , a guide mechanism 470 is provided between the connection mechanism 460 and the height position adjustment mechanism 440 .

As a third specific implementation of the bracket module 400 , as shown in FIG. 15 , the ultrasonic probe module 100 can be directly fixed on the surface of a fixed object at a certain height, such as a wall, through the fixed installation portion 480 . Through the fine-tuning structure connected with the ultrasonic probe module 100, the height adjustment of the ultrasonic probe module 100 in the vertical direction is realized. The fixed installation part 180 can be fixed by fasteners (eg, screws), or can be fixed by a medium with high viscosity, such as super glue.

FIG. 16 is a schematic diagram of the installation of the bracket module and the ultrasonic probe module provided by the invention. As shown in FIG. 16 , the bracket module 400 and the ultrasonic probe module 100 of the present invention have a door-shaped structure. 17 is a schematic diagram of the installation positions of the ultrasonic probe module and the puncture module provided by the invention. As shown in FIG. 17 , the puncturing direction of the puncturing module 200 is perpendicular to the aperture direction r for puncturing. As shown in FIG. 18 , in another embodiment, the puncturing direction of the puncturing module 200 is punctured along the aperture direction r. It should be understood that the puncturing of the puncture needle along the aperture direction r and perpendicular to the aperture direction r is not a simple change in the assembly position of the puncture module and the ultrasonic probe module, because these two installation methods, one is in-plane ultrasonic detection and the other is Out-of-plane ultrasonic testing involves different image signal processing methods.

As a second aspect of the present invention, an ultrasonic guided puncture system is provided, wherein, as shown in FIG. 1 , the ultrasonic guided puncture system includes a host module 300 and the aforementioned ultrasonic guided puncture device. The group 300 is respectively connected to the ultrasonic probe module 100 and the puncture control module 200 in the ultrasonic guided puncture device. The position information of the puncture target is obtained by image processing, so that the puncture control module 500 of the ultrasonic guided puncture device can control the puncture module 200 to automatically puncture the puncture target according to the position information of the puncture target.

In the ultrasonic guided puncture system provided by the present invention, the puncture target is detected by the ultrasonic probe module, and an ultrasonic signal is formed and sent to the host module. After the host module processes the ultrasonic signal, the position information of the puncture target is extracted and sent to the puncture control module. The puncture control module forms a control signal according to the position information of the puncture target to control the puncture module to automatically puncture the puncture target, the ultrasonic guided puncture system provided by the present invention can realize the accurate identification and positioning of the puncture target, and the puncture process can be realized automatically, The uncertainty and inaccuracy of the considered operation are reduced, thereby improving the puncturing efficiency of the usage site with high puncturing frequency.

As a specific implementation manner, the ultrasonic probe module 100 and the host module 300 are provided as one body.

Ultrasonic detection is realized by integrating the ultrasonic probe module 100 and the host module 300 into one body, which can be easily carried, for example, by means of palm-top ultrasonics.

As another specific real-time manner, the puncture control module 500 and the host module 300 are integrated into one body.

It should be understood that the puncture control module 500 may be integrated into the host module 300 to implement the control function of the puncture module 200 .

It should be noted that the host module 300 includes a display screen for displaying the control process. The display screen can be integrated on the main body of the host module, or a display control interface can be set separately, which is not limited here.

For the specific implementation of the ultrasound-guided puncture system provided by the present invention, reference may be made to the description of the ultrasonic-guided puncture device above, which will not be repeated here.

It can be understood that the above embodiments are only exemplary embodiments adopted to illustrate the principle of the present invention, but the present invention is not limited thereto. For those skilled in the art, without departing from the spirit and essence of the present invention, various modifications and improvements can be made, and these modifications and improvements are also regarded as the protection scope of the present invention.

Claims (15)

1. An ultrasonic guided puncture device, wherein the ultrasonic guided puncture device comprises: an ultrasonic probe module, the ultrasonic probe module can be connected in communication with the host module for detecting the puncture target, and sending the detected ultrasonic signal of the puncture target to the host module; a puncture control module, the puncture control module can be connected in communication with the host module, and is used for forming a puncture control signal according to the position information of the puncture target obtained after the host module processes the ultrasonic signal; The puncture module is electrically connected with the puncture control module, and is used for automatically puncturing the puncture target according to the puncture control signal. 2 . The ultrasonic guided puncture device according to claim 1 , wherein the ultrasonic probe module comprises a probe casing and a detection module arranged at one end of the probe casing, and the detection module can be combined with the probe casing. 3 . The host module is communicatively connected for detecting the puncture target and sending the detected ultrasonic signal of the puncture target to the host module. 3 . The ultrasonic guided puncture device according to claim 2 , wherein the puncture module comprises: a first motor, a second motor, a clamping module and a connecting bracket, and the connecting bracket is respectively connected with the first motor. 4 . The fixed end of a motor is connected to the output end of the second motor, the clamping module is arranged at the output end of the first motor, and the output end of the first motor can drive the clamping module along the first motor. The output end of the second motor can drive the connecting bracket to make a reciprocating linear motion in the second direction. 4 . The ultrasonic guided puncture device according to claim 3 , wherein the first direction is perpendicular to the support plane, and the second direction forms an angle a with the support plane. 5 . 5 . The ultrasonic guided puncture device according to claim 4 , wherein the value of the included angle a ranges from 10° to 70°. 6 . 6 . The ultrasonic guided puncture device according to claim 3 , wherein the puncture module further comprises a first slide rail and a second slide rail, and the second slide rail is arranged on the connecting bracket and is used for puncturing. 7 . In order to provide a sliding track for the reciprocating linear motion of the first motor in the first direction, the first sliding rail is arranged on the probe shell and used for the reciprocating linear motion of the second motor in the second direction. Sliding rails are provided. 7 . The ultrasonic guided puncture device according to claim 3 , wherein the clamping module comprises a clamping member and a clamping locking screw, and the clamping member is arranged at the output end of the first motor. 8 . , the clamping member is provided with a threaded through hole, the clamping locking screw is arranged in the threaded through hole, the clamping member is used for clamping the puncture needle, and the clamping locking screw is used for adjusting The clamping force of the clamping piece. 8 . The ultrasonic guided puncture device according to claim 2 , wherein the ultrasonic guided puncture device further comprises a bracket module, and the bracket module is used to support the ultrasonic probe module and the puncture control module. 9 . group and the piercing module. 9 . The ultrasonic guided puncture device according to claim 8 , wherein the support module comprises a base, a first movable part and a second movable part, the upper surface of the base forms a support plane, and the support plane A sliding groove is provided on the upper part, one end of the first movable part is set in the sliding groove, one end of the second movable part is provided with a first through hole, and the other end is provided with a second through hole. The through hole is sleeved on the other end of the first movable part, the second through hole is sleeved at the other end of the probe shell, the first movable part can slide in the sliding groove, the The first movable part can drive the second movable part to move in a direction perpendicular to the support plane. 10 . The ultrasonic guided puncture device according to claim 9 , wherein the second movable part comprises a fixed piece and a rotating locking screw, and both the fixed piece and the rotating locking screw are arranged on the second movable part. 11 . On the two through holes, the fixing sheet is used for fixing the probe housing, and the rotating locking screw is used for locking the probe housing. 11 . The ultrasonic guided puncture device according to claim 9 , wherein the bracket module further comprises a spacer, and the spacer is arranged between the probe housing and the second movable portion. 12 . 12. The ultrasonic guided puncture device according to claim 8, wherein the bracket module comprises a base, a height position adjustment mechanism, a horizontal position adjustment mechanism and a connection mechanism, and the upper surface of the base forms a support plane, so The height position adjustment mechanism is vertically arranged on the support plane, the connection mechanism is arranged at the moving end of the height position adjustment mechanism, the fixed end of the horizontal position adjustment mechanism is connected with the connection mechanism, and the horizontal position The moving end of the adjustment mechanism is connected to the ultrasonic probe module, the height position adjustment mechanism can drive the connection mechanism to move in a direction perpendicular to the support plane, and the horizontal position adjustment mechanism can drive the ultrasonic probe module Movement in a direction parallel to the support plane. 13. An ultrasonic guided puncture system, characterized in that the ultrasonic guided puncture system comprises a host module and the ultrasonic guided puncture device according to any one of claims 1 to 12, wherein the host module and the The ultrasonic probe module and the puncture control module in the ultrasonic guided puncture device are connected in communication, and the host module can perform image processing on the ultrasonic signal of the puncture target detected by the ultrasonic probe module to obtain the position information of the puncture target, so as to obtain the position information of the puncture target. The puncture control module of the ultrasonic guided puncture device can control the puncture module to automatically puncture the puncture target according to the position information of the puncture target. 14 . The ultrasonic guided puncture system according to claim 13 , wherein the ultrasonic probe module and the host module are integrated into one body. 15 . 15 . The ultrasonic guided puncture system according to claim 13 , wherein the puncture control module and the host module are integrated into one body. 16 .

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