CN115886947B - A visual control system for assisting percutaneous puncture - Google Patents

Abstract

The present invention relates to the technical field of medical devices, and discloses a visual control system for assisting percutaneous puncture. A visual control system for assisting percutaneous puncture includes a working table and a visual control device. The visual control device includes a frame, a display screen and Universal mechanism, ultrasonic probe, the universal mechanism includes a guide sleeve, a guide net, a guide ball, and a movable head. There is a socket under the movable head, and the ultrasonic probe is movably inserted in the socket. The guide net is semicircular. The end of the guide net is provided with several sets of holes, and the guide ball is movably clamped on the guide ball. The inner wall of the guide sleeve is provided with an inner guide groove along the longitude direction, and the movable head is provided with an outer guide groove along the longitude direction. The guide sleeve, guide net, The movable head is matched, the guide net is arranged between the guide sleeve and the movable head, and the opposite sides of the guide ball are movably matched between the inner guide groove and the outer guide groove respectively. It has the effect of high flexibility and high precision.

Description

A visual control system for assisting percutaneous puncture

technical field

The invention relates to the technical field of medical devices, in particular to a visual control system for assisting percutaneous puncture.

Background technique

Percutaneous interventional puncture surgery refers to the insertion of medical devices such as puncture needles into the target lesion in the patient's body under the guidance and assistance of medical images, and performs operations such as biopsy, ablation surgery, and radioactive particle implantation to achieve therapeutic purposes. In the process of puncture-assisted photoacoustic medical imaging, the accuracy and stability of photoacoustic imaging devices have a great influence on the therapeutic effect of puncture surgery.

The existing authorized notification number CN107007256B, the Chinese invention patent named photoacoustic imaging fixture and photoacoustic imaging device for its application discloses a housing, a photoacoustic coupling mechanism and a first waterproof part; the housing includes two relatively spliced shells, each Each housing is provided with a first cavity and a second cavity, the two first cavity surrounds the first accommodation cavity, the two second cavity surrounds the second accommodation cavity, the first accommodation cavity and the second cavity surround The two accommodation chambers are arranged side by side, the first accommodation chamber and the second accommodation chamber are connected to the first end of the housing; the photoacoustic coupling mechanism is connected to the first end of the housing, and the photoacoustic coupling mechanism is simultaneously connected to the first accommodation chamber and the second housing chamber. The accommodating cavities are arranged oppositely; the first waterproof member is arranged at the abutment of the two casings. However, this device can only place the ultrasonic probe in a limited position, but in the process of puncturing, the ultrasonic probe is a dynamic movement process, and the range of movement is small, so the ultrasonic probe needs to have flexible and precise movement functions. At the same time, the existing In the technology, it is still necessary to manually hold the ultrasonic probe for operation, and when manually holding the ultrasonic probe, it is necessary to hold it all the time, and manually holding the ultrasonic probe all the time has a greater obstacle to the operation of the puncture process.

Contents of the invention

The purpose of the present invention is to provide a visual control system for assisting percutaneous puncture, which has the effect of high flexibility and high precision.

The above-mentioned technical purpose of the present invention is achieved through the following technical solutions: a visual control system for assisting percutaneous puncture, including a worktable, a visual control device slidingly arranged on the side of the worktable, and the visual control device includes a frame, The display screen arranged on the frame, the universal mechanism slidingly arranged on the frame, and the ultrasonic probe detachably connected under the universal mechanism, the universal mechanism includes a guide sleeve, a guide net, Guide ball and movable head, as mentioned above, there is a socket under the movable head, the ultrasonic probe is movably inserted in the socket, the guide net is in the shape of a semicircle, and the end of the guide net A number of sets of holes are provided, the guide ball is movably clamped on the guide ball, the inner wall of the guide sleeve head is provided with an inner guide groove along the longitude direction, and the movable head is provided with an outer guide groove along the longitude direction. The guide sleeve, the guide net, and the movable head are matched, the guide net is arranged between the guide sleeve and the movable head, and the opposite sides of the guide ball are respectively movably fitted between the inner guide groove and the outer guide groove. between.

A further setting of the present invention is that: the universal mechanism further includes a guide, and the guide includes a rotating rod, a first rotating ball, a second rotating ball, and a third rotating ball coaxially fixedly connected to the rotating rod in turn. A ball, a guide shaft is arranged in the axial direction of the guide sleeve, a guide hole is arranged on the top of the guide net, an insertion hole is arranged on the movable head, and the guide shaft, the guide hole and the insertion hole are arranged coaxially, The first rotating ball is slidably arranged in the guide shaft, the second rotating ball is rotatably arranged in the guide hole, and the third rotating ball is rotatably arranged in the insertion hole.

A further setting of the present invention is: the socket is provided with a socket, the socket includes a guide socket and a limit socket opened in the axial direction, the guide socket communicates with the end surface of the socket, An inserting rod is arranged radially on the side of the end of the ultrasonic probe, and the inserting rod can be movably inserted into the guiding socket and the limiting socket.

A further setting of the present invention is that: a limiting spring is fixedly connected in the socket sleeve axially, and when the inserting rod is located in the limiting socket, the elastic force of the limiting spring pushes the inserting rod to be limited in the position. In the limit jack mentioned above.

A further setting of the present invention is: the frame includes a transverse frame and a longitudinal frame, the transverse frame is vertically fixedly connected to the longitudinal frame, the transverse frame is provided with a transverse chute, and the horizontal chute slides A horizontal slider is connected, and the horizontal slider is connected with the universal mechanism. A sliding frame is slidably arranged on the side of the worktable, and a horizontal driving part is arranged on the sliding frame, and the horizontal driving part drives the The transverse slider drives the universal mechanism to move along the transverse chute.

A further configuration of the present invention is that: the transverse driving member includes a sliding motor, a winding roller, a pull cord, a guide roller, and a telescopic spring, the sliding motor is fixedly connected to the sliding frame, and the winding roller is rotatably connected to On the sliding frame, the sliding motor is connected with the winding roller, the sliding motor drives the winding roller to rotate, the guide roller is connected to the sliding frame in rotation, and one end of the pull cord is wound around Connected to the take-up roller, the other end bypasses the guide roller and is fixedly connected to the transverse slider, one end of the telescopic spring is fixedly connected to the transverse slider, and the other end is connected to the transverse chute on the transverse frame The end faces are fixedly connected.

A further configuration of the present invention is that: the sliding frame is also provided with a rotating mechanism, the rotating mechanism includes a rotating motor, a driving gear, a control gear, and a rotating column, and a rotating column is axially fixedly connected to the bottom of the longitudinal frame, and the The rotating column is rotatably connected to the sliding frame, the control gear is radially fixedly connected to the rotating column, the driving gear is rotatably connected to the sliding frame, and the rotating motor drives the driving gear to rotate. The drive gear meshes with the control gear.

A further configuration of the present invention is: a sliding mechanism is provided on the side of the worktable, the sliding mechanism includes a drive motor, a screw, and a slide rail, the screw is rotatably connected to the worktable, and the drive motor drives the The screw rod rotates, the slide rails are arranged on both sides of the slide rail in parallel, the sliding frame is slidably connected on the slide rail, the bottom of the sliding frame is screwed on the screw rod, the The driving motor is fixedly connected to the end of the screw rod.

A further configuration of the present invention is that: the horizontal slider is provided with a driving cylinder, and a driving rod is fixedly connected to the top of the driving cylinder, and the driving rod is rotatably connected to the horizontal sliding block, and the driving rod and the guide The upper end of the sleeve is connected by rotation.

The beneficial effects of the present invention are:

1. The present invention can solve the problem that the puncture process cannot be directly visualized. In the prior art, B-ultrasound is used for visualization, but the B-ultrasound display requires a special person to hold the ultrasonic probe, and it is necessary to turn sideways or turn your head to watch the display during the puncture process , the operation process is dangerous and unintuitive. Therefore, the ultrasonic probe set in the present invention can rotate in multiple directions, and the display screen and the worktable are integrated, so that the display screen in front of you can be clearly seen during the puncture process. At the same time, in the process of puncture, the ultrasonic probe can be rotated or twisted at multiple angles to find a suitable position and then perform the puncture operation. The ultrasonic probe has high rotation flexibility, simple operation structure and high precision.

2. In the present invention, the ultrasonic probe and the universal mechanism are detachable. By aligning the insertion rod on the ultrasonic probe with the guide hole on the socket sleeve and inserting it, the end of the ultrasonic probe will squeeze the limit spring. Press, and then rotate, so that the insertion rod is aligned with the limit jack, the ultrasonic probe will make the insertion rod enter the limit jack under the drive of the limit spring, and the spring back force of the limit spring will make it difficult for the insert rod to move from the limit hole. The detachable setting of the ultrasonic probe is convenient for doctors to use. When a large-scale scan is required, it can be operated directly with the hand. When the accuracy is high, it can be inserted into the socket for rotation. It can save manpower and is easy to operate.

3. When the ultrasonic probe in the present invention is rotated, the ultrasonic probe will drive the movable head to rotate. Due to the setting of the guide ball between the movable head and the guide sleeve, the guide sleeve will be driven to rotate, and when the ultrasonic probe is rotated, it can be made to rotate. The movable head on the ultrasonic sleeve rotates. When rotating, the guide ball will move along the outer guide groove on the movable head and the inner guide groove on the guide sleeve, and the inner guide can perform the function of guiding and limiting. When rotating, the rotating rod will tilt and drive the first rotating ball to move downward along the guide shaft. The universal mechanism in the present invention can not only realize the self-rotation of the ultrasonic probe, but also realize the multi-directional oblique deflection movement of the ultrasonic probe.

4. The visualization control device in the present invention can realize the visualization of all-round puncture parts of the human body. First, it can drive the motor to drive the screw to rotate, and the rotation of the screw can drive the sliding frame to drive the visualization control device to move along the side of the workbench, driving The visual control device moves to the position to be punctured. At the same time, the rotating motor will drive the drive gear to drive the control gear to rotate. When the control gear rotates, the longitudinal frame will rotate and further drive the horizontal frame on the longitudinal frame to rotate around the longitudinal frame and slide The motor drives the rewinding roller to rotate, and the rewinding roller rewinds the pull rope, and the pull rope will pull the horizontal slider to drive the universal mechanism below to move the ultrasonic probe to an appropriate position, and then drive the cylinder to drive the drive rod to move, The driving rod drives the ultrasonic probe below to fit around the skin to be punctured, and then during the puncture, the position of the ultrasonic probe can be fine-tuned to observe the position of the puncture needle and the site to be punctured. This device can be operated structurally Simplicity, flexibility and precision.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.

Fig. 1 is a schematic diagram of the structure of the present invention.

Fig. 2 is a left view structural diagram of the present invention.

Fig. 3 is a schematic structural diagram of the visualization control device in the present invention.

Fig. 4 is a schematic diagram of the internal structure of the sliding frame in the present invention.

Fig. 5 is a schematic diagram of the exploded structure of the rotating mechanism in the present invention.

Fig. 6 is a schematic diagram of the exploded structure of the universal structure in the present invention.

Fig. 7 is a schematic diagram of a local exploded structure of the universal mechanism in the present invention.

Fig. 8 is a schematic diagram of the cross-sectional structure of the assembly of the universal mechanism in the present invention.

Fig. 9 is a schematic diagram of the exploded structure of the ultrasonic probe and the socket in the present invention.

Fig. 10 is a schematic cross-sectional structure diagram of an ultrasonic probe and a socket in the present invention.

In the figure, 1 working table; 11, sliding frame; 2, visual control device; 21, horizontal frame; 211, horizontal chute; 212, horizontal slider; 213, driving cylinder; 214, driving rod; 22, longitudinal frame; 23. Display screen; 3. Universal mechanism; 31. Guide sleeve; 311. Inner guide groove; 312. Guide shaft; 32. Guide net; 321. Sleeve hole; 322. Guide hole; 33. Guide ball; 34. Movable head; 341, outer guide groove; 342, socket hole; 35, socket sleeve; 351, guide jack; 352, limit jack; 353, limit spring; 36, guide piece; 361, rotating rod; 362, the first rotating ball; 363, the second rotating ball; 364, the third rotating ball; 4, the ultrasonic probe; 41, the insertion rod; Pull cord; 54, guide roller; 55, telescopic spring; 6, rotating mechanism; 61, rotating motor; 62, driving gear; 63, control gear; 64, rotating column; 7, sliding mechanism; 71, driving motor; 72, Screw mandrel; 73, slide rail.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Embodiments, as shown in Fig. 1, Fig. 2, Fig. 6, Fig. 7, and Fig. 8, a visual control system for assisting percutaneous puncture, including a working surface 1, a visual control device 2 slidingly arranged on the side of the working surface 1, The visualization control device 2 includes a frame, a display screen 23 arranged on the frame, a universal mechanism 3 slidingly arranged on the frame, and an ultrasonic probe detachably connected under the universal mechanism 3 4. The universal mechanism 3 includes a guide sleeve 31, a guide net 32, a guide ball 33, and a movable head 34. As mentioned above, a plug sleeve 35 is arranged under the movable head 34, and the ultrasonic probe 4 is movably plugged in In the socket sleeve 35, the guide net 32 is in the shape of a semicircle, and the end of the guide net 32 is provided with a plurality of sleeve holes 321, and the guide ball 33 is movably clamped on the guide ball 33. Guide sleeve 31 inner wall is provided with inner guide groove 311 along longitude direction, and described movable head 34 is provided with outer guide groove 341 along longitude direction, and described guide sleeve 31, guide net 32, movable head 34 cooperate, and described guide net 32 is disposed between the guide sleeve 31 and the movable head 34, and the opposite sides of the guide ball 33 are respectively movably fitted between the inner guide groove 311 and the outer guide groove 341.

The present invention can solve the problem that the puncture process cannot be directly visualized. In the prior art, B-ultrasound is used for visualization, but the B-ultrasound display requires a special person to hold the ultrasonic probe 4, and it is necessary to turn sideways or turn the head to watch the display screen 23 during the puncture process. , the operation process is dangerous and unintuitive, therefore, the ultrasonic probe 4 provided by the present invention can rotate in multiple directions, and the display screen 23 and the worktable 1 are integrated, so that the front of the probe can be clearly seen during the puncture process. Display screen 23. At the same time, during the puncture process, the ultrasonic probe 4 can be rotated or twisted at multiple angles to find a suitable position and then perform the puncture operation. The ultrasonic probe 4 has a high degree of flexibility in rotation, and the operation structure is simple and accurate. high degree.

As shown in Fig. 6, Fig. 7 and Fig. 8, the universal mechanism 3 also includes a guide 36, and the guide 36 includes a rotating rod 361, a first rotating rod coaxially and sequentially fixedly connected to the rotating rod 361. Ball 362, the second rotating ball 363, the third rotating ball 364, the guide shaft 312 is arranged in the axial direction of the guide sleeve head 31, the guide hole 322 is arranged on the top of the guide net 32, and the plug-in hole 322 is arranged on the movable head 34. The connection hole 342, the guide shaft 312, the guide hole 322 and the insertion hole 342 are coaxially arranged, the first rotating ball 362 is slidably arranged in the guide shaft 312, and the second rotating ball 363 is rotatably arranged in the In the guide hole 322 , the third rotating ball 364 is rotatably arranged in the insertion hole 342 .

In the present invention, the ultrasonic probe 4 and the universal mechanism 3 are detachably arranged. By aligning the insertion rod 41 on the ultrasonic probe 4 with the guide jack 351 on the socket 35 and inserting it, the end of the ultrasonic probe 4 will meet The limit spring 353 is squeezed and then rotated so that the insertion rod 41 is aligned with the limit jack 352, and the ultrasonic probe 4 is driven by the limit spring 353 so that the insertion rod 41 enters the limit jack 352, and The resilience of the limit spring 353 will make it difficult for the insertion rod 41 to slip out of the limit jack 352. The detachable setting of the ultrasonic probe 4 can facilitate the use of the doctor. When a large-scale scanning is required, it can be operated directly on the hand , when the precision is high, it is inserted and rotated in the socket sleeve 35, which can save manpower and is easy to operate.

When the ultrasonic probe 4 in the present invention rotates, the ultrasonic probe 4 can drive the movable head 34 to rotate, and due to the setting of the guide ball 33 between the movable head 34 and the guide sleeve 31, the guide sleeve 31 can be driven to rotate, and the ultrasonic probe can be rotated. At 4 o'clock, the movable head 34 on the ultrasonic sleeve head can be rotated. When rotating, the guide ball 33 will move along the outer guide groove 341 on the movable head 34 and the inner guide groove 311 on the guide sleeve head 31. The guide 36 can perform the function of guiding and limiting. When rotating, the rotating rod 361 will tilt, driving the first rotating ball 362 to move downward along the guiding shaft 312. The universal mechanism 3 in the present invention can realize the ultrasonic probe The rotation of the ultrasonic probe 4 can also realize the multi-directional tilting deflection movement of the ultrasonic probe 4.

As shown in Fig. 9 and Fig. 10, an insertion hole is provided on the socket sleeve 35, and the insertion hole includes a guide insertion hole 351 and a limit insertion hole 352 opened in the axial direction, and the guide insertion hole 351 is connected to the The end faces of the socket sleeves 35 communicate with each other, and an insertion rod 41 is arranged radially on the side of the end of the ultrasonic probe 4 , and the insertion rod 41 can be movably inserted into the guide socket 351 and the limit socket 352 . A limit spring 353 is fixedly connected in the socket sleeve 35 in the axial direction. When the insertion rod 41 is located in the limit insertion hole 352, the elastic force of the limit spring 353 pushes the insertion rod 41 to be limited in the position. Inside the limiting jack 352.

As shown in Fig. 3, Fig. 4 and Fig. 5, the frame includes a transverse frame 21 and a longitudinal frame 22, the transverse frame 21 is vertically fixedly connected to the longitudinal frame 22, and the transverse frame 21 is provided with a transverse The chute 211 and the horizontal chute 211 are slidably connected with a horizontal slider 212, the horizontal slider 212 is connected with the universal mechanism 3, the side of the worktable 1 is slidably provided with a sliding frame 11, the The sliding frame 11 is provided with a transverse driving member 5 , and the transverse driving member 5 drives the transverse sliding block 212 to drive the universal mechanism 3 to move along the transverse sliding groove 211 . The horizontal slider 212 is provided with a driving cylinder 213, the driving cylinder 213 is fixedly connected with a driving rod 214, and the driving rod 214 is rotatably connected to the horizontal sliding block 212, and the driving rod 214 is connected with the guide The upper end of sleeve 31 is connected in rotation.

As shown in Fig. 4 and Fig. 5, the lateral drive member 5 includes a sliding motor 51, a winding roller 52, a stay cord 53, a guide roller 54, and a telescopic spring 55, and the sliding motor 51 is fixedly connected to the sliding frame 11. Above, the winding roller 52 is rotatably connected to the carriage 11, the sliding motor 51 is connected to the winding roller 52, the sliding motor 51 drives the winding roller 52 to rotate, and the guide The roller 54 is rotatably connected to the sliding frame 11, one end of the pull cord 53 is wound on the winding roller 52, and the other end is fixedly connected to the transverse slider 212 by going around the guide roller 54, and the telescopic spring One end of 55 is fixedly connected with the transverse sliding block 212 , and the other end is fixedly connected with the end surface of the transverse slide groove 211 on the transverse frame 21 .

As shown in Fig. 4 and Fig. 5, a rotating mechanism 6 is also provided on the sliding frame 11, and the rotating mechanism 6 includes a rotating motor 61, a drive gear 62, a control gear 63, and a rotating column 64. A rotation column 64 is fixedly connected in the axial direction, and the rotation column 64 is rotatably connected to the sliding frame 11, the control gear 63 is fixedly connected to the rotation column 64 in the radial direction, and the driving gear 62 is rotatably connected to the On the sliding frame 11 , the rotating motor 61 drives the driving gear 62 to rotate, and the driving gear 62 meshes with the control gear 63 .

As shown in Figure 3, the side of the worktable 1 is provided with a sliding mechanism 7, the sliding mechanism 7 includes a drive motor 71, a screw 72, a slide rail 73, and the screw 72 is rotatably connected to the worktable 1 , the drive motor 71 drives the screw rod 72 to rotate, the slide rails 73 are arranged on both sides of the slide rails 73 in parallel, the slide frame 11 is slidably connected to the slide rails 73, and the slide frame The bottom of 11 is screwed on the screw mandrel 72 , and the drive motor 71 is fixedly connected to the end of the screw mandrel 72 .

The visualization control device 2 in the present invention can realize the visualization of all-round puncture parts of the human body. First, it can drive the motor 71 to drive the screw rod 72 to rotate, and the rotation of the screw rod 72 can drive the sliding frame 11 to drive the visualization control device 2 along the side of the workbench. Move, drive the visual control device 2 to move to the position to be punctured, at the same time, the rotating motor 61 will drive the drive gear 62 to drive the control gear 63 to rotate, and the control gear 63 will rotate the longitudinal frame 22 to further drive the longitudinal frame 22 to rotate. The horizontal frame 21 rotates around the longitudinal frame 22, the sliding motor 51 drives the winding roller 52 to rotate, the winding roller 52 winds the pull rope 53, and the pull rope 53 will pull the horizontal slider 212 to drive the universal mechanism below 3 movement, so that the ultrasonic probe 4 moves to an appropriate position, and then drives the cylinder 213 to drive the driving rod 214 to move, and the driving rod 214 drives the lower ultrasonic probe 4 to fit around the skin part to be punctured, and then in the process of puncturing Among them, the position of the ultrasonic probe 4 can be fine-tuned to observe the position of the puncture needle and the site to be punctured. The device has a simple structure and operation, and has high flexibility and precision.

Claims (8)

1. A visual control system for assisting percutaneous puncture, characterized in that it includes a working surface (1), a visual control device (2) slidingly arranged on the side of the working surface (1), and the visual control device (2) includes frame, a display screen (23) arranged on the frame, a universal mechanism (3) slidably arranged on the frame, and an ultrasonic probe ( 4), the universal mechanism (3) includes a guide sleeve (31), a guide net (32), a guide ball (33), and a movable head (34), and a socket sleeve ( 35), the ultrasonic probe (4) is movably plugged into the socket (35), the guide net (32) is semicircular arc-shaped, and the end of the guide net (32) is provided with several sleeves hole (321), the guide ball (33) is movably clamped in the sleeve hole (321), the inner wall of the guide sleeve (31) is provided with an inner guide groove (311) along the longitude direction, and the movable head (34) is provided with an outer guide groove (341) along the longitude direction, the guide sleeve (31), the guide net (32) and the movable head (34) cooperate, and the guide net (32) is arranged on the guide Between the sleeve head (31) and the movable head (34), the opposite sides of the guide ball (33) are movably fitted between the inner guide groove (311) and the outer guide groove (341). The steering mechanism (3) also includes a guide (36), the guide (36) includes a rotating rod (361), a first rotating ball (362) coaxially and sequentially fixedly connected to the rotating rod (361), The second rotating ball (363), the third rotating ball (364), the guide shaft (312) is arranged axially inside the guide sleeve (31), the guide hole (322) is arranged on the top of the guide net (32), The movable head (34) is provided with an insertion hole (342), the guide shaft (312), the guide hole (322) and the insertion hole (342) are arranged coaxially, and the first rotating ball (362) Slidingly arranged in the guide shaft (312), the second rotating ball (363) is rotatably arranged in the guide hole (322), and the third rotating ball (364) is rotatably arranged in the insert in the connecting hole (342). 2. A visual control system for assisting percutaneous puncture according to claim 1, characterized in that: the socket (35) is provided with a socket, and the socket includes a guide socket opened in the axial direction (351) and a limit jack (352), the guide jack (351) communicates with the end face of the socket sleeve (35), and the end side of the ultrasonic probe (4) is radially provided with an insertion rod (41 ), the insertion rod (41) can be movably inserted into the guide socket (351) and the limit socket (352). 3. A visual control system for assisting percutaneous puncture according to claim 2, characterized in that: the insertion sleeve (35) is axially fixedly connected with a limit spring (353), and the insertion rod (41 ) is located in the limiting socket (352), the elastic force of the limiting spring (353) pushes the insertion rod (41) to be limited in the limiting socket (352). 4. A visual control system for assisting percutaneous puncture according to claim 1, characterized in that: the frame includes a horizontal frame (21) and a longitudinal frame (22), and the horizontal frame (21) is vertically fixed Connected to the longitudinal frame (22), the horizontal frame (21) is provided with a horizontal chute (211), and a horizontal sliding block (212) is slidably connected in the horizontal chute (211). The slider (212) is connected with the universal mechanism (3), the side of the worktable (1) is slidably provided with a sliding frame (11), and the horizontal driving member (5) is provided on the sliding frame (11) , the transverse driving member (5) drives the transverse slider (212) along the transverse chute (211) to drive the universal mechanism (3) to move. 5. A visual control system for assisting percutaneous puncture according to claim 4, characterized in that: the lateral driving member (5) includes a sliding motor (51), a winding roller (52), a pull cord (53) ), guide roller (54), telescopic spring (55), the sliding motor (51) is fixedly connected to the sliding frame (11), and the winding roller (52) is rotatably connected to the sliding frame (11 ), the sliding motor (51) is connected with the winding roller (52), the sliding motor (51) drives the winding roller (52) to rotate, and the guide roller (54) is connected in rotation On the sliding frame (11), one end of the pull cord (53) is wound around the winding roller (52), and the other end is fixedly connected to the transverse slider (212) around the guide roller (54) , one end of the telescopic spring (55) is fixedly connected to the transverse slider (212), and the other end is fixedly connected to the end face of the transverse chute (211) on the transverse frame (21). 6. A visual control system for assisting percutaneous puncture according to claim 4, characterized in that: the sliding frame (11) is also provided with a rotating mechanism (6), and the rotating mechanism (6) includes a rotating Motor (61), driving gear (62), control gear (63), and rotating column (64), the rotating column (64) is fixedly connected axially under the longitudinal frame (22), and the rotating column (64) rotates Connected to the sliding frame (11), the control gear (63) is radially fixedly connected to the rotating column (64), and the driving gear (62) is rotatably connected to the sliding frame (11) , the rotating motor (61) drives the driving gear (62) to rotate, and the driving gear (62) meshes with the control gear (63). 7. A visual control system for assisting percutaneous puncture according to claim 4, characterized in that: a sliding mechanism (7) is provided on the side of the working surface (1), and the sliding mechanism (7) includes a driving motor (71), screw rod (72), slide rail (73), the screw rod (72) is rotatably connected to the worktable (1), and the drive motor (71) drives the screw rod (72) Rotate, the slide rail (73) is arranged in parallel on one side of the worktable (1), the slide frame (11) is slidably connected to the slide rail (73), and the bottom thread of the slide frame (11) Connected to the screw rod (72), the drive motor (71) is fixedly connected to the end of the screw rod (72). 8. The visual control system for assisting percutaneous puncture according to claim 4, characterized in that: a driving cylinder (213) is arranged on the horizontal slider (212), and the upper part of the driving cylinder (213) A drive rod (214) is fixedly connected, the drive rod (214) is rotatably connected to the transverse slider (212), and the drive rod (214) is rotatably connected to the upper end of the guide sleeve (31).